5846 results about "Airframe" patented technology

The invention discloses a dynamic path planning and self-adaptive control method and system for a coating robot, and relates to the technical field of coating automation. The method comprises the following steps: acquiring point cloud data through three-dimensional scanning equipment, constructing a dynamically updated workpiece curved surface model, and extracting curvature, edge and high-curvature mutation region features; a spraying path is generated based on a reinforcement learning algorithm, and path density, speed and coating supply are dynamically adjusted for a high-curvature area; distance, force feedback and environment parameters are fused, and mechanical arm and spray gun parameters are dynamically adjusted; dividing operation sub-areas and distributing tasks based on robot capability characteristics to realize multi-machine cooperation; and fault redundancy control and multispectral imaging are added to optimize the coating quality. The system comprises a sensing module, a decision-making module, an execution module, a redundancy control module and a communication module. According to the invention, the uniformity of the complex curved surface coating, the multi-machine cooperation efficiency and the system anti-interference capability are improved, and the method is suitable for spraying large workpieces such as aircraft fuselages and high-speed rail vehicle bodies.

A land to air vehicle with lower extendable wings and upper extendible wings, a body, a front hood fan, a rear fan and wheels. The wheels include wheel bases, exterior tires circumscribing the wheel bases, and a fan wheel assembly within each wheel base. The wheel assembly includes extendible fans, a rotor outer rim with teeth for holding a stator inner rim, a propeller shroud configured to house a variety of fan blades, at least one fan within the propeller shroud, a hinge fixedly attached to the outer rotor rim and the propeller shroud, a wheel motor platform and a wheel motor. The hinge is structured to allow the propeller shroud with fans to extend distally from the wheel base interior to navigate the land to air vehicle.

An aircraft comprises a fuselage; wings; engines connected to the wings; a set of liquid hydrogen tanks; a vent located on the tail on the fuselage; a conduit system connecting the liquid hydrogen tanks to the vent; and a controller. The controller is configured to control the conduit system to remove gaseous hydrogen in the set of liquid hydrogen tanks to travel through the conduit system and exit at the vent in response to pressure in the set of liquid hydrogen tanks being greater than a specified tolerance.

The invention discloses a folding wing structure of an unmanned aerial vehicle, which comprises a rotating shaft embedded in a vehicle body, wherein a lower wing elastic sheet and an upper wing elastic sheet are mounted in an inner cavity of the rotating shaft from bottom to top, a first locking block and a second locking block are respectively arranged at the free ends of the lower wing elastic sheet and the upper wing elastic sheet, the first locking block and the second locking block are respectively matched with a first notch and a second notch which are formed in the rotating shaft, the outer side of the rotating shaft is sequentially sleeved with a lower wing and an upper wing from bottom to top, the upper surface of the lower wing and the lower surface of the upper wing are each provided with a groove, the two grooves are oppositely formed to form a torsional spring groove, a torsional spring is arranged in the torsional spring groove, and the upper inner sides of the lower wingand the upper wing are provided with a first locking groove and a second locking groove correspondingly; and the outer side of the rotating shaft is further sleeved with a roller bearing, a baffle isinstalled at the top of the rotating shaft, and the roller bearing is located between the upper wing and the baffle. The processing cost of the unmanned aerial vehicle is reduced, the folding wing structure is insensitive to the structural size, and the folding wing structure can adapt to a more miniaturized barrel-shooting unmanned aerial vehicle.

A craft is provided comprising: a propulsion system; a fuselage coupled with the propulsion system, wherein the fuselage is configured to carry a payload and fuel for the propulsion system; and a pre-assembled wing coupled with the fuselage; wherein the craft is designed to take-off without using a runway and does not have landing gear to land.

