693 results about "Fixed wing" patented technology

The invention discloses a multi-modal lightweight forest fire detection method suitable for a vertical take-off and landing fixed-wing unmanned aerial vehicle platform, and the method comprises the steps: carrying out the feature alignment and weight fusion of a visible light image and an infrared image, which are synchronously collected by an unmanned aerial vehicle, through a multi-modal early fusion method, and obtaining a fusion feature; carrying out lightweight down-sampling and multi-scale feature extraction on the fusion features to obtain a multi-scale feature set; performing cross-scale feature fusion on the multi-scale feature set by adopting a bidirectional feature pyramid network, and extracting dynamic change information to obtain time sequence features; performing multi-scale context enhancement on the time sequence features by using a spatial pyramid method based on cavity convolution, and performing global context and local texture modeling by using a lightweight Transform module to obtain high-level semantic features; and based on the high-level semantic features, a target detection frame, fire level classification, prediction uncertainty estimation and a pixel-level fire probability graph are generated in parallel through a multi-task output header.

The invention discloses a variable-structure water-air amphibious robot and a motion control method. The robot comprises a water-air amphibious robot body, a variable-structure wing system and an electric control system. The robot body comprises a sealed cabin, a propeller fixing assembly, a fluid shell and a variable support tail cover. The variable-structure wing system comprises a driving gear transmission assembly, a two-section folding wing and a wing folding linkage assembly; the electric control system comprises a control core element, a visual module, a power supply module, a GPS module and an underwater depthometer module which are arranged in the cabin body; the motion control method is based on a deep reinforcement learning control method, control generalization ability is enhanced through teacher and student strategies and random domain, and the motion control method has more advantages in scenes such as inaccurate modeling and large external disturbance change. The structure of the variable-structure water-air amphibious robot integrates the structures of a rotorcraft, a fixed-wing aircraft, an underwater robot and the like, the modes of the wings can be switched, and efficient movement operation of the water-air amphibious robot is achieved.

The invention discloses an end-to-end obstacle avoidance method considering flight dynamics of a fixed-wing unmanned aerial vehicle, and the method comprises the steps: constructing a multi-source data synchronous collection module, and obtaining a monocular depth image and inertial navigation state data which are aligned in time sequence; an enhanced visual perception coding module is designed, and spatial position information of a tiny obstacle is reserved at the tail end of feature extraction through an asymmetric convolution strategy and a parallel spatial attention mechanism; constructing a state fusion and time sequence reasoning module, performing long and short time sequence modeling on the multi-modal features by using an encoder with a causal mask mechanism, and outputting potential decision variables; and constructing a kinematics constraint trajectory generation module, and mapping the neural network output into a three-dimensional control trajectory conforming to flight mechanics limitation. The problems that spatial information of a traditional convolutional neural network is seriously lost, an end-to-end model easily generates an illusion trajectory exceeding a physical limit and the like are solved, and the flight safety and robustness of the fixed-wing unmanned aerial vehicle in a complex low-altitude environment are remarkably improved.

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 relates to a fixed-wing unmanned aerial vehicle track anomaly detection method and device and a medium, and the method comprises the steps: building a radar detection noise model based on a radar equation and a signal-to-noise ratio formula; on the basis of the motion equation, simulating the motion process in normal and abnormal states to generate a real track, and adding noise to the real track by using a radar detection noise model to obtain noise-containing simulation track data; constructing a dynamic graph based on the simulated track data; inputting the dynamic graph into a space-time diagram neural network model; the time-space diagram neural network model comprises a diagram attention network layer, a long-short term memory network layer and a linear layer which are connected in sequence; and performing feature extraction and classification on the dynamic graph through a time-space diagram neural network model, and outputting a track anomaly detection result. Therefore, precise detection of tiny track abnormalities of the fixed-wing unmanned aerial vehicle, especially gliding faults and the like, is realized.

The invention discloses a fixed-wing unmanned aerial vehicle distributed formation and obstacle avoidance method based on diffusion reinforcement learning, and the method comprises the steps: processing single observation data through a graph attention network, and enabling the single observation data to serve as a condition for generating an optimal action in a reverse denoising process; the method is suitable for distributed cluster control of a fixed-wing unmanned aerial vehicle cluster in an unknown and disordered environment, treats huge challenges brought by complex dynamics and non-integral constraints in the cluster, and effectively solves a series of problems that an existing method is difficult to capture multi-modal action distribution necessary for robust obstacle avoidance under an uncertain condition. A large number of numerical simulation results show that the method is obviously superior to an existing baseline method in the aspects of flight stability and collision rate, the potential of a diffusion model in the aspect of extensible and robust unmanned aerial vehicle flight control is highlighted, and the method has good theoretical popularization value and engineering application prospects.

