3103 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.

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.

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.

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 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 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.

A hydrogen aircraft includes: an airframe including a fuselage and a wing; at least one propulsion system fixed to the airframe; a pressurized chamber disposed inside the fuselage; a pressure bulkhead that is disposed at a rear part of the pressurized chamber and has strength to withstand pressurization of the pressurized chamber; a hydrogen tank that is disposed in an accommodation section and stores liquid hydrogen, the accommodation section being installed behind the pressure bulkhead, outside the pressurized chamber, and inside the fuselage; and a supply line that supplies the liquid hydrogen stored in the hydrogen tank to the propulsion system.

The application relates to the field of aviation deicing technology, and particularly discloses a low-energy-consumption deicing system and control method for limited onboard energy, which comprises: a plurality of deicing subzones, which are arranged symmetrically along an aircraft body axis; each deicing subzone is provided with independent heating devices and vibration devices; the heating devices are used for melting ice layers to reduce the adhesion between the ice layers and the skin; the vibration devices are used for making the skin produce pulse vibration so that the ice layers on the skin fall off; and a subzone control module is used for carrying out subzone round control on the plurality of deicing subzones, so that the plurality of deicing subzones carry out deicing work in turns, and the deicing subzones carrying out deicing at the same time are symmetric along the aircraft body axis. The application greatly reduces the energy demand of the deicing technology while ensuring the deicing efficiency.

The claimed invention discloses a catapult launcher for a fixed-wing unmanned aerial vehicle (UAV), the launcher comprises a starting rail having an I-beam cross-section that comprises two sections that are foldable / unfoldable and mounted on adjustable supports, a carriage that is equipped with wheels that are configured to interact with an internal surface and with an external surface of the starting rail and that is equipped with a UAV interaction mechanism that is represented by fasteners and joint elements that interact with adapters that are fixed to a UAV's fuselage and made in a form of two plates, and a lower edge of the plates is produced with grooves so as to enable interaction with the fasteners and with detents in a form of hooks that are tangent to joint elements. The launcher is equipped with elastic cords that are symmetrically arranged along the starting rail and fixed to the carriage and to the starting rail, and with a release device. A beginning of the starting rail is provided with an inclined section, and the release device joins to the carriage on the inclined section and the carriage to the UAV, their reliable fixation and start of the carriage movement upon activation of the release device. This configuration ensures reliability and portability of the launcher as well as a safe UAV launch at a short acceleration distance.

The invention discloses a variable-elongation sweepback wing scaling wing deformation device and a deformation method thereof, and relates to the technical field of deformation mechanism design of variant aircrafts, the aerodynamic configuration of a variable-elongation sweepback wing scaling wing is composed of a fuselage section, a sweepback fixed section and a telescopic section, the fuselage section is composed of a fuselage shell and an upper hatch cover, and the upper hatch cover is composed of an upper hatch cover and a lower hatch cover. The sweepback fixed section is composed of an upper wing surface shell and a lower wing surface shell, the telescopic section is an independent telescopic wing shell, the fuselage section and the shell of the sweepback wing fixed section are fixed through a sunk screw, and therefore it is guaranteed that the aerodynamic shape meets the aerodynamic design requirement; the linear guide rail is fixedly connected to the lower wing surface shell, and the telescopic wing can move along the linear guide rail; electric push rods are used for driving and are fixed in the fuselage, and inner rods of the electric push rods are connected with the telescopic wings, so that the telescopic wings are controlled to move along the linear guide rails; according to the method, the aerodynamic configuration of the scaled wing is segmented, so that the aerodynamic configuration and internal movement components of the scaled wing are mounted, and the extension length of the wing is changed by driving the telescopic wing to move along the linear guide rail through the electric push rod, so that the lift-drag ratio of the aircraft in the flying process is changed; the method can provide an implementation method for the equivalent scaling experiment of the deformable wing.

A wing fuselage joint for an aircraft having joining members which include a first configuration and a second configuration. The joining members of the first configuration include a platform and bracket configured to pivot in a lateral plane and translate in a longitudinal direction. The joining members of the second configuration include a platform and bracket configured to pivot in a longitudinal plane and translate in a lateral direction. The joining members of either configuration join the fuselage structure and the spar of an aircraft together.