The embodiment of the invention provides a robot suitable for plant protection spraying operation in hills and mountains. The quadruped robot comprises a main body machine body and four independent leg structures which are connected to the main body machine body through joints and have multiple motion freedom degrees. The pesticide box is mounted on the main body; the pesticide pump is installed on the main machine body and comprises a pesticide suction opening and a pesticide injection opening, and the pesticide suction opening is communicated with a liquid outlet of the pesticide box through a first connecting pipeline; the mechanical arm is installed at the preset position of the main machine body through a base, the mechanical arm is in a multi-joint series connection mode, and the mechanical arm comprises a plurality of driving joints capable of rotating or swinging and a rigid connecting rod for connecting the joints. The stable moving and obstacle crossing ability is achieved through the four-foot structure, continuous pesticide supply is provided through the pesticide box and the pesticide pump, the precise spraying and metamorphic functions are achieved through the multi-degree-of-freedom mechanical arm, and therefore the excellent performance and effect are shown in plant protection spraying operation in hills and mountains.

Provided are: an aircraft that can fly stably even when water is discharged from a hose installed on the airframe thereof; and an aircraft system that uses the aircraft. This aircraft system comprises: a master aircraft 10; three slave aircrafts 20; and a remote control device 30 that is for making the aircraft fly as a unit. Each slave aircraft 20 has: four rotary blade portions that have propellers 221; and a suspending means 23 that is for suspending a prescribed part of a hose 50 that is for discharging water. The master aircraft has: four first rotary blade portions that have first propellers 121 that have been arranged to rotate in a horizontal plane; four second rotary blade portions that have second propellers 131 that have been arranged to rotate in a vertical plane; and a nozzle 15 on which a tip end part of the hose 50 is installed. The direction of the center axis of the nozzle 15 is parallel to the direction of the rotational axes of the second propellers 131.

A snakelike robot for internal inspection of small pipelines comprises a head machine body and a tail machine body which are connected through a cross universal joint. Three groups of crawling driving mechanisms are uniformly distributed and fixedly mounted on each of the head machine body and the tail machine body; a supporting shaft is fixedly installed at the front end of the head machine body, a rolling brush mechanism is rotationally installed on the supporting shaft, and a rolling brush driving mechanism is fixedly installed on one side of the supporting shaft. A sealed cabin is fixedly installed at the top end of a supporting shaft on the head machine body, and a camera assembly is fixedly installed in the sealed cabin. A cleaning mechanism for the sealed cabin is detachably and fixedly mounted on the rolling brush mechanism of the head machine body, and the cleaning mechanism is in rotating contact with the sealed cabin; according to the utility model, the problem that the camera assembly is blocked by foreign matters such as chippings in the pipeline is effectively avoided, and the shooting detection sight of the camera assembly is ensured; meanwhile, through the arrangement of the rolling brush mechanism, cleaning of the inner wall of the pipeline in the advancing process is achieved, and smooth crawling of the robot is guaranteed.

The utility model discloses a system for large-range high-efficiency detection of a building facade. The system comprises a wall-climbing robot and a remote controller, the wall-climbing robot comprises a robot body, a climbing module, a propeller propelling module, a detection module and a control module, the control module is in communication connection with the remote controller; and the control module is suitable for controlling the climbing module to drive the wall-climbing robot to climb or descend along the rope, controlling the propeller propelling module to propel the wall-climbing robot to be tightly attached to the building facade and controlling the detection module to carry out large-range damage detection on the building facade in the climbing or descending process of the wall-climbing robot under an instruction of the remote controller. According to the utility model, the wall-climbing robot is controlled to climb up and down stably on the vertical facade through the remote controller, and the large-range detection of the crack damage of the building facade is realized.

The invention provides a semi-folding wing automatic unfolding and locking device and an unmanned aerial vehicle. The locking device comprises a fuselage wing and a locking device, the folding wings are hinged to the fuselage wings; the hinge mechanism comprises a hinge shaft and a hinge torsion spring, the folding wings are hinged to the fuselage wings through the hinge shaft, the hinge torsion spring is arranged on the hinge shaft in a sleeving mode, the hinge torsion spring is connected with the folding wings and the fuselage wings, and when the folding wings are folded relative to the fuselage wings, the hinge torsion spring is in a deformation state; the first locking mechanism is arranged on the fuselage wings; the first locking mechanism is arranged on the folding wing, the second locking mechanism is arranged on the folding wing, the first locking mechanism is movably connected with the second locking mechanism, and when the folding wing is unfolded relative to the fuselage wing, the first locking mechanism and the second locking mechanism are in a locking state. Due to the fact that the fuselage wings are hinged to the folding wings through the hinge mechanisms, the semi-folding wings can be placed in a launching box with small width and regular appearance to be stored and launched in the folded state, and storage and transportation of the semi-folding wings are facilitated.