An aircraft wing having a fixed wing and a moveably mounted wing tip device is disclosed. A first cable harness and a second cable harness which are received in a protective sleeve extend between the fixed wing and the wing tip device. The protective sleeve is in a secured configuration in which at least two opposing parts of the protective sleeve are secured together between the first cable harness and the second cable harness to provide the sleeve with a first channel in which the first cable harness is received a second channel in which the second cable harness is received, and a webbing region extending between the first channel and the second channel such that the first and second cable harnesses are held apart by the webbing region.

The invention relates to the technical field of aviation safety, in particular to a fixed-wing aircraft natural icing prediction system based on a prediction model and big data analysis. Comprising a multi-source data acquisition module, a data processing module, a feature extraction module, an icing case database, a prediction model module, a prediction analysis module and an early warning result output module. The data processing module is used for preprocessing and cleaning the collected original data; the feature extraction module is used for extracting key feature variables having significant influence on natural icing of the aircraft from the processed data; the prediction model module is used for taking the extracted key feature variables as input and combining big data analysis to construct a prediction model; and the prediction analysis module is used for inputting the currently collected multi-source data into the trained prediction model for analysis, and by adopting the mode, the icing risk is predicted in advance, the operation fault-tolerant space is greatly increased, and the accurate prediction requirement in the flight scene can be met.

An aircraft including an aircraft wing wherein the aircraft wing includes a fixed wing, a wing tip device at an end of the fixed wing, and a wing tip device actuator configured to move the wing tip device between a flight configuration and a ground configuration. The wing tip device actuator includes a shaft which is rotatable about a shaft axis to selectively displace respective first and second elbows of the wing tip device actuator towards or away from the shaft. The first elbow is connected to the wing tip device and the second elbow is connected to the fixed wing such that movement of the respective elbows away from the shaft causes the wing tip device to move away from the flight configuration and such that movement of the respective elbows towards the shaft causes the wing tip device to move towards the flight configuration.

A wing assembly for an aircraft, the wing assembly having a fixed wing and a wing tip device moveably mounted at the end of the fixed wing. A wiring harness extends between the fixed wing and the wing tip device, a length of the wiring harness being encased in a length of protective sleeve. The protective sleeve is pre-shaped, for example pre-molded, to follow a path along a helical curve.

An aircraft wing tip that is movable by an actuator between a flight configuration, and a ground configuration which has a shorter wingspan for use in ground-based operations. Lugs that connect to arms of the actuator are integrally formed as part of the primary structure of either the fixed wing or outboard wing section, such as a folding tip section.

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.

The invention discloses a water-air cross-medium unmanned aerial vehicle and a flight method, and belongs to the technical field of unmanned aerial vehicles. The unmanned aerial vehicle comprises a sealed cabin body composed of an upper cabin body and a lower cabin body, symmetrical vehicle arms, a tail steering engine, a rudder, a left steering engine, a right steering engine, an elevator, an underwater propeller and various types of sensors (a binocular camera, a sonar, a water quality sensor and the like). Air flight is achieved in a four-rotor mode, and underwater sneaking is driven in a fixed-wing mode. The control method comprises the stages of takeoff, air flight, air-water transition (a water surface hovering automatic switching mode), underwater navigation, water-air transition and landing, and complete-process autonomous cross-medium conversion is achieved by combining layered rate descent and multi-sensor fusion judgment states. The device has the advantages of being compact in structure, reliable in sealing and accurate in cross-domain control, and is suitable for ocean exploration, environment monitoring, underwater reconnaissance and other scenes.

The invention discloses a three-dimensional fixed-wing unmanned aerial vehicle path planning method, device and equipment. The method comprises the following steps: generating a three-dimensional occupation grid map; acquiring a starting point and a target point, and respectively calculating the minimum horizontal safety distance between the starting point and the target point and the safety height of the ground surface point under the target point; determining the starting point as a current father node, and determining a current step search direction according to the constructed horizontal position vector from the current father node to the target point; calculating the current maximum collision-free search step length meeting the terrain constraint and the unmanned aerial vehicle path climbing angle or glide angle constraint; determining child nodes of the current father node according to the current father node, the current step search direction and the current maximum collision-free search step size; and determining the child node as a new current father node, repeatedly executing the step of constructing the horizontal position vector from the current father node to the target point until a search termination condition is reached, and controlling the unmanned aerial vehicle to fly from the starting point to the target point. According to the invention, the real-time planning of the path of the unmanned aerial vehicle is realized, and the safety and reliability are improved.

