231 results about "Dirigible airship" patented technology

The invention relates to the technical field of intelligent inspection of power equipment, and particularly discloses a power transmission line inspection system based on an autonomous correction long-endurance unmanned airship. The system aims to solve the problems of short endurance, small operation radius, single image angle, intermittent operation, leak detection, low precision, poor environmental adaptability and the like caused by dependence on manpower or GPS navigation in the conventional unmanned aerial vehicle inspection. The system comprises an energy supply module, a data acquisition module, an intelligent control module and a communication and data return module. Wherein the energy supply module is integrated with a solar energy collection, storage and intelligent scheduling unit to realize day-and-night continuous energy supply; the intelligent control module adopts an RT-DETR visual algorithm to identify a tower in real time, performs automatic deviation correction by fusing pose information, and accurately tracks a preset track; the data acquisition module supports multi-angle high-definition imaging, and the communication module guarantees real-time data return. And high-precision unmanned inspection with ultra-long endurance, full-automatic and wide-area continuous coverage is integrally realized.

The invention relates to an indoor airship-oriented finite time trajectory tracking control system, platform and method, the system comprises an airship dynamic model, a disturbance estimation module, a sliding mode filter and a self-adaptive controller, the airship dynamic model is formed by constructing a motion stipulation inertial coordinate system and an airship body coordinate system of an airship; the disturbance estimation module estimates unknown disturbance based on a double-layer neural network according to an airship dynamic model and updates the network in real time; the sliding mode filter estimates the influence of noise on the motion speed of the airship according to the unknown disturbance condition of the airship and updates the network in real time; the adaptive controller adjusts the virtual control input of the airship motion trail by controlling the convergence condition of the tracking error within the finite time; according to the method, the disturbance problem caused by uncertainty and dead zones in the airship and the deviation problem of speed signal estimation caused by noise are solved.

The invention discloses a lifting device and method for storage and transfer of an airship pod, and relates to the technical field of storage and transfer of airship pods.The lifting device comprises an upper bracket, two lifting driving assemblies, a middle support, a damping spring, a base, four wheels and a traction rod; through the modular truss structure design, the bearing capacity and the lightweight requirement are both considered; a multi-dimensional vibration reduction system is formed by the vibration reduction springs which are arranged horizontally, longitudinally and transversely and the soft rubber buffer cushion, and the structure and function integrity of the pod in the storage and transfer process can be effectively protected by matching with the flexible moving and locking functions of the universal wheels with brakes; the lifting driving assembly adopts worm and gear transmission to achieve stable lifting and + / -15-degree pitch angle adjustment, an operating hand wheel designed in an ergonomic mode is combined, electric drive is matched, and the requirement for precise adjustment and control of pods is met. And the operation efficiency is greatly improved through the quick disassembly and assembly design of the positioning and fixing assembly and the traction rod.

The invention discloses an airship type unmanned aerial vehicle inspection system and inspection method, and belongs to the field of inspection unmanned aerial vehicles. The system comprises a laser radar, an image acquisition device, an airship capsule filled with helium, a standby safety airbag, a communication module and a ground control center, in the method, the ground control center sets an inspection path and issues the inspection path, and the unmanned aerial vehicle flies according to a preset path. During fault detection, the high-definition camera collects images to recognize line cracks and broken strands, the thermal infrared imager monitors the joint temperature, the gas sensor detects abnormal gas, and multi-source data fusion assists in defect positioning. The routing inspection takes a starting point-terminal point connecting line of a power transmission line as a reference, identifies main obstacles and surrounding nodes to perform global planning, performs key routing inspection on a risk area in combination with historical data, and initializes and guides a flight direction through a Q value to reduce invalid exploration. The four-rotor unmanned aerial vehicle solves the problems of short flight time and poor stability of a four-rotor unmanned aerial vehicle, improves the inspection stability and cruising ability, and improves the inspection efficiency of a power transmission line and the reliability of a power system.