An aerial vehicle configured to fly with a load suspended therefrom includes a lift generator configured to generate lift for flight, a plurality of supports configured to support the load, an attachment to which the supports are attached, and a relay to relay and support the supports between the load and the attachment. One of the attachment and the relay is outward of, in an airframe of the aerial vehicle, an other one of the attachment and the relay in a plan view.

An undercarriage, a middle large rotor and a middle large motor are connected to the lower portion of a fuselage body and sequentially connected to the top of a middle small tower, and the right front portion, the left front portion, the left rear portion and the right rear portion of the fuselage body are correspondingly connected with a right front fuselage arm, a left front fuselage arm, a left rear fuselage arm, a right rear fuselage arm and a power assembly. The connecting line of the rotating centers of the rotors of the four power assemblies is square or rectangular, the rotating directions of the rotors of the power assemblies at the same opposite angles are the same, the rotating directions of the rotors of the power assemblies at different opposite angles are opposite, and the rotating faces of the two rotors opposite to the middle large rotor in rotating direction incline around the axes of the respective arms. The included angle between the rotating surfaces of the two rotors and the horizontal plane is an acute angle beta, the rotating surfaces of the two rotors with the same rotating direction as the middle large rotor incline around respective arm axes, the included angle between the rotating surfaces of the two rotors and the horizontal plane is an acute angle theta, beta is larger than theta, the reaction torque and the horizontal component torque of the rotors jointly drive the aircraft to steer, and the aircraft has the advantages of being long in endurance time, large in load and high in wind resistance. And a universal flight platform is formed.

The invention relates to the technical field of unmanned aerial vehicle control, in particular to an unmanned aerial vehicle dynamic obstacle avoidance method based on multi-sensor fusion. Comprising the steps of receiving an image sequence, a depth point cloud set, a pose state parameter and a flight speed parameter; calculating an illumination distortion gradient value and a speckle noise entropy value based on the image sequence and the depth point cloud set; performing coordinate registration and feature extraction on the image sequence, the depth point cloud set and the pose state parameter, and outputting a visual feature set and a radar feature set; generating a weighted visual feature set and a weighted radar feature set through a weight adjustment function, and generating a joint heterogeneous feature tensor through alignment splicing; and generating a body attitude and thrust control instruction by using the combined heterogeneous feature tensor through a probability prediction model and a model prediction control algorithm device. According to the method, through cross-domain multiplexing and deep coupling of the body physical parameters in the data stream, error accumulation and decision delay caused by multi-stage series calculation are avoided, and global performability of an obstacle avoidance task is facilitated.

According to the unmanned transport plane with the separable cargo hold, rapid replacement of different aviation task cabins can be achieved, a plane body longitudinal beam serves as a structure for bearing the overall weight of the plane, a locking structure used for locking the separable cargo hold is arranged at the bottom of the plane body longitudinal beam, and the separable cargo hold is of a universal module structure. The locking structure is opened after the separated cargo hold is supported, the airplane core structure composed of the airplane body longitudinal beams, the front airplane body, the rear airplane body and the airplane wings and the separated cargo hold are respectively replaced with different cargo holds, and the cargo hold structures of the same specification for bearing different tasks are replaced, so that high freight efficiency is achieved; the fuselage longitudinal beams are adopted as main bearing beams, the front fuselage and the rear fuselage only play a role in rectification and do not participate in bearing, the structural weight of the aircraft is reduced to the maximum extent, the loading capacity of the aircraft is greatly improved, meanwhile, standardized, universal and modular accessories are adopted, and all large components have interchangeability, so that the economical efficiency of the aircraft is improved.

