308 results about "Dirigible airship" patented technology

The invention provides a river region disaster monitoring and pre-warning method and system based on multi-source monitoring data analysis, and the method comprises the steps: obtaining the multi-source monitoring data of a river region, carrying out the data preprocessing of the multi-source monitoring data, eliminating the noise interference in real-time position data, and carrying out the time synchronization alignment of channel image data and environment parameter data, thereby achieving the early warning of the river region disaster. The method comprises the steps of generating a standardized monitoring data set, extracting water flow dynamic characteristics, meteorological anomaly characteristics and channel obstacle distribution characteristics of a river region, generating a multi-dimensional disaster associated characteristic set, inputting the multi-dimensional disaster associated characteristic set into a preset disaster early warning model for dynamic analysis, generating a disaster early warning signal, and determining a disaster type and an influence range. And triggering an autonomous separation mechanism of the dragging airship and a quick start instruction of the unmanned aerial vehicle, broadcasting early warning information to ships in a channel through the unmanned aerial vehicle, and synchronously transmitting the disaster type and the influence range to a command center. According to the invention, the timeliness of disaster early warning and the space adaptation precision of treatment measures can be improved.

The invention provides a near space communication network relay unmanned aerial vehicle intelligent trajectory planning method, which comprises the following steps: step 1, designing a generation method of a communication network topological graph: constructing a directed graph called as a full connection graph, adding from a base station node to each relay unmanned aerial vehicle, and carrying out trajectory planning between the relay unmanned aerial vehicles; and a directed edge E from each relay unmanned aerial vehicle to each ground user, wherein the edge between the relay unmanned aerial vehicles has two directions; 2, converting the trajectory planning process of the stratospheric airship into a sequential decision process, and constructing a multi-agent Markov decision process model; 3, designing a strategy network and a value network, and constructing a relay unmanned aerial vehicle trajectory planning virtual simulation environment; and step 4, based on a soft actor commentator algorithm, training the intelligent agent to find an optimal strategy. According to the method, the position of the relay unmanned aerial vehicle can be planned in real time, the communication link is adjusted, and the network connectivity is kept.

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 belongs to the technical field of meteorological radars, and particularly relates to an airship-borne meteorological radar three-dimensional wind field inversion method based on multi-angle asymmetric coplanar analysis, and the method specifically comprises the steps: enabling an airship to fly linearly in a certain direction, and carrying out the volume scanning, doppler radial velocity and radar scanning information of a target observed at each parking position of the airship-borne meteorological radar are acquired, and the position and slant distance of the target are calculated; dividing every two parking position observation results into one group, and selecting a combination meeting performance optimization conditions based on the performance optimization conditions of the MA-ASCAT model; on the basis of an inversion formula of an MA-ASCAT model, first two dimensions under a cylindrical coordinate system are obtained through inversion by utilizing the screened combination, and a third dimension is solved according to the wind speeds of the first two dimensions on the basis of an incompressible mass continuity equation; and converting the three-dimensional wind speed under the cylindrical coordinate system into a Cartesian coordinate system, so that the three-dimensional wind field inversion method is completed.

The invention discloses a ground testing and evaluating method and system for the swell capacity of a capsule body of a floating airship. The method comprises the steps that the residual buoyancy weight of the airship is obtained; the front auxiliary air bag volume and the rear auxiliary air bag volume of the airship are obtained; acquiring the atmospheric density, the helium airbag density, the front auxiliary airbag density and the rear auxiliary airbag density; acquiring the mass of a front auxiliary airbag and the mass of a rear auxiliary airbag; the volume of the front auxiliary airbag and the volume of the rear auxiliary airbag are added and multiplied by the density of the helium airbag to serve as a minuend, the minuend is subtracted from the mass of the rear auxiliary airbag, the difference value is added with the residual buoyancy weight of the airship and the mass of the front auxiliary airbag, the addition result serves as a numerator, and the difference between the atmospheric density and the density of the helium airbag serves as a denominator; acquiring the actual volume of the airship airbag; according to the ratio of the actual volume of the airship airbag to the designed theoretical volume of the floating airship, the swell capacity of the airship airbag is obtained; the method has the advantage that the swell capacity of the capsule body of the floating airship can be accurately calculated and evaluated.

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.