The invention belongs to the technical field of flight test, and discloses a cockpit vision field evaluation test flight method suitable for a troposphere manned airship, which comprises the following steps: selecting an airship test condition; the airship climbs to a preset field height and keeps level flight; a preset flight test action is completed; and commenting by a flight tester, and filling in a cockpit vision field commenting card. According to the method, the blank of the flight test method for evaluating the visual field of the cockpit of the troposphere manned airship with the vector propulsion system is filled, and the flight test efficiency and the flight test quality of the manned airship are improved.

An Internet-of-Things-based management system and method for transmission of airship data. In the method, a state prediction module performs comprehensive calculation on multi-source data on the basis of the positive and negative correlation of the multi-source data, and then generates an airship index, and predicts the flight state of an airship by means of a comparison result between the airship index and an anomaly threshold value; when it is predicted that the flight state of the airship is poor, a remote control platform automatically takes over a flight control module, and an airship base station operator controls the use of the flight control module by means of the remote control platform; when it is predicted that the flight state of the airship is poor, the remote control platform first searches for the nearest airship base station to the airship; and if the airship base station meets an airship landing condition, the airship base station operator can control the airship to land at the nearest base station. When an airship flies, multi-source data is effectively analyzed to predict the flight state of the airship, so that the airship can be controlled and managed in a timely manner before the airship is abnormal, thereby ensuring the safe use of the airship.

Unmanned and remotely controlled airship constituted from system of multirotor combined with inflatable envelope. The airship may be lifted / powered by a power system comprising three or more rotors. In some embodiments, the airship may be constructed using rods, connectors, the main system / control box and the rotors. The airship system may have a systemic symmetry for weight distribution and flight control and may be, for example, a symmetric ellipsoid envelope / blimp.

The invention discloses a novel solar cell system and method suitable for an airship. The system comprises an electrochromic layer used for changing light transmittance, a solar cell array integrated on the airship and a voltage control module. Wherein the electrochromic layer is physically connected with the solar cell array, the electrochromic layer covers the surface of the solar cell array, and the voltage control module is electrically connected with the electrochromic layer. Therefore, by adopting the embodiment of the invention, the problems of overheat and overpressure of the capsule body can be reduced, meanwhile, the power generation efficiency of the solar cell is improved, damage to a skin material of the capsule body of the airship is avoided, and the service life of the airship is prolonged.

The invention provides a deck type helium airship unmanned aerial vehicle platform which comprises an unmanned aerial vehicle platform body and further comprises two air bags arranged in parallel left and right, at least two sets of distributed propelling units and an energy module. The unmanned aerial vehicle platform is fixed between the two air bags, the two air bags are connected with each other through a rigid connecting structure and keep relative positions fixed, a balance weight storage part is arranged at the bottom of the unmanned aerial vehicle platform, and the unmanned aerial vehicle platform is provided with a bin door communicating with the balance weight storage part and a berth used for taking off and landing of an unmanned aerial vehicle. The system can be used as aerial mother port cluster operation and maintenance, and full-process automatic management of receiving, launching, charging and data interaction of the unmanned aerial vehicle is realized.

The invention discloses a stratospheric airship structure optimization design method and a stratospheric airship structure optimization design system based on joint simulation, and aims to solve the problems of long design period, low efficiency and the like caused by consideration of optimal aerodynamic performance due to size or volume limitation in existing airship design. According to the method, the shape of a capsule body is set through Python with a Bezier curve method, the shape of an empennage is set through parameterized design, constraint conditions are output, and three-dimensional CAD software is driven to automatically generate an airship shape model; computational fluid dynamics software is used for completing pneumatic simulation and exporting a report, after Python format conversion, engineering simulation optimization software is imported to build an optimization platform, optimization design is carried out with optimal pneumatic performance as a target in combination with constraint conditions, and finally, optimal structure parameters are verified and output. According to the method, full-process automation from parametric modeling, pneumatic simulation to optimization verification is achieved, the design period is shortened, the efficiency and precision of stratospheric airship structure optimization are improved, and it is ensured that a shape scheme with the optimal pneumatic performance is obtained.