A vertical take-off or landing (VTOL) aircraft is disclosed that includes a propulsion system comprising at least four tilting propulsion assemblies and two or more lifting propulsion assemblies. Actuation of the tilting mechanisms can convert the aircraft from a hover configuration, in which all propellers produce thrust generally upward to counteract the aircraft's weight, to a forward flight configuration, in which the four or more tilting propellers produce thrust generally in a forward direction parallel to the fuselage to overcome drag in cruise flight and the lifting propellers produce no thrust or a level of thrust generally less than that required in the hover configuration.

The invention belongs to the technical field of integrated test of airplanes and engines, and discloses a flow measurement method for coupling test of an airframe air inlet duct fan. The flow measuring method for the engine body air inlet duct fan coupling test comprises the steps that the pressure value of a pressure measuring point is calculated through CFD; calculating slope screening pressure measuring points; carrying out an air inlet channel wind tunnel test; training a neural network; carrying out an engine body air inlet duct fan integrated wind tunnel test; calculating a pressure correction coefficient; calculating a predicted flow coefficient; and correcting the flow coefficient. According to the flow measurement method for the engine body air inlet duct fan coupling test, the flow coefficient-surface pressure distribution matching characteristic of an air inlet duct is obtained through a wind tunnel test, and then the flow coefficient is obtained through the matching characteristic and the engine body surface and air inlet duct inner surface pressure distribution in an engine body air inlet duct fan integrated model; the method can accurately predict the air inlet flow and has engineering practical value.

The invention belongs to the technical field of unmanned aerial vehicles, and provides an omni-directional vision positioning system and method and an unmanned aerial vehicle, the omni-directional vision positioning system is installed on a fuselage of the unmanned aerial vehicle, and the omni-directional vision positioning system comprises an image acquisition device used for acquiring a real-time scene image in an omni-directional range in the flight process of the unmanned aerial vehicle; the inertial measurement sensor is connected with the image acquisition equipment and is used for synchronously acquiring motion state data of the unmanned aerial vehicle; the navigation system is connected with the image acquisition equipment and the inertial measurement sensor and is configured to execute at least one of distortion correction processing and feature extraction processing on the real-time scene image to obtain a processed image; and according to the motion state data and the processed image, determining current pose information of the unmanned aerial vehicle in a space coordinate system constructed by taking a take-off point of the unmanned aerial vehicle as an original point. The positioning precision and robustness of the unmanned aerial vehicle in a complex environment are improved, and the requirement of high-precision autonomous flight is met.

The invention relates to the technical field of quadruped robot control, and discloses a quadruped robot anti-disturbance motion control method based on a cost weight adaptive mechanism, which comprises the following steps: constructing a quadruped robot state equation based on a single rigid body dynamic model, a model prediction control problem with cost weight, friction cone constraint and gait constraint is formed through discretization; a cost weight self-adaptive mechanism based on disturbance observation is introduced on the basis of a model prediction control framework, the disturbance intensity is estimated by taking the attitude error of the fuselage and the corresponding change rate as disturbance observation values, and the cost weight corresponding to the attitude in the model prediction control problem is dynamically adjusted; by solving a model prediction control problem, an expected ground reaction force and a target state are calculated in real time, and motion control of the quadruped robot is realized in combination with a gait planner and a joint controller. According to the invention, the motion stability and anti-disturbance performance of the quadruped robot under external disturbance are improved based on a cost weight adaptive mechanism of disturbance observation.