The invention relates to the technical field of aircrafts, and discloses an airship and an airship transportation method.The method comprises the steps that the airship is lifted to a first preset height from the ground of a starting point, and stress balance of the airship in the vertical direction is achieved; the airship lowers the rope to the ground of the starting point at the first preset height, and the goods and the rope are bound; the airship lifts the goods through the rope, the airship falls to a second preset height by a preset distance in the vertical direction under the gravity effect of the goods, and the airship and the goods achieve stress balance in the vertical direction; and after the airship flats to the destination at the second preset height, the cargoes are unloaded. According to the airship transportation method, when the airship is in a cargo carrying state, the distance needing to run in the vertical direction is only the preset distance, energy of the airship is greatly saved, and therefore the cruising ability and the loading capacity of the airship are guaranteed; and the airship transportation method does not need to adopt a sliding bubble takeoff and landing mode, so that the requirement on a takeoff and landing site is greatly reduced.

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 low-altitude heavy-load transportation airship and a buoyancy control method in the loading and unloading process, and belongs to the technical field of heavy-load transportation aircrafts. Comprising a bag body filled with buoyancy gas, a high-pressure air bag and an air bag which are located in the bag body, a pressure control system used for controlling the high-pressure air bag and the air bag to be inflated and deflated and a flight control system used for controlling the pressure control system to act, the density of the buoyancy gas is smaller than that of air, and the pressure control system comprises a first pressure control system and a second pressure control system; the first pressure control system controls buoyancy gas to flow into or out of the high-pressure air bag. The second pressure control system controls external air to flow into or out of the air bag. The flight control system is in signal connection with the first pressure control system and the second pressure control system. The buoyancy and gravity of the airship are adjusted by inflating and deflating the high-pressure air bag and / or the air bag, so that the problem that the airship rises rapidly due to the fact that the net buoyancy of the airship is increased sharply during cargo unloading is solved, and flight safety is guaranteed.

The invention relates to a four-rotor unmanned aerial vehicle of an airship type structure, and belongs to the technical field of unmanned aerial vehicles. The unmanned aerial vehicle comprises an annular support and four rotor arms arranged on the annular support at equal intervals in the circumferential direction, rotors are arranged at the tail ends of the rotor arms, a fixing belt is arranged in an annular space in the annular support, balloons are arranged in the fixing belt and the annular support, and the balloons are filled with low-density gas. The central structure of the quad-rotor unmanned aerial vehicle is changed into the inflatable balloon, part of gravity is counteracted through buoyancy, energy consumption of the unmanned aerial vehicle for resisting gravity is reduced, meanwhile, the balloon is separated from the overall structure through an inflation and deflation mechanism, maintenance and replacement are convenient, part of the central structure which does not need to bear large stress originally is allowed to adopt simplified design, and the design is simplified. The overall weight is reduced, the maintainability of equipment is improved, the service life of the equipment is prolonged, and remarkable progress is achieved.

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 discloses a stratospheric airship path planning method and device, a medium and a product, and relates to the technical field of airship path planning, and the method comprises the steps: obtaining a path planning parameter of a stratospheric airship; starting from the starting node of the current time period, performing path planning on the current time period by using an improved A * algorithm based on the path planning parameters to obtain a path node set of the current time period; judging whether the last node in the path node set in the current time period is a target node or not; if yes, determining the starting node, the target node and each intermediate node as an optimal path node set, smoothing the optimal path node set by using a B-spline interpolation method to obtain an optimal path, and controlling the stratospheric airship to reach the target node from the starting node according to the optimal path; and if not, continuing planning. According to the invention, dynamic path planning of the stratospheric airship is realized.

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.

An airship may include a plurality of struts and a plurality of hubs joined to form a geodesic frame. A material may at least substantially enclose the frame. The material may be configured to contain a gas within a volume enclosed by the material, and may also be configured to absorb solar radiation for heating the gas. The airship may include a vent configured to selectively open and close to regulate one or more of a temperature and a pressure of the gas. When the vent is open, the volume enclosed by the material may be in fluid communication with an exterior of the material. When the vent is closed, the volume enclosed by the material may be at least substantially hermetically sealed from the exterior of the material. Also disclosed are methods of carrying a payload with the airship.

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 provides an airship autonomous guidance flight method based on a deep reinforcement learning algorithm. The method comprises the following steps: constructing an environment model by using reanalysis meteorological data and an airship kinematics model; a Markov decision process model is established, and the action space of the Markov decision process model is designed according to the environment model; based on the environment model and the Markov decision process model, adopting a deep reinforcement learning algorithm to carry out offline training on a pre-constructed agent to obtain an airship autonomous guidance flight agent; and determining an autonomous guidance flight strategy based on the airship autonomous guidance flight intelligent agent. Based on an environment model and a Markov decision process model, an intelligent agent trained through a deep reinforcement learning algorithm can consider various environment factors and airship dynamic constraints, so that a safer and more reliable flight strategy is formulated. The decision-making mode does not depend on experience of engineers, but is based on a large amount of simulation training data and real-time observation data, so that reliability and accuracy of decision-making are improved.

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.