Modular flying platform including an airship body defining an internal space and configured to achieve buoyancy, an internal structure supporting a transfer channel, an attachment mechanism positioned on the transfer channel to detachably connect with a second platform. The transfer channel is configured to permit transfer therethrough of a payload between the flying platforms when securely connected. A chain of modular flying platforms with one or more motors mounted to the airship body to control motion thereof. A method for managing a chain of modular flying platforms includes deploying a plurality of platforms, connecting the platforms to form the chain, transferring a payload through channels of the connected platforms and distributing at least one of propulsion, electrical power and computing across the chain.

The invention discloses an aerial real-time fire early warning and intelligent decision-making method and system for a tethered airship, and belongs to the technical field of unmanned aerial vehicle intelligent monitoring and early warning, and the method comprises the following steps: synchronously collecting a multi-dimensional data stream of a monitoring area; after space-time alignment processing is carried out on the multi-dimensional data stream, spatial features in the visible light image are extracted, and time sequence features of thermal radiation distribution data, vegetation indexes and key gas concentration data are extracted; determining the current confidence of the spatial features and the time sequence features through an attention mechanism according to the environment context information, determining the dynamic weights of the spatial features and the time sequence features, and performing weighted fusion on the spatial features and the time sequence features according to the dynamic weights to generate a fire probability thermodynamic diagram; and based on the fire probability thermodynamic diagram, fire point positioning and path planning are carried out, and early warning information and an optimal fire extinguishing path are generated. According to the invention, the problem of low fire identification accuracy caused by dependence on a single sensor and lack of multi-dimensional feature cross validation in the prior art can be solved.

The invention discloses a free airship cluster autonomous coverage method based on distributed learning and model predictive control, and belongs to the technical field of automatic control. The method comprises the following steps: firstly, establishing a six-degree-of-freedom dynamic model considering quality, buoyancy characteristics and wind field disturbance, and ensuring the physical accuracy of airship motion modeling; secondly, acquiring local wind field data by each airship through a sensor, performing local estimation by using a distributed Gaussian process regression algorithm, and realizing global wind field prediction through induction point approximation and hyper-parameter iteration; then, carrying out Voronoi division based on a global wind field sensitivity function, and determining a coverage area and a weighted centroid target of each airship; and finally, constructing an optimization problem based on model predictive control, constraining thrust and torque input, and carrying out rolling optimization by adopting a sequential quadratic programming method to realize stable track tracking and autonomous region coverage. The sensing, planning and cooperative control capabilities of an airship cluster in a complex non-uniform wind field environment are effectively improved, the centralized calculation overhead is reduced, and the robustness and adaptability of the system are enhanced.

The invention discloses a trapped person passive positioning system and method based on airship digital marker.The system comprises an air reference end, a search verification end and a ground command end, the air reference end comprises an airship, a direction sensor and an airship terminal are arranged in the airship, and the direction sensor is connected with the airship terminal; annular areas with different colors are arranged on the outer wall of the airship, the ground command end comprises a ground resolving terminal and a communication receiving terminal, the airship terminal is in signal connection with the ground resolving terminal, the search verification end comprises an unmanned aerial vehicle, and a multispectral imaging device, an unmanned aerial vehicle control terminal and a remote data transmission device are carried on the unmanned aerial vehicle. The multi-spectral imaging device is connected with the unmanned aerial vehicle control terminal, the unmanned aerial vehicle control terminal is in signal connection with the ground resolving terminal through the remote data transmission device, and in the three-break (open circuit, power failure and network disconnection) disaster environment, through the airship digital marking and computer vision fusion positioning technology, trapped persons can be rapidly and accurately positioned.

The invention relates to a power transmission network overhead line inspection device based on a miniaturized unmanned airship, and belongs to the field of power inspection. The objective of the invention is to solve the problem that long-distance, high-precision, safe and stable power transmission line automatic inspection cannot be realized under complex terrain and severe weather conditions due to short cruising ability of an existing power inspection unmanned aerial vehicle and low intelligent level and poor environmental adaptability of a traditional unmanned airship. The airship main body adopts a light high-strength sandwich structure flexible airship body, and a thin film solar cell is integrated on the surface of the airship main body to prolong the endurance; the intelligent control module fuses an environment sensing unit and a path planning unit, and realizes intelligent obstacle avoidance and dynamic path planning based on a sensor group and a danger sensing model; the vector power system is provided with three power sources of a right-angle fan structure, and the three power sources are arranged at the tail, the top and the bottom of the boat respectively and provide omni-directional vector thrust control. The buoyancy adjusting system dynamically adjusts the buoyancy through the symmetrical inflatable sub-cabins, so that the wind resistance stability and the terrain adaptability are enhanced.