The invention relates to a magnetic suspension air separation expansion machine system and an operation method thereof. The system comprises a base, a magnetic suspension bearing assembly, a rotor assembly and a control module. The magnetic suspension bearing assembly is arranged on the base, comprises an expansion end radial magnetic suspension bearing, a brake end radial magnetic suspension bearing and an axial thrust magnetic suspension bearing, and is used for supporting radial and axial forces of the rotor assembly; the rotor assembly is arranged in the machine body and connected with the machine body through the magnetic suspension bearing assembly, and non-contact suspension is achieved. The control module is electrically connected with the magnetic suspension bearing assembly and used for controlling the magnetic suspension bearing assembly to suspend the rotor. The operation method comprises the steps of self-checking before starting, electrifying to suspend the rotor, starting the air compressor to pressurize, adjusting flow to drive the expansion impeller, carrying out split-flow cooling on gas, and collecting data in real time to maintain stable suspension of the rotor. The device has the advantages of high efficiency, stability, energy conservation and the like and is suitable for the field of air separation.

The invention discloses an unmanned aerial vehicle suitable for microwave reconnaissance interference equipment and an equipment antenna arrangement method, and belongs to the field of unmanned aerial vehicles. The unmanned aerial vehicle comprises a fuselage, wings and an empennage. The fuselage comprises a fuselage head, a fuselage body and a fuselage tail. The wings adopt upper single wings and are mounted at the top of the fuselage; the empennage is installed at the tail of the fuselage. The head of the fuselage adopts a nose cover made of wave-transparent materials, a plurality of forward interference antennas are mounted in the nose cover, lateral interference antennas and reconnaissance antenna arrays are mounted on fuselage skins on two sides of a fuselage main body, a plurality of backward interference antennas are mounted in an engine cover made of wave-transparent materials at the tail of the fuselage, and propellers at the tail end of the unmanned aerial vehicle are made of wave-transparent materials. Through the conformal design of the unmanned aerial vehicle and the antenna, the influence of the antenna on the aerodynamic performance of the unmanned aerial vehicle is reduced to the maximum extent, the aerodynamic layout of the unmanned aerial vehicle is optimized by combining the antenna arrangement, and the task antenna is not shielded.

The utility model relates to a cross-medium aircraft convenient for adjusting flight attitude, which comprises a water-drop-shaped centrosymmetric aircraft body with an aircraft head and an aircraft body, and the aircraft head of the aircraft body is positioned on the front side of the aircraft body. The aircraft body is further provided with an underwater power mechanism used for providing underwater flight power and an air power mechanism used for providing air flight power, the side portion of the aircraft body is connected with four or six fixed wings, slip-flow rudders controlled to rotate are arranged on the rear edges of the fixed wings, and the rotating axes of the slip-flow rudders are parallel to the wing faces of the fixed wings and perpendicular to the long axis of the aircraft body. Each fixed wing is provided with a slipstream rudder, so that the cross-medium aircraft can be conveniently controlled to pitch, roll, yaw and other actions, and the cross-medium aircraft can be conveniently switched between a hovering flight attitude and a level flight attitude.

The invention relates to a tilting rotor unmanned aerial vehicle, in particular to an unmanned aerial vehicle combining a flying wing type structure and a multi-shaft tilting rotor. A completely fused flying wing type fuselage is formed by a low-speed wing shape, and no other fuselage characteristics exist except that bilaterally symmetrical wings are directly connected and fused in the middle; a left tilting rotor frame and a right tilting rotor frame are mounted at the left end and the right end of the flying wing type fuselage respectively; at least one to at most six brackets extend from the front part and the rear part respectively, and symmetrical tilting rotor frames are mounted on the brackets; motors and paddles are mounted on all the tilting rotor frames; and an undercarriage is mounted below the flying wing type fuselage. During tilting, a single motor and a single blade are not tilted, but a plurality of power units formed by one or more motors and blades are tilted in groups through a tilting rotor frame. Therefore, the structure is simplified, and the safety and the maneuverability are improved. The landing gear has two types, one type is a foot type landing gear suitable for vertical take-off and landing in a soft site, and the other type is a wheel type landing gear suitable for short-track take-off and landing in a hardened site.