Disclosed here are unmanned aerial vehicle embodiments including some embodiments having a fuselage, tail, and wings including example embodiments with an adaptable payload section, alternatively or additionally, modular flight surfaces including tail, wings and motor, alternatively or additionally the vehicle configured for short landings with reversible thrust, alternatively or additionally, the unmanned aerial vehicle configured with direct connection to moveable flight control surfaces.

The utility model discloses a water area propeller and water area movable equipment. The water area propeller comprises a machine body, an operation device and a locking module. A propelling device used for outputting propelling force for propelling the water area carrier to move is arranged at the end of the machine body. The operation device is rotationally connected to the end, away from the propelling device, of the fuselage body through a transverse connecting shaft, can be folded or unfolded with the fuselage body and is used for being operated by a user to control the water area propeller to operate. The locking module comprises a first locking unit and a second locking unit, and the first locking unit and the second locking unit are arranged in the operation device and the machine body respectively. The operation device and the machine body are locked by the meshing force between the first locking unit and the second locking unit at the position between the transverse connecting shaft and the propelling device, and the operation device forms a suspension beam capable of loading the machine body between the transverse connecting shaft and the locking module.

The invention relates to a foldable tilting four-rotor aircraft concept scheme design method based on task requirements. According to the method, task demand indexes such as voyage, cruising speed, task load, cruising height and hovering height are used as input, and the total design weight, power device parameters, rotor wing geometric parameters and fuselage and wing parameters of the aircraft are determined in sequence; and performance indexes such as hovering lift limit, level flight speed, climbing performance, practical lift limit, voyage and endurance in a helicopter mode and a fixed wing mode are calculated and analyzed respectively. And performing matching judgment on a performance calculation result and a task requirement, and performing iterative adjustment on key parameters such as a paddle disc load when the task requirement is not met, so as to form a closed-loop concept design process driven by the task requirement. According to the method, the vertical take-off and landing capacity and the fixed wing cruising performance can be systematically considered in the conceptual design stage, and systematicness, repeatability and engineering feasibility of scheme design of the folding type tilting four-rotor aircraft are improved.

The invention discloses a vertical take-off and landing aircraft with improved linked wing tilting ducted fan layout, and belongs to the technical field of pneumatic and power systems of vertical take-off and landing aircrafts. The aircraft comprises an improved joined wing structure layout and a tilting ducted fan system integrally designed with the improved joined wing structure layout. The improved joined wing structure layout comprises a front wing, a rear wing, a vertical connecting wing surface, a vertical stabilizer and a fuselage. The front wing is divided into a front wing inner side wing surface and a front wing outer side wing surface by a vertical connecting wing surface, and adopts a sweepback wing belt dihedral structure; two ends of the rear wing are respectively arranged above the front wing through a vertical connecting wing surface, the middle part of the rear wing is arranged above the tail part of the fuselage through a vertical stabilizer, and the rear wing adopts a forward swept wing structure; the tilting ducted fan system comprises a front wing integrated ducted fan flap 7, a rear wing integrated ducted fan lifting control surface 9 and a tail propelling ducted fan 16. The core problems that pitching of a traditional connected wing is out of control, the weight of a tilting structure is large, and the energy efficiency is low are solved.

The invention discloses a rotorcraft flutter model design and test method for a low-speed wind tunnel test, and belongs to the technical field of low-speed wind tunnel tests. The method solves the difficult problem of how to separate key nacelle modes in rotation flutter of the tilt rotorcraft. A fuselage is connected with the side wall of a wind tunnel, wings are of a double-girder straight wing structure, one end of each wing is connected with the fuselage, the other end of each wing is connected with a nacelle mechanism, a rotating paddle is connected with the nacelle mechanism, and a motor, a yawing mechanism and a pitching mechanism are arranged in the nacelle mechanism. The yawing mechanism and the pitching mechanism are connected in a matched mode to achieve decoupling in the yawing direction and the pitching direction of the model, the motor is installed on the pitching mechanism, and the execution end of the motor is connected with a main shaft of the rotating paddle. According to the rotorcraft flutter model design and test method for the low-speed wind tunnel test, decoupling of modes in the pitching direction and the yawing direction of the model can be achieved, the flutter characteristic of the model is shown as coupling of the pitching mode and the yawing mode of a nacelle, and the test requirement of the model wind tunnel test is met.