The invention relates to the technical field of airship control, in particular to a floating aircraft control method and system oriented to an extreme environment. The control method comprises the following steps that environment parameters and running state data of the floating aircraft are collected in real time through a multi-mode sensor, and the environment parameters comprise the air speed of the stratosphere or under the stratosphere, the ultraviolet radiation intensity, the external temperature gradient and the air pressure fluctuation value; the operation state data comprises an air bag sealing index, propeller output power, a counterweight slide rail position and the residual capacity of the energy storage unit. Through the dynamic pressure compensation and self-repairing technology, the problem of sealing failure of the floating aircraft in an extreme environment is solved; and multi-mode wind resistance control and hybrid energy optimization are combined, so that the flight path precision and the cruising ability are remarkably improved.

1. Name of the designed product: tester (visual). 2. Use of the designed product: used for high-altitude test of airship radar and link. 3. Design points of the designed product: in shape. 4. Picture or photo best indicating the design points: perspective view.

A lighter-than-air airship has an exoskeleton constructed of spokes and hubs to create a set of connected hexagrams comprised of isosceles triangles wherein the spokes flex and vary in length to produce the slope of said airship's surface. In one embodiment, the exoskeleton connects to a nose cone that includes a cockpit cabin for controlling the airship's operation from a single location that can be physically separated from the exoskeleton in response to catastrophic events and for autonomous and / or remotely piloted operation. An improved means is also provided for landing and unloading cargo, and through use of unmanned aerial vehicles in another embodiment, the airship is configured for remote pickup, transport, delivery and return of payloads such as packages. In yet another embodiment, the airship provides a communications platform for beam form transmission and satellite signal relay, including in combination with the foregoing disclosed attributes.

The invention relates to the technical field of airship platform system operation and maintenance, and provides a multi-load airship platform OMC system equipment log and access management method, which realizes the functions of log display, query and export by constructing a log management component architecture, and improves the log query efficiency by adopting a joint index and multi-condition combination query function. According to the method, a user can quickly position and obtain required log information, dynamic access and adaptation of equipment are supported through the design of an equipment access adaptation framework, conversion between an MML command and an equipment special protocol is realized through a JS plug-in, a system can quickly adapt to access of equipment of different types and protocols, the compatibility and expansibility of the system are enhanced, and the user experience is improved. And the development cost and time of equipment access are reduced. Besides, the invention provides a plurality of interface forms and adopts identity authentication and token management mechanisms, so that secure interaction between the external system and the OMC system is ensured, and risks of unauthorized access and data leakage are effectively prevented.

This utility model discloses an airship control system based on an execution drive encoder board, comprising a flight control computer, an execution drive encoder board, a logic control circuit, and output ports. The flight control computer can output six control signals (PWM0-PWM5). The execution drive encoder board integrates six 2-to-1 analog switches, with the switch inputs connected to the six PWM signals output from the flight control computer and the execution drive board, respectively. The logic control circuit consists of OR gates, XOR gates, and AND gates, with its inputs connected to the control terminals of each analog switch, receiving control authority feedback signals from the execution drive board and control status feedback signals from the flight control computer. The output ports output the six PWM signals selected by the analog switches, respectively driving the servos corresponding to the horizontal tail, vertical tail, duct tilt, duct lock, engine throttle, and engine shutdown. This solution addresses the problems of insufficient control signal switching flexibility, incomplete control logic, and poor system scalability in existing airship control systems.