The utility model discloses a meteorological operation folding wing unmanned aerial vehicle which comprises a hollow fuselage, a nose cover, an electronic speed controller, a propeller, a front wing, a rear wing, a driving motor, a vertical fin, a battery, a flight control navigator, a communication module, an antenna module and a meteorological operation consumable device. The machine head cover is fixed to the head end of the machine body, and the electronic speed controller is fixed to the machine head cover. The propeller is fixed to the end, away from the fuselage, of the nose cover. The front wings are arranged above the head end of the fuselage and are rotationally connected with the fuselage; the vertical tails are arranged on the two opposite sides of the tail end of the fuselage and rotationally connected with the fuselage. The rear wing is arranged below the tail end of the fuselage and is rotationally connected with the fuselage; the driving motor is connected with the propeller; the electronic speed controller is electrically connected with the driving motor and the battery, and the electronic speed controller is used for providing electric power for driving the driving motor to rotate. The folding-wing unmanned aerial vehicle for meteorological operation can improve the effect of artificial rainfall.

The invention discloses unsaturated polyester resin for an unmanned aerial vehicle fuselage and a preparation method of the unsaturated polyester resin, and relates to the field of high polymer materials. When the unsaturated polyester resin for the unmanned aerial vehicle fuselage is prepared, a flame-retardant monomer reacts with 2-hydroxy-5-(hydroxymethyl) benzaldehyde to prepare a modified flame-retardant monomer; reacting cellulose with acrylic acid to obtain pre-modified cellulose; the pre-modified cellulose, 1-allyl-1, 1, 3, 3-tetramethyldisiloxane and chloroplatinic acid are subjected to a reaction, and modified cellulose is prepared; maleic anhydride, 5-(1H-imidazole-1-yl)-1, 3-phthalic acid, propylene glycol and the modified flame-retardant monomer are subjected to a reaction, and pre-polyester is prepared; and stirring the pre-polyester, zinc chloride, modified cellulose, benzophenone peroxide and styrene to obtain the anti-aging coating. The prepared unsaturated polyester resin for the unmanned aerial vehicle fuselage has good anti-aging, self-repairing, flame-retardant and self-cleaning performance.

The invention discloses a deformable wing with the characteristics of large unfolding-folding ratio and high bearing capacity. The deformable wing comprises a bearing structure, a driving mechanism, a wing surface dimensional structure and an accessory structure, the bearing structure comprises a plurality of groups of telescopic mechanisms, wing ribs and corner boxes; the accessory structure comprises a mounting plate, and the mounting plate is connected with the machine body; each group of telescopic mechanisms comprises a plurality of stages of telescopic rods which are arranged along the chord length direction and are fixed on the mounting plate; the wing ribs are arranged in the wingspan direction and are connected with the multi-stage telescopic rods through the angle boxes to form a wing framework; the driving mechanism penetrates through the hollow parts of the wing ribs, and two ends of the driving mechanism are respectively connected with the mounting plate and the wing rib on the outermost side of the wing; the wing skeleton is externally coated with the wing surface dimensional structure to form a wing shape.

The invention discloses a reinforcement learning driven hypersonic variant aircraft reentry trajectory optimization method, and belongs to the field of hypersonic aircraft and trajectory optimization. The implementation method comprises the following steps: establishing a waverider-like hypersonic variant aircraft parameterized model comprising a waverider fuselage and two deformed wings based on a category shape conversion (CST) method; the influence of factors such as flight height H, flight Mach number Ma, attack angle alpha, inner wing section sweepback x1, outer wing section sweepback x2 and the like is considered, a Kriging agent model is established, and the aerodynamic performance of the hypersonic speed variant aircraft is obtained. Based on a DDPG reinforcement learning algorithm, according to flight characteristics of a hypersonic speed variant aircraft in a reentry section flight process, and in combination with expert experience and dynamics, start and end states, heat flow, overload and dynamic pressure constraints in the flight process, training of a reentry section trajectory optimization model driven by the DDPG algorithm is realized. Through flight simulation prediction of different hypersonic speed variant aircrafts, variant decisions are given in real time, and reentry section trajectory optimization of the hypersonic speed variant aircrafts is realized.