The invention discloses a fixed wing type cross-domain aircraft capable of realizing self-adaptive load replacement, belongs to the technical field of cross-domain aircrafts, and is used for a water-air double-domain operation cross-domain aircraft. Comprising an aircraft body, a main wing, an aileron, a tail assembly, a vertical take-off and landing support, a vertical take-off and landing rotor wing, a fixed wing propeller, an underwater propeller, a load replacement device and a control module. The control module comprises a decision making system, a telemetering communication system, a state sensing system, an underwater water surface load replacement system, a water surface four-rotor vertical take-off and landing control system, an air fixed-wing cruise control system and an underwater vehicle control system. According to the fixed wing type cross-domain aircraft, through collaborative innovation of a multi-mode power system and self-adaptive buoyancy control, the dynamic characteristic adaptation problem in cross-domain navigation is solved, and the fixed wing type cross-domain aircraft has the vertical take-off and landing capacity, the air cruising capacity and the underwater maneuvering capacity.

The invention relates to the technical field of aircraft power control, and discloses a hybrid power coordination control method and system for a vertical fixed-wing aircraft, and the method comprises the steps: obtaining the health state data of a battery module, and evaluating the instantaneous maximum discharge power capability of each battery module according to the data, thereby achieving the hybrid power coordination control of the vertical fixed-wing aircraft. And the overall instantaneous maximum discharge power supply capability of the battery pack is obtained through aggregation. Meanwhile, in combination with flight state information and residual mission profile data of the aircraft, the demand of the future key flight stage for the instantaneous peak power is predicted. By comparing the supply capacity of the battery pack with the future demand, whether the risk of instantaneous power shortage exists can be judged prospectively. When a risk is identified, the method can actively adjust a power distribution strategy of the aircraft, including adjusting cruise parameters, optimizing a vertical landing strategy, and adjusting a battery charging strategy.

The invention discloses a fixed-wing nest type unmanned aerial vehicle intelligent monitoring system based on an AI large model. Comprising a nest intelligent scheduling module, an unmanned aerial vehicle autonomous flight and data acquisition module, an AI large model spatio-temporal data fusion analysis module, a dynamic task optimization module and a monitoring result output and storage module, dynamic adaptation of the track, the acquisition frequency and task splitting is realized; system parameters are continuously and finely adjusted in combination with user feedback data, a continuous optimization mechanism is formed, fault accumulation and task adaptation imbalance are avoided, and long-term stable operation of the monitoring system is guaranteed.

An aircraft wing is disclosed having a fixed wing with a tip, and a wing tip device rotatably mounted on a hinge at the tip of the fixed wing, such that the wing tip device is rotatable about the hinge, and an actuation system for rotating the wing tip device about the hinge. The actuation system includes a motor, at least one geared rotary actuator, a reduction gearbox, a clutch for selectively decoupling rotation of the motor from rotation of the geared rotary actuator, the geared rotary actuator is driveable by the motor and arranged to convert rotary motion into a different rotary motion and is arranged to rotate the wing tip device relative to the tip of the fixed wing. The clutch is coupled to the geared rotary actuator by a shaft and the shaft is fixed in rotation to a mass disposed radially outwardly from the shaft.

A wing assembly for an aircraft including a fixed wing and a wing tip device rotatable about a joint assembly. The wing assembly is configurable between a flight configuration for use during flight and a ground configuration for use during ground-based operations. The wing assembly includes joint-bordering structure located adjacent the joint assembly, the joint-bordering structure having a rib, an upper cover and a lower cover. The joint assembly includes a moveable panel. The panel includes a first hard stop element, and the joint-bordering structure includes a second hard stop element. The first hard stop element is integrally formed in the panel, and the second hard stop element is integrally formed in one of the rib, the upper cover or the lower cover of the joint-bordering structure. The hard stop elements may be configured to self-align.