The invention is a flying object equipped with a loading part holding a delivery payload, and the loading part or the delivery payload is attached to an airframe so that the loading part or the delivery payload is tilted backward in the forward and backward direction in a landing state or hovering state. The loading part or delivery payload is attached to the airframe so that the loading part or delivery payload is substantially horizontal during cruising.

The invention provides a system and a method for realizing air end tool switching, and belongs to the technical field of air docking of unmanned aerial vehicles. The system provided by the invention comprises an operation unmanned aerial vehicle, the operation unmanned aerial vehicle is provided with a terminal tool, the operation unmanned aerial vehicle is configured to obtain positioning information of a toolbox unmanned aerial vehicle below and size information of a plurality of replacement tools on the toolbox unmanned aerial vehicle in the air, and a target replacement tool is determined based on the size information, realizing end tool switching based on contact between the positioning information and the target replacement tool; a plurality of replacement tools are arranged on the top plane of the tool box unmanned aerial vehicle, and when the operation unmanned aerial vehicle makes contact with the tool box unmanned aerial vehicle to replace the tail end tools, the tool box unmanned aerial vehicle body and the operation unmanned aerial vehicle body are in flexible butt joint. According to the system and the method for realizing air terminal tool switching provided by the invention, the air flexible docking of the unmanned aerial vehicle can be realized.

The utility model belongs to the technical field of flexible structure design, and particularly relates to a perimeter-variable fuselage frame structure which comprises sliding groove sections, sliding key sections, corrugated beams, height-variable supporting columns and length-variable supporting rods. The corrugated beams are arranged on the outer sides of the sliding key sections and the sliding groove sections and are provided with wave crest and wave trough structures; the sliding key sections and the sliding groove sections are located on the inner sides of the corrugated beams, arranged at intervals and distributed in a staggered mode. The corrugated beams, the sliding key sections and the sliding groove sections are all of arc-shaped structures, and wave crests and wave troughs of the corrugated beams are arranged in the radial direction of the arc-shaped structures; the sliding key section and the sliding groove section are mutually nested to form an arc-shaped supporting sliding way, and the wave trough of the corrugated beam slides on the arc-shaped supporting sliding way; the height-variable supporting column and the length-variable supporting rod are hinged to the two ends of the sliding key section respectively. The shape of the fuselage can be greatly changed, the large-size fuselage can provide a large space to carry more fuel, and the small-size fuselage is beneficial for reducing flight resistance and improving the fuel utilization rate.

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 land leveler automatic control and guidance method and system based on Beidou high-precision positioning. The method comprises the following steps: acquiring comprehensive state information of a land leveler including a three-dimensional position, a course, an attitude and a real-time elevation of a scraper knife; outputting future state parameters of a scraper knife elevation adjusting mechanism and a machine body steering mechanism of the land leveler in the rolling time domain through a preset land leveler kinematics model on the basis of the comprehensive state information and the current target working plane design information; based on the future state parameters, determining an optimal pre-control instruction sequence for a scraper knife elevation adjusting mechanism and a fuselage steering mechanism through a multi-objective optimization mode; and the optimal pre-control instruction sequence is sent to an electro-hydraulic control system to drive an execution mechanism to act. Complex factors such as topographic changes and fuselage dynamics coupling can be effectively coped with by predicting future states by adopting a kinematic model and prospectively generating a coordination control instruction, and the accuracy and smoothness of scraper knife control in the dynamic operation process are ensured.

The utility model discloses a water area propeller and water area movable equipment. The water area propeller comprises a machine body, an operation device and a locking module. A propelling device used for outputting propelling force for propelling the water area carrier to move is arranged at the end of the machine body. The operation device is rotationally connected to the end, away from the propelling device, of the fuselage body through a transverse connecting shaft, can be folded or unfolded with the fuselage body and is used for being operated by a user to control the water area propeller to operate. The locking module comprises a first locking unit and a second locking unit, and the first locking unit and the second locking unit are arranged in the operation device and the machine body respectively. The suction force between the first locking unit and the second locking unit of the locking module locks the operating device and the fuselage body at the position between the transverse connecting shaft and the propelling device, and the operating device forms a cantilever beam capable of loading the fuselage body between the transverse connecting shaft and the locking module.