The invention belongs to the technical field of boundary layer detection, and particularly relates to an unmanned aerial vehicle atmospheric boundary layer environment autonomous detection system and method.The unmanned aerial vehicle atmospheric boundary layer environment autonomous detection system comprises an unmanned aerial vehicle platform, a detection load subsystem, a flight control subsystem, a data processing subsystem and a ground station subsystem, and the unmanned aerial vehicle platform comprises an unmanned aerial vehicle, a flight control module and a communication module; the unmanned aerial vehicle is made of light-weight composite materials and has good structural strength and weather resistance, an equipment cabin, a battery cabin and a load cabin are arranged in a vehicle body, modular design is adopted, maintenance and upgrading are convenient, in addition, the unmanned aerial vehicle is further provided with an energy module and a power module, and energy and power are provided for the unmanned aerial vehicle; the flight control module comprises a flight control computer, an inertial measurement unit I MU and a GPS / Beidou dual-mode receiver. The unmanned aerial vehicle can effectively avoid movable obstacles such as birds in an atmospheric boundary layer and a strong turbulence area when carrying out environment detection, and the flight safety of the unmanned aerial vehicle during detection is guaranteed.

The invention relates to the technical field of unmanned aerial vehicle flight control, in particular to an unmanned aerial vehicle flight control and monitoring integrated system for power transmission tower inspection, and the system comprises a flight monitoring module which is used for obtaining the wind speed in the environment where an unmanned aerial vehicle is located, the rotating speed of each rotor wing of the unmanned aerial vehicle, and the inclination angle of the unmanned aerial vehicle body; the flight control module is used for acquiring the disturbance value of each rotary wing in each preset time period and the inclination fluctuation degree of the unmanned aerial vehicle body; disturbance factors of the positions of all the rotary wings at the current moment are obtained, and the power of brushless motors in all the rotary wings at the current moment is adjusted; the flight obstacle avoidance module is used for planning a flight path for avoiding obstacles; the tower monitoring module is used for monitoring damage information of the transmission tower; and the wireless communication module is used for transmitting the damage information to a ground station. By correcting the flight attitude of the unmanned aerial vehicle, the stability of the fuselage during flight of the unmanned aerial vehicle is improved, and then the inspection efficiency and quality of the transmission tower are improved.

The invention discloses a measurement field and key feature constraint-based point cloud splicing method, which comprises the following steps of: firstly, constructing a high-precision measurement field, carrying out layout optimization on ERS points of the measurement field, and establishing a high-precision global coordinate system; secondly, recovering a fuselage coordinate system by using a high-precision measurement field and combining an airplane digital model, and realizing initial alignment of multi-station point clouds; secondly, on the basis of initial point cloud alignment, point cloud high-precision splicing is achieved based on multi-scale feature constraints, and preprocessing is carried out; and finally, performing data quality optimization on the spliced overall point cloud based on global multi-scale filtering and an adaptive overlapping region removal method, and finally obtaining a high-quality point cloud. According to the method provided by the invention, high-precision splicing of the large-size measurement object scanning point cloud is realized, and compared with the prior art, the splicing precision is higher, the splicing speed is higher, and the problem that high-precision splicing of large-size object scanning data is difficult is solved.

The present application discloses a welding gun for U-shaped dense tubes, which relates to the field of welding equipment, and includes a fuselage and a machine head. The machine head is arranged at one end of the fuselage, and a receiving cavity is formed in the machine head. The receiving cavity is arranged at an end away from the fuselage, and the U-shaped tube and two straight tubes connected to the U-shaped tube extend from the open end of the receiving cavity into the receiving cavity of the machine head, and the end wall of the machine head away from the fuselage abuts against the outer wall of the heat exchanger chassis, and a welding mechanism is arranged on one side of the machine head located in the receiving cavity, and the welding mechanism welds the plug-in joint of the U-shaped tube and the straight tube. The present application uses the fuselage to drive the machine head to move, and the machine head is arranged on a U-shaped tube and two straight tubes through the receiving cavity cover, so as to weld the plug-in joint of the U-shaped tube and a straight tube, thereby facilitating the welding of the dense tube bundle of the heat exchanger.