The invention belongs to the technical field of floating equipment, and particularly relates to a tethered airship with a propelling device and a conveying system for the tethered airship. A connecting part is arranged on the outer surface of a boat body, a propelling device comprises a horizontal propelling part and a vertical propelling part, the horizontal propelling part is arranged on the peripheral surface of the boat body and used for moving the boat body in the horizontal direction, and the vertical propelling part is arranged on the peripheral surface of the boat body and used for moving the boat body in the vertical direction. The horizontal direction is perpendicular to the vertical direction, and the mooring rope is detachably connected with the connecting part. According to the tethered airship with the propelling device in the technical scheme, the horizontal propelling part is used for providing propelling force in the horizontal direction to achieve the functions of headwind adjustment, yaw control and the like of the airship body, and the vertical propelling part is used for providing pulling force in the vertical direction to achieve height adjustment and pitching control of the airship body. The propulsion device improves the propulsion efficiency of the boat body, and further enhances the wind measurement resistance and attitude stability of the boat body.

The present invention discloses a nose cone mooring structure for an airship without a rigid frame, comprising a base, a bottom ring, straight beams, and arc beams. The base is provided with several straight beams, and the ends of the straight beams away from the base are connected to the arc beams via a four-way structural member. The arc beams are provided with through slots that cooperate with fixing loops on the airship capsule. The bottom ring is provided between the four-way structural members. The nose cone mooring structure for an airship without a rigid frame of the present invention provides a simple nose cone fixing and mooring method for mooring an airship without a rigid frame. This solution can evenly distribute the tension during the mooring of the airship, does not require special reinforcement of the airship capsule material, and does not significantly increase the amount of capsule material used. At the same time, the nose cone can also ensure that the head portion, which is subject to greater air resistance, does not deform during the flight of the airship, thereby increasing the flight resistance.

The invention discloses a dynamic network RTK technology improvement method based on a stratospheric airship, and relates to the field of dynamic network RTK technology improvement, and the method comprises the steps: employing three stratospheric airship air dynamic reference stations to build a dynamic network RTK system, obtaining the related data of a GPS satellite, building a regional ionospheric error-position model, and carrying out the calculation of the regional ionospheric error-position model. A ground user moving station receives signals from a GPS satellite to obtain a general coordinate of the ground user moving station, a virtual reference station is established based on the general coordinate of the ground user moving station, an error correction number on the virtual reference station is calculated according to the relative geometric position relation of a user, the stratospheric airship air dynamic base station and the GPS satellite in combination with a regional ionosphere error-position model, and the error correction number on the virtual reference station is calculated. And the user moving station carries out difference according to the short base line and the difference correction number, and the position of the user is obtained through calculation. The method provided by the invention has remarkable advantages in the aspects of positioning accuracy, coverage range and application flexibility.

The application discloses a LES super-high-resolution TC atmospheric flow field numerical simulation method and system, and relates to the fields of atmospheric observation, numerical assimilation and high-resolution numerical simulation. The method is characterized in that: three-dimensional dynamic-thermal information is obtained by implementing airship platform radar observation and downward sounding observation in the core area of a tropical cyclone; the radar radial wind and profile observation operators are preprocessed and constructed; a data assimilation strategy is adopted to integrate multi-source observation in a multi-nested grid numerical model to generate a three-dimensional initial / reanalysis field suitable for large eddy simulation; then, a large eddy simulation solver is configured on the innermost grid covering the boundary layer of the tropical cyclone; fine horizontal grids and boundary layer encryption vertical stratification are adopted to explicitly analyze the boundary layer vortex, small-scale convection and turbulent structure; and a super-high-resolution three-dimensional flow field product for fine evaluation of strong wind and disaster risk is output.

The application discloses a three-body type helium-hydrogen hybrid power airship, and belongs to the technical field of airships. The three-body type helium-hydrogen hybrid power airship comprises an airship frame, an electric power channel fan propulsion system, a main gas bag area, an auxiliary gas bag area, a battery cabin and a hanging cabin. The electric power channel fan propulsion system is arranged at the top of the airship frame on both sides and is used for assisting the airship in flight. The electric power channel fan propulsion system is electrically connected with the battery cabin. The main gas bag area is arranged at the middle of the airship frame and comprises a closed helium cabin, which is used for providing main lifting force for the airship. The closed helium cabin is arranged at the two sides of the airship frame. The auxiliary gas bag area is arranged at the upper part of the airship frame and is used for providing gas fuel for the battery cabin and also providing lifting force for the airship. The battery cabin is slidingly arranged at the middle of the airship frame and is used for providing electric power for the airship and realizing gravity center distribution adjustment in a sliding mode. The hanging cabin is arranged at the lower part of the airship frame. The application has the advantages of high safety, reliability and economy.