Disclosed is a wing assembly for an aircraft. The wing assembly comprises a fixed wing, a wing tip device, a wiring harness and a harness guide. The wing tip device is moveably mounted at a joint at an end of the fixed wing. The wing tip device is moveable about the joint between: (i) a flight configuration for use during flight, and (ii) a ground configuration for use during ground-based operations, in which ground configuration the wing tip device is moved relative to the fixed wing such that the span of the wing is reduced. The wiring harness extends between the fixed wing and the wing tip device. The wiring harness comprises a plurality of conductors and is arranged to transmit electrical power and / or data to the wing tip device. The harness guide is located between the fixed wing and the wing tip device. The harness guide comprises a helical channel configured to receive the wiring harness and guide the wiring harness between the fixed wing and the wing tip device.

A method for reducing aerodynamic loads on an aircraft located on the ground includes moving a wing tip relative to a fixed wing to an on-ground configuration in which the span of the wing is reduced. The wing tip includes an airflow channel, which is in an open configuration in which airflow through the channel between upper and lower surfaces of the wing tip is enabled, when the wing tip is in the on-ground configuration. This has been found to reduce aerodynamic loads on the wing tip and / or parts of the aircraft connected thereto during this phase of the aircraft's use.

The invention relates to the technical field of unmanned aerial vehicle control, in particular to a wide-area reconnaissance and hovering fine investigation cooperation method and system for putting multiple rotors into a fixed wing, and provides the following scheme: a mother aircraft executes a wide-area reconnaissance task, generates a fine investigation task based on a wide-area clue, and encodes the fine investigation task into a plurality of task seeds; the task seeds comprise task skeleton information and rule information; task seeds are mapped into a complementary evidence collection combination through a complementary codebook, and wingman distribution is formed by combining wingman capabilities; and the wing aircrafts complete task pre-compilation before delivery, and expand and execute hovering fine check based on rules after delivery. According to the method, complementary collection of the accurate verification evidence can be realized under the condition that the multiple wing aircrafts are parallel, redundancy is reduced, and the resource utilization efficiency and the task execution reliability are improved.

The invention provides a low-altitude logistics fixed-wing unmanned aerial vehicle wind-induced risk online flight path planning method and device for a scene of insufficient flight safety of a fixed-wing unmanned aerial vehicle in a complex wind field, and belongs to the field of low-altitude logistics transportation. The method specifically comprises the following six steps: (1) modeling an urban environment and a wind field; (2) modeling feasible actions of the fixed-wing unmanned aerial vehicle; (3) risk definition based on a wind field; (4) performing prospective risk calculation; (5) exploration and track output; and (6) device composition and structure.

A wing (3) for an aircraft (1) including a fixed wing (5), a foldable wing tip portion (9) mounted to the fixed wing (5) via a hinge (11) in a manner rotatable about a hinge axis (13) between an extended position and a folded position, an actuation device (24) for actuating the foldable wing tip portion (9) for movement between the extended position and the folded position, and an arresting device (37) for arresting the foldable wing tip portion (9) in the extended position and / or in the folded position. The arresting device (37) includes a clutch device (39) configured for selectively holding the foldable wing tip portion (9) in a fixed position relative to the fixed wing (7) and releasing the foldable wing tip portion (9) for movement relative to the fixed wing (7) about the hinge axis (13).

The invention discloses an anti-explosion method and system for a vertical fixed-wing unmanned aerial vehicle, the unmanned aerial vehicle and a medium, and the anti-explosion method comprises the steps: monitoring the operation conditions of motors of all rotor assemblies in real time, and determining a fault motor when an abnormality occurs; performing first stability control on other motors without faults, the control surface of the fixed wing and the control surface of the empennage according to the fault motor; acquiring the current flight height of the unmanned aerial vehicle, and performing landing control on the unmanned aerial vehicle according to the current flight height until the unmanned aerial vehicle lands to the ground; and performing fault detection processing on the unmanned aerial vehicle, and generating a fault processing flow record. The fault motor can be accurately identified and positioned in the landing process of the unmanned aerial vehicle, and corresponding emergency measures are taken according to the position relation of the fault motor, so that the unmanned aerial vehicle can maintain stability in the air and stably land on the ground, the phenomenon of explosion of the unmanned aerial vehicle is effectively avoided, and the safety of the unmanned aerial vehicle is improved. And the landing safety and stability of the unmanned aerial vehicle are ensured.