The utility model relates to the technical field of storage and transportation of unmanned aerial vehicles, in particular to a container for storage and transportation of unmanned aerial vehicles, which comprises a container body, the container body is provided with a hollow inner cavity and a bracket for placing the unmanned aerial vehicles, and the bracket comprises a fuselage wing bracket and an empennage bracket; lifting supporting legs are installed on stand columns at the four corners of the box body. By the adoption of the container, the problem that loading and unloading of the container are inconvenient is effectively solved, loading and unloading of the container can be completed without a crane under the condition of field operation, and the container is simple and practical in structure.

The invention relates to the technical field of unmanned aerial vehicles, in particular to a passive tilting wing unmanned aerial vehicle which comprises a vehicle body, wings, a locking mechanism, a vertical empennage, a thrust power assembly, a posture regulation and control power assembly and a controller, and the thrust power assembly, the posture regulation and control power assembly and the locking mechanism are all electrically connected with the controller. The locking mechanism is responsible for locking angles of the wings in a vertical take-off and landing state and a cruising flight state, the thrust power assembly is arranged on the wings, the wings are rotationally connected with the fuselage, and the thrust power assembly is responsible for generating lift force for vertical take-off and landing and thrust force for cruising flight. The device can also be used for providing underwater thrust during water surface navigation; the passive tilting wing unmanned aerial vehicle can solve the technical problems that an existing tilting wing aircraft is heavy in tilting mechanism, poor in loading capacity, complex in aerodynamic characteristic in the tilting process, large in robustness control difficulty, poor in stability and the like.

An outboard propulsion unit (10) mountable on a watercraft structure (3) such as a transom comprises a main body (12, 14) and a propulsion leg (16) carrying a thrust generator (18) and being rotatable relative to the main body for steering. The propulsion unit (10) comprises a helical actuator (32) for rotating the propulsion leg relative to the main body. This provides for a more compact motor with a lower body, which allows the motor to be tilted horizontally aft of the transom and facilitates towing.

An aircraft structure part having a stacked arrangement of layers with the layers being one of an at least first doubler and a basic layer of the outer skin of an aircraft fuselage, with the first doubler and the basic layer being bonded by a first intermediate bond film layer to form a step-shaped configuration of the aircraft structure part, wherein the first doubler includes a first fiber prepreg layer, in particular glass fiber prepreg layer, arranged at the perimeter of the first doubler and wherein the first fiber prepreg layer is bonded to the basic layer by at least one first bond-film segment deposited adjacent to the first fiber prepreg layer in a first wedge-shaped element at least partially incorporating the first fiber prepreg layer. A method is disclosed for providing an aircraft structure part and an aircraft fuselage provided with the aircraft structure part.

The present invention relates to a vertical take-off and landing (VTOL) aircraft featuring a central fuselage and at least two power units. Each power unit is connected to at least two separate lifting rotors via transmission lines, ensuring that each power unit is linked to at least two rotors diametrically opposed relative to the centre of gravity of the aircraft. The lifting rotors might be driven by power transmission lines of hydrostatic type. The power units on either side might be housed in separate pods which might be incorporated into the main fuselage or arranged as separate pods. These separate pods might also function as floats / pontoons for the aircraft to land, take-off and manoeuvre on water.

The invention discloses a fixed-wing unmanned aerial vehicle rocket separation mechanism which comprises a boosting limiting device arranged on a boosting rocket, the boosting limiting device comprises a boosting limiting block fixedly connected with the bottom of an unmanned aerial vehicle and provided with a through hole, and a boosting limiting taper pin fixed in the through hole, and one end of the boosting limiting taper pin forms a conical end face; the boosting limiting device further comprises a conical groove which is formed in the boosting rocket and matched with the conical end face. In the boosting process, the conical end face and the conical groove form surface contact and abut against and are attached, it is guaranteed that thrust is evenly transmitted, the stress concentration risk of the fuselage is reduced, meanwhile, interference of non-directional airflow in the boosting process is counteracted, and the situation that the attitude of the unmanned aerial vehicle is out of control is avoided. And after boosting is completed, unpowered natural separation of the unmanned aerial vehicle and the boosting limiting device is achieved through the resistance difference of air to the unmanned aerial vehicle and the boosting limiting device, the conical groove guides the conical end face, additional driving parts are not needed, the structure is simplified, and the flight safety of the separated unmanned aerial vehicle is improved.