The application discloses a small airship device and a control method for automatic modeling of indoor three-dimensional objects, and belongs to the field of indoor aircraft intelligent inspection and three-dimensional perception systems. The airship adopts a four-rotor design arranged in layers. The upper vertical rotors control horizontal forward and backward movement and turning, and the lower horizontal rotors adjust the lifting force to realize lifting and hovering, thereby realizing multi-degree-of-freedom decoupling control. Attitude data are collected through an attitude sensor, and a PID algorithm is combined to realize automatic height maintenance. A communication module is used to build a WiFi local area network and run a Web control page, thereby realizing remote flight control of an intelligent terminal. On this basis, a preset flying-around program is executed to control the airship to automatically cruise at a constant radius and height around a target object, the rudders are synchronously adjusted to drive the camera to take multi-angle photographs, and image acquisition required for three-dimensional modeling is completed. The method combines manual and automatic control modes, and improves flight stability and modeling efficiency.

The invention discloses an improved YOLO-based electrical equipment defect image detection method and related equipment, and the method comprises the steps: inputting an electrical equipment image into a lightweight target detection model, and outputting defect category and position information; the model is improved based on a YOLO11 architecture, and images are processed through a feature extraction network, a fusion network and a detection head in sequence. A residual error enhancement re-parameterization convolution module is embedded into the feature extraction network, multi-scale features are extracted and fused through multiple branches during training, and re-parameterization is performed into a single branch during reasoning; a self-adaptive down-sampling module is adopted to replace a stride convolution down-sampling layer, and a dual-path structure reduces the resolution and retains information at the same time; the detection head is a lightweight scale decoupling detection head, decouples target classification and bounding box regression tasks, and adopts a detail enhancement structure. The invention aims to reduce the model volume and the calculation overhead on the premise of ensuring the detection precision, realize the real-time detection of the airship airborne equipment, construct a fine defect feature retention mechanism, reduce the small target omission ratio and improve the adaptability of the model to a complex dynamic environment.

A system for the thermal management of an external electric-power-generating nacelle equipping an electrically powered airship, the nacelle comprising electrical generation means implementing at least one turbogenerator contained in a fire containment vessel and provided with an inlet duct for turbine feed air and a flue gas exhaust duct, the system comprising ventilation means for injecting external air into the fire containment vessel, and means for discharging the ventilation air from the fire containment vessel, the means surrounding the flue gas exhaust duct so as to provide a Venturi effect for the outflow energized by the turbine flue gases.

The invention discloses a close following control method and system for a spherical airship robot under strong airflow disturbance. The method comprises the steps that a close following three-dimensional kinematics model is established; establishing a bird flock-imitating close following aerodynamic influence model; establishing a spherical airship space dynamic equation; establishing collision detection auxiliary control based on a touch sensor; and constructing a model prediction close following control equation. According to the method, a bird flock formation strategy is used for reference, a dynamic model fused with aerodynamic characteristics, touch sensor collision detection auxiliary control and an accurate model prediction control algorithm are constructed, and the technical defects that a traditional control method cannot effectively establish aerodynamic interaction between airships and the problem of tight flight collision is caused by missing positioning data are overcome; stable airship close following control is achieved, and technical support is provided for a multi-airship cooperative task in a small-space complex scene.

The invention relates to the technical field of automatic control, in particular to a load airship control method and device and a storage medium. Comprising the steps that an initial flight strategy is determined, and a load airship is controlled to fly according to the initial flight strategy; acquiring environment data around the load airship and load data of the load airship according to the acquisition period; determining a current flight strategy of the load airship by adopting a pre-established algorithm model according to the load data, the environment data and the initial flight strategy; and controlling the load airship to fly according to the current flight strategy in the current acquisition period, and returning to execute the steps of acquiring the environment data and the load data, determining the flight strategy and flying according to the flight strategy until the flight destination of the load airship is reached. The load airship control method and device are used for solving the problem that an existing load airship control mode is poor in adaptability to a complex flight environment.