8 results about "Flight space" patented technology

This application relates to the field of aircraft technology, providing an obstacle recognition method and an aircraft. The method involves predicting the voxel occupancy distribution of the aircraft's flight space using the aircraft's current circumferential image, and generating candidate reflection regions based on this distribution. Candidate obstacles within these reflection regions are then used to arbitrate mirror-image false detections. This arbitration process first eliminates candidate obstacles that are not obstructed by the aircraft, treating the remaining obstacles as mirror-image false detection candidates. Then, multi-dimensional state information is used to establish a one-to-one binding relationship between the mirror-image false detection candidate obstacles and the real obstacles. Finally, a consistency check confirms the true identity of the mirror-image false detection candidate obstacles, thereby achieving accurate judgment of mirror-image false detections, improving obstacle recognition accuracy, and effectively ensuring the flight stability and safety of the aircraft.

The application discloses a flight pipeline modeling method for cluster unmanned aerial vehicle control, and establishes a geometric pipeline model of unmanned aerial vehicle flight; a profile model of a convex polygon section is established based on rotation angles and lengths of convex vectors, and the convex polygon section is composed of a plurality of convex vectors; nodes are constructed by positions of the convex polygon section on a reference curve, the rotation angles and the lengths of the convex vectors, the geometric pipeline is discretized into a plurality of node sequences, a curve fitting algorithm is applied to the node sequences to generate a continuous three-dimensional pipeline model; a comprehensive cost function of the geometric pipeline is established according to characteristics of the geometric pipeline; and the optimal geometric flight pipeline model is obtained when the comprehensive cost function is the minimum. The flight pipeline is modeled by the reference curve and the convex polygon section, a polygon geometric pipeline is obtained, and safe flight space modeling in a complex three-dimensional scene is realized.

The application discloses a kind of unmanned aerial vehicle obstacle avoidance trajectory planning methods with tangent line smooth constraint, to solve the problem that trajectory smoothness, obstacle avoidance safety and real-time performance are difficult to consider in complex three-dimensional environment.The method is first to three-dimensional discrete modeling to flight space, constructs local visible area and generates target-oriented trajectory;When detecting potential collision risk, construct navigation plane perpendicular to flight direction at first collision point, project obstacle to two-dimensional plane, extract boundary contour and tangent point, form candidate tangent direction.Adaptive sampling is carried out along the tangent direction combined with kinematic constraint, and continuous feasible candidate waypoints are generated.Subsequently, an evaluation function is constructed by combining angle deviation and safety distance, and the optimal waypoint is selected for iterative updating until the target is reached.Compared with the prior art, the application can generate smooth and continuous unmanned aerial vehicle trajectory in dense obstacle environment, realize smooth, safe and real-time three-dimensional obstacle avoidance flight.

This invention discloses a brain-like control method and system for unmanned aerial vehicle (UAV) patrol. It performs visual neuron analysis on the three-dimensional structural data of the flight space to obtain all accessible patrol subspaces. Based on the potential interference layout of the accessible patrol subspaces, it calibrates suitable patrol paths and their characteristics. It retrieves historical flight memory data from the UAV swarm to generate performance labels for each UAV within the swarm. By comparing the performance labels with the path characteristics of the patrol paths, it forms patrol task allocation decisions and obtains flight state change plans for each UAV during patrol tasks. Based on the UAV's flight constraints and flight state change plans, it modifies the UAV's motion parameters to adapt to the uncertainty and variability of the external environment during patrol, thereby improving the robustness and accuracy of UAV flight control.

The present disclosure provides a kind of inspection path planning method and device for operating wind turbine, it is related to control technical field.The method comprises: in the online inspection stage, according to the mapping relationship generated in advance in offline stage, the maximum displacement value of blade tip under current operating condition is generated;Based on operating signal, the rigid kinematic model of blade is constructed, and the basic no-fly zone is determined;Dynamic safety radius is determined;With dynamic safety radius as inflation distance, the basic no-fly zone is outwardly inflated and handled, and the remaining space after removing dynamic no-fly zone in the preset flight space is determined as three-dimensional safe flight space;The three-dimensional inspection path of unmanned aerial vehicle is planned under the constraint of three-dimensional safe flight space, and the three-dimensional safe flight space is updated in the process of unmanned aerial vehicle flight inspection, and flight trajectory is adjusted.Based on the technical scheme, the automatic inspection path planning of operating wind turbine can be carried out in the inspection process.

The application belongs to the intersection of unmanned aerial vehicle navigation and communication technology, and particularly relates to a low-altitude unmanned aerial vehicle path planning method for guaranteeing communication quality, comprising the following steps: firstly, discretizing the flight space into a three-dimensional grid with vertices as path points; then, determining the line-of-sight / non-line-of-sight state of the path points and base stations and calculating the occlusion coefficient through a Bresenham three-dimensional straight line algorithm, combining a Rician / Rayleigh fading model to complete signal-to-noise ratio quantization, and screening out reliable path points meeting the communication and safety double constraints; subsequently, planning an optimal reliable flight path by using 26-dimensional full-dimensional neighborhood search and double cost function calculation based on an improved CAD algorithm; and in the flight process, triggering dynamic re-planning through real-time SNR monitoring to adapt to sudden changes in the environment. The application realizes communication guarantee for the whole flight of the unmanned aerial vehicle, has reproducibility and robustness, effectively avoids the risk of communication interruption, and provides a key technology for reliable flight of urban low-altitude unmanned aerial vehicle logistics, inspection and other scenes.

This invention discloses a UAV gas inspection system and method based on dynamic route planning, relating to the field of gas inspection technology. The environmental modeling module acquires basic spatial data and building structure data within the inspection area, constructs a three-dimensional spatial environment model, identifies flyable spaces, and generates a flight space constraint model. The dynamic route planning module acquires a list of inspection targets, filters inspection targets based on the list, and generates a set of candidate inspection waypoints. Based on the candidate waypoint set and the flight space constraint model, a UAV inspection path is generated through coverage optimization and path cost optimization. The gas detection module collects and analyzes gas concentration data in real time, identifies abnormal concentrations, and triggers an alarm mechanism. The privacy protection module performs real-time analysis of the collected inspection images, identifies sensitive areas in the images, and automatically occludes or blurs these sensitive areas, achieving both gas safety detection and user privacy protection.

This invention relates to the field of UAV heading control technology and discloses a heading control method for UAVs spraying sand-fixing and dust-suppressing agents. The method includes gridding the flight space, binding environmental parameters to grid cells, and labeling state attributes for each grid cell based on the parameters. Key grid cells are identified as path nodes based on the state attributes, and connecting edges are constructed between nodes according to the UAV's traversal relationships, forming a spatial path network. Based on this network and real-time state data, the UAV's node selection and transfer strategies are calculated, and heading correction commands are generated. This method deeply integrates environmental information into the path network construction, transforming heading control from geometric navigation to environmental state-based decision-making, thus improving the UAV's adaptive flight path capability and operational efficiency in complex sandstorm environments.