52 results about "Flight space" patented technology

The invention relates to an autonomous flight unmanned aerial vehicle interception system carrying an anti-riot capture net gun, and aims to realize intelligent identification and accurate interception of a high-dynamic target. The sensing module collects multi-source data such as images, laser radar, air pressure and wind speed and fuses the multi-source data to generate a flight space topological graph, and the recognition module extracts target position, speed and deformation information according to the graph and outputs target motion parameters and deformation characteristics. The control unit constructs a target trajectory prediction model and a risk level incidence matrix based on the information, and dynamically generates an interception path, a posture adjustment instruction and a capture trigger strategy. The propulsion assembly adjusts the three-dimensional pose of the aircraft in real time according to the pose adjustment instruction, has anti-interference stability and is suitable for flight in a complex environment. The launching assembly is integrated in the aircraft structure and completes anti-riot net gun launching and target capturing according to a triggering strategy. The system has autonomous perception, dynamic prediction and accurate execution capabilities, and is suitable for target interception and control tasks in complex scenes.

The invention relates to the technical field of route planning, and provides a shortest route detection method and system for a low-altitude aircraft. The method comprises the following steps: establishing a three-dimensional environment model of a target area, and identifying an obstacle; marking a driving space according to the obstacle range and the safety range of the identified obstacle, and constructing a flight space map; taking the current position of the aircraft as a starting point, taking the target flight position as an end point, and performing minimum path search in the flight space map based on constraint conditions of a minimum turning radius and a maximum climbing rate to obtain a minimum planned path; and performing intermediate node redundancy verification on the minimum planned path, and taking the minimum planned path meeting the verification result as the shortest determined route. According to the method and the device, the technical problems of insufficient precision of the planning path and potential safety hazards caused by the fact that the three-dimensional obstacle environment and the aircraft motion constraint cannot be considered in the existing low-altitude aircraft route planning process are solved, and the technical effects of improving the low-altitude flight safety and the route planning efficiency are achieved.

The invention relates to the technical field of aircraft route design, in particular to a Beidou grid-based low-altitude aircraft three-dimensional route design method, which comprises the following steps of: performing airspace type subdivision processing on a target flight area in a flight space model; judging the airspace available state of the airspace type; dividing an initial route coverage space of the target low-altitude aircraft; carrying out conflict investigation on the airspace use condition in the initial route range; when the conflict checking result is a conflict-free state, performing arc fitting on the air route space trajectory of the target low-altitude aircraft; and verifying the fitted route trajectory, and if the current airspace state is changed, adjusting the fitted route trajectory to obtain a three-dimensional route design scheme. According to the method, the airline can be planned by combining airspace type division and a dynamic available state, the airline can be changed and adjusted according to the real-time airspace, and the flexibility and safety of airline planning are improved.

The invention relates to an airspace intelligent generation planning method, system and device based on live-action three-dimensional and semantic rules and a medium. The method comprises the steps of performing Euclidean distance field calculation on a target area live-action three-dimensional triangular mesh model, generating a three-dimensional voxelization distance field, extracting a continuous curved surface formed by points with distance values equal to a safety radius in combination with the safety radius of an aircraft, and generating a flight channel; performing airspace constraint rule mapping processing in the flight channel to generate a flight space with a cost attribute; path searching is carried out in the flying space, an initial broken line path is obtained, spline curve fitting processing is carried out on the path, and a continuous flying track is obtained. According to the method, modeling is carried out on geometric information of a live-action three-dimensional model and multi-dimensional airspace constraints, and path searching and trajectory fitting are combined, so that the environment authenticity, path safety and adaptability to aircraft dynamic characteristics of airspace planning are improved, and the responsiveness to dynamic airspace changes is enhanced.

The invention discloses a path dynamic planning method and system for an electric power low-altitude inspection unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicle flight control. The method comprises the following steps: constructing a low-altitude three-dimensional flight space model, and constructing a power low-altitude flyable airspace model through flyable voxel discrete analysis; performing time domain and frequency domain synchronous sampling on the target inspection object by using an electromagnetic sensing module and an image acquisition module carried by the unmanned aerial vehicle to obtain an electromagnetic sensing data sequence and a visual collaborative data sequence; carrying out voxel path risk index identification in combination with the flight airspace model and the electromagnetic sensing data sequence, and constructing a three-dimensional electromagnetic thermodynamic diagram; introducing a geometric texture coupling quality identification mechanism to evaluate the viewpoint quality, and determining a two-dimensional viewpoint sequence; and generating a target dynamic inspection path through a path dynamic planner. According to the invention, the problem of path planning of unmanned aerial vehicle inspection in a complex electromagnetic environment is effectively solved, and the flight safety and the data acquisition quality are improved.

The invention relates to the technical field of unmanned aerial vehicle path planning, in particular to an unmanned aerial vehicle three-dimensional path planning method based on gradient guidance and adaptive cost. The method comprises the following steps: performing three-dimensional rasterization processing on a flight space of the unmanned aerial vehicle, and performing three-dimensional Euclidean distance transformation on each node in a free space to obtain a three-dimensional distance field; calculating the gradient of each node in the three-dimensional distance field, and generating an obstacle far-away direction vector of each node based on the gradient; constructing a three-dimensional gradient guide item; carrying out dynamic adjustment on an adaptive gradient weight factor in the three-dimensional gradient guide item; self-adaptive balance parameters are constructed, and the self-adaptive balance parameters are dynamically adjusted; constructing a three-dimensional total cost function; and node expansion is carried out by using a three-dimensional total cost function minimum principle, and a continuous flight path is generated. According to the method, intelligent adjustment of the search direction is realized by introducing the obstacle distance field and a gradient guiding mechanism, so that the safety and the calculation efficiency of path planning are improved.

The invention belongs to the technical field of unmanned aerial vehicle path planning, and particularly relates to an unmanned aerial vehicle path planning method based on a hybrid improvement strategy, which comprises the following steps of: 1, establishing a three-dimensional model of an unmanned aerial vehicle flight space; 2, determining a flight cost function of the unmanned aerial vehicle according to path length, collision, flight height and path smoothness; step 3, initializing parameters; step 4, using a Harlisia eagle algorithm HHO and an Aquila optimizer in a heuristic algorithm to finally provide a brand-new hybrid improved strategy algorithm named as an EAOHHO algorithm, and then using the EAOHHO algorithm to optimize the flight cost function; and 5, taking a path obtained by searching according to an EAOHHO algorithm as a trajectory path of the unmanned aerial vehicle. According to the method, the fast search capability of the HHO and the global exploration advantage of the AO are deeply fused, the fitness-distance balance FDB mechanism is innovatively introduced, and the convergence efficiency and robustness of the algorithm are remarkably improved.

The application belongs to the field of aircraft auxiliary take-off equipment, and particularly relates to an aircraft launching system and an aircraft. The aircraft launching system comprises a driving part I and a fixed releasing mechanism. The output end of the driving part I has a circular circumferential rotation stroke or a linear movement stroke. The fixed releasing mechanism comprises a support, a fixed releasing rod and two connecting rods, and the support, the fixed releasing rod and the two connecting rods form a parallelogram mechanism. The support is arranged opposite to the fixed releasing rod. The support is connected with the output end of the driving part I. The fixed releasing rod is provided with a fixed releasing structure for fixing and releasing the aircraft. The fixed releasing mechanism formed by the parallelogram mechanism can lower the fixed releasing rod to leave a flight space when the aircraft takes off, so that the aircraft can be prevented from colliding with the fixed releasing mechanism when taking off, and the use safety of the launching system is improved.

The invention discloses an air traffic stability control method, which belongs to the technical field of intelligent management of air traffic management, and comprises the following steps: constructing an aircraft flight space-time sequence based on high-altitude cruise aircraft information; calculating a relative flight position interval and a relative flight speed between the aircrafts based on the flight space-time sequence of the aircrafts; based on the relative flight position interval and the relative flight speed between the aircrafts, constructing an aircraft car-following model containing time-delay band bidirectional attention; based on the aircraft car-following model, constructing air traffic stability judgment conditions; and based on the air traffic stability judgment condition, the aircrafts in the unstable state are screened for feedback control, and the air traffic stability is guaranteed. According to the method, the air traffic stability condition can be judged, feedback control is performed by screening aircrafts in an unstable state, and the air traffic stability is guaranteed.

The present disclosure provides a method for acquiring airspace information, a method for sending airspace information, a communication-aware terminal, an airspace information sending device, a storage medium and a computer program product, wherein the method for acquiring airspace information comprises: the communication-aware terminal acquires flight airspace information corresponding to a base station and valid time information corresponding to the flight airspace information based on a received airspace indication message; or acquires pre-configured flight airspace information and valid time information. The present disclosure can expand the sensing range of the communication-aware terminal, expand the available flight space range of the communication-aware terminal while ensuring the sensing of the communication-aware terminal, and improve flight efficiency and safety.

The invention relates to the technical field of aircraft control, and particularly provides an aircraft obstacle avoidance method and device, a storage medium and electronic equipment, and the method can comprise the steps: obtaining a future movement track of an obstacle in a flight region of an aircraft; constructing a space-time risk potential field based on the future movement track and the flight state information of the aircraft at the current moment; wherein the flight state information comprises an aircraft position and an aircraft speed; the space-time risk potential field represents the risk degree of collision between the obstacle and the aircraft in the physical space; the space-time risk potential field comprises a safe flight space; predicting a flight reference trajectory of the aircraft through the flight state information; and correcting the flight reference trajectory by using the space-time risk potential field to obtain an obstacle avoidance trajectory of the aircraft. According to the embodiment of the invention, the obstacle avoidance capability and precision of the aircraft can be improved.

In a TOFMS measurement unit, an ion acceleration section accelerates ions to send them into a flight space, within which a flight-field creation section creates, an electric field for causing ions to fly. A controller unit operates the measurement unit so as to repeat a measurement for a predetermined sample while varying a voltage applied to an electrode in the measurement unit, and calculates mass-resolving power based on each measurement result. An approximate function calculator unit finds an approximate function representing a relationship between the voltage and the mass-resolving power, based on data of combinations of the voltage and the mass-resolving power obtained under the control of the controller unit. A voltage determiner unit determines a voltage value corresponding to a target value of the mass-resolving power by the approximate function, and determines the voltage value as a voltage to be applied to the electrode in the TOFMS concerned.

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 invention relates to the technical field of flight control, and particularly provides an aircraft route planning method and device, a storage medium and electronic equipment, and the method can comprise the steps: screening candidate sub-graphs meeting a flight task from a pre-constructed route knowledge graph; wherein the candidate sub-graph comprises at least one corridor path; one corridor path represents one connected area; the route knowledge graph is constructed by taking a plurality of corridor paths of a flight space as entities and semantic relationships and entity feature vectors of the entities; calculating a relation score of each corridor path in the at least one corridor path; and determining a flight route for executing the flight task from the at least one corridor path according to the relation score of each corridor path. According to the embodiment of the invention, efficient low-altitude route planning can be realized for 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.

The invention discloses an unmanned aerial vehicle path planning method and device, a storage medium and computer equipment, and the method comprises the steps: obtaining a flight starting point and a target terminal point of an unmanned aerial vehicle, and determining a flight space of the unmanned aerial vehicle according to the flight starting point and the target terminal point; initializing an open list and a closed list, adding the flight starting point into the open list, determining a node with the minimum total cost from the open list as a current node, removing the current node from the open list, and adding the current node into the closed list; if the current node does not meet the preset condition, determining feasible neighbor nodes of the current node from the flight space based on the main motion direction of the unmanned aerial vehicle, calculating the total cost of the feasible neighbor nodes, updating the open list based on the feasible neighbor nodes and the total cost, and recording the current node as a father node of the feasible neighbor nodes, reselecting the current node; and if the current node meets the preset condition, backtracking from the target end point to the flight starting point based on each node and the father node in the current closing list to obtain a final path.

The present application relates to the technical field of unmanned aerial vehicle, and specifically provides a kind of based on tail seat vertical unmanned aerial vehicle cruise missile flight path planning and control method. Including: clear cruise missile flight space and flight path representation method;Through the sensor element of the cruise missile, real-time sensing cruise missile body position, geographical environment, obstacle position, enemy monitoring area three-dimensional space gridding, determine monitoring range;Determine the flight route algorithm of non-enemy monitoring area: apply fuzzy artificial potential field method to optimize the flight route of cruise missile;Based on fuzzy artificial potential field method, real-time calculation cruise missile desired flight route;Determine the flight route algorithm of enemy monitoring area: apply genetic algorithm to determine termination node and flight route;Cruise missile executes tracking, attack or return task according to the obtained flight route algorithm. Advantage lies in: it is beneficial to real-time optimization flight route of cruise missile;Flexible switching flight mode, without the aid of launching device;Task execution process is more controllable.

A scheme of the TOFMS of the present application has: a flight space forming electrode (11, 12) that forms a flight space in which ions are separated according to m / z; an ion detection section (13) that detects ions flying in the flight space; a voltage switching section (4, 2) that switches a voltage applied to the flight space forming electrode from a first voltage that makes ions of a first polarity fly to a second voltage that makes ions of a second polarity fly at a prescribed switching timing; an ion information acquisition section (30, 32) that obtains a flight time or m / z of the ions of the second polarity based on a detection result of the ions of the second polarity obtained by the ion detection section after the voltage is switched by the voltage switching section; a correction information storage section (31) that stores correction information corresponding to an elapsed time from the switching timing and information related to a deviation of the flight time or m / z; and a correction section (33) that corrects the flight time or m / z according to the elapsed time from the switching timing using the correction information stored in the correction information storage section.

The invention belongs to the technical field of path planning, and discloses a low-altitude flight path planning method and platform. Obtaining three-dimensional environment data and aircraft performance parameters of a target flight area, constructing an environment model, and determining a turning radius constraint, a climbing capability constraint and a safety interval constraint; generating candidate flight paths based on the environment model and determining a local flight space range at each path node; constructing a recovery track for each path node; determining a feasible recovery trajectory set according to the space through condition of the recovery trajectory in the environment model, and determining a recovery difficulty parameter based on the space safety margin change trend of the recovery trajectory and the margin change characteristics satisfying the turning radius constraint and the climbing ability constraint of the aircraft; determining a path recoverability index in combination with the continuous accessibility of the recovery trajectory reaching the safety area; and a final optimized target flight path is obtained. According to the invention, the safety and reliability of the flight path in the complex low-altitude environment can be improved.

The invention discloses an unmanned aerial vehicle emergency landing path planning method and system. The method comprises the steps that unmanned aerial vehicle emergency landing state data and environment constraint data are collected; generating a residual control capability constraint set; constructing a three-dimensional flight space representation, and generating a candidate node set and a candidate connection edge set; performing controllability judgment on the candidate connection edge set to generate an initial controllability topological graph; performing topology cutting on the initial controllable topological graph to generate a risk suppression topological graph; an uncertainty entropy set is calculated, entropy gating contraction is executed on the risk suppression topological graph, and a low-uncertainty topological graph is generated; performing security assertion verification on the low-uncertainty topological graph to generate a verification topological sub-graph; and extracting a forced landing connected domain set, and generating an emergency forced landing path planning result. The unmanned aerial vehicle emergency landing path generation method realizes unmanned aerial vehicle emergency landing path generation through a topology planning method of controllability constraint, risk propagation and uncertainty entropy gating, and has the advantages of high safety, strong stability and high performability.

The present invention provides a droplet dispensing device that can reduce the total processing time for detecting dispensing defects. [Solution] The droplet dispensing device comprises a dispensing head having multiple nozzles, a light source that emits light toward the flight space, a light receiving unit that detects the amount of light received after the light emitted from the light source has passed through the flight space, and a control device. The control device performs a first reference waveform acquisition process that acquires a reference waveform of the signal for a droplet dispensed by one nozzle as a first reference waveform, a detection waveform process that acquires a detected waveform of the signal for a droplet dispensed by one nozzle, a second reference waveform acquisition process which is performed after the first reference waveform acquisition process and acquires a reference waveform of the signal for a droplet dispensed by a nozzle other than the first nozzle as a second reference waveform, and a first calculation process which is performed in parallel with the second reference waveform acquisition process and calculates the correlation between the first reference waveform and the detected waveform.

To provide a liquid droplet discharge device capable of suppressing erroneous determination of a discharge failure of a nozzle even when manufacturing variations of components, performance variations of optical elements, or manufacturing variations due to component assembly are present.SOLUTION: A liquid droplet discharge device comprises: a discharge head in which a plurality of nozzle rows arranged in parallel in a predetermined direction are formed and which has a plurality of nozzles that discharge liquid droplets onto a print medium; a light source which emits light toward a flight space in which liquid droplets discharged from the nozzles fly; a light receiving unit which detects a received light amount associated with light emitted from the light source after passing through the liquid droplets in flight and outputs a detection signal; and a control device. The control device executes: processing of acquiring, for each nozzle, a parameter value indicating a predetermined feature of the detection signal; and processing of determining whether a distribution of the parameter values relative to positions of the respective nozzles becomes linear, and determining a nozzle corresponding to a parameter value that is not distributed linearly as a nozzle having a discharge failure.SELECTED DRAWING: Figure 9

The invention relates to a dense environment-oriented unmanned aerial vehicle safe space construction method and a flight path planning method, and solves the technical problem of how to improve safe flight of an unmanned aerial vehicle in a complex and dense environment. According to the method, an omni-directional expansion ellipsoid and an enough space can be used in a dense environment, a hyperplane constraint set is constructed, Vorinoi and a weight factor are combined to dynamically adjust the hyperplane position, a convex polyhedron is generated in real time, and an enough safe flight space is generated in the dense environment by optimizing a redundant convex polyhedron and generating a high-quality flight corridor. And safe flight of the unmanned aerial vehicle in a dense environment is ensured, so that the problem of subsequent unmanned aerial vehicle operation facing the dense environment is solved.

The utility model provides an unmanned aerial vehicle multi-angle wind resistance testing device comprising a wind resistance testing base, the right upper end of the wind resistance testing base is fixedly connected with a fixed supporting rod, the upper end of the fixed supporting rod is fixedly connected with a supporting rotating seat, and a supporting rotating rod is rotatably connected in the wind resistance testing base. The design solves the problems that when an original device detects the wind resistance of an unmanned aerial vehicle, the unmanned aerial vehicle is close to