The utility model discloses an integrated aileron driving system, which belongs to the field of aircraft control systems and comprises a fixed wing, an aileron is arranged on one side of the fixed wing, the aileron is rotatably connected with the fixed wing through a first linkage shaft, the upper surface of the aileron is rigidly connected with a first speed reducing plate, and a second speed reducing plate is arranged on the other side of the fixed wing. A power rotating assembly is arranged on the upper surface of the fixed wing, the power rotating assembly is connected with the upper surface of the first air brake and used for driving the first air brake to move, fixed limiting pieces are symmetrically arranged at the two ends of the surface of the side, close to the aileron, of the fixed wing, and a second air brake is arranged between the fixed limiting pieces. The second air brake is located on the lower surface of the aileron, and the first air brake and the second air brake are connected through a transmission assembly. According to the integrated aileron driving system, through the linkage design of the aileron and the air brake, the structure is simplified, pneumatic coordination control is achieved, and the control performance at different flight speeds is improved.

The invention discloses a control method and system for a vertical ring-wing unmanned aerial vehicle and the vertical ring-wing unmanned aerial vehicle, and the control method comprises the steps: carrying out the gyroscope correction of the vertical ring-wing unmanned aerial vehicle based on a three-axis gyroscope of a flight detection module, and controlling the vertical ring-wing unmanned aerial vehicle to take off in a multi-rotor mode after the correction is completed; when the vertical ring-wing unmanned aerial vehicle vertically climbs to a preset height in the multi-rotor mode, controlling the vertical ring-wing unmanned aerial vehicle to perform mode switching so as to switch the multi-rotor mode of the vertical ring-wing unmanned aerial vehicle into a fixed-wing mode; the vertical ring wing unmanned aerial vehicle is controlled to cruise in a fixed wing mode, and navigation monitoring information returned by the flight detection module is received; performing attitude adjustment processing on the vertical ring wing unmanned aerial vehicle according to the first angle monitoring information and the motor rotating speed information; and redistributing the motor control logic of the vertical ring-wing unmanned aerial vehicle to complete the control of the vertical ring-wing unmanned aerial vehicle. The difficulty of controlling the unmanned aerial vehicle by a pilot can be reduced, and the flight flexibility of the unmanned aerial vehicle is improved.

The invention provides a fixed-wing unmanned aerial vehicle rocket boosting take-off device which comprises a launching support, a supporting assembly and a boosting assembly, a guide rail is arranged on the launching support, and the supporting assembly is arranged on the guide rail in a sliding mode and used for supporting an unmanned aerial vehicle; the boosting assembly comprises a moving mechanism and a mounting mechanism, the moving mechanism is slidably arranged on the guide rail, the front end of the moving mechanism abuts against the supporting assembly, the rear end of the moving mechanism abuts against the guide rail, and the moving mechanism is provided with a plurality of preset positions; the mounting mechanism is arranged on the moving mechanism and used for mounting the rocket booster, and the mounting mechanism is detachably assembled at any preset position so as to adjust the position of the mounting mechanism relative to the unmanned aerial vehicle; the boosting assembly is provided with the moving mechanism and the mounting mechanism, the mounting mechanism can be fixed to the moving mechanism in a position selectable mode, accurate butt joint of the rocket booster and the unmanned aerial vehicle is facilitated, and meanwhile the problem of matching of thrust lines of rocket boosters of different models and the mass center of the unmanned aerial vehicle is solved.

A vertical take-off and landing aircraft includes a fuselage, at least one propulsion system, at least four lift propellers and at least two fixed wing planes. The fixed wing planes which are located behind the most forward lift propellers are located above the lift propellers. The lift propellers are distributed on either side of at least one of the fixed wing planes and on either side of the fuselage such that the lift propellers are longitudinally separated by at least the magnitude of the chord of the fixed wing plane located therebetween, and are laterally separated by at least the width of the fuselage located therebetween. At least one of the fixed wing planes has a variable span and the aircraft includes a control system for varying this span in flight.

The invention provides a vertical empennage control surface calibration device and method, and relates to the technical field of vertical empennage control surface calibration, the device comprises a first clamping mechanism, the two ends of the first clamping mechanism are a first clamping end and a first operation end respectively, and the first clamping end is used for clamping a movable wing surface of a vertical empennage; the two ends of the second clamping mechanism are a second clamping end and a second operating end respectively, and the second clamping end is used for clamping the fixed wing surface of the vertical tail wing; the pointer is connected to one side of the first operation end through a sliding adjusting mechanism; the dial plate is connected to one side of the second operation end, angle scales are arranged on the surface of the side, close to the pointer, of the dial plate, and the pointer is matched with the angle scales; the problem that in the prior art, a special vertical empennage control surface calibration tool and technology are lacked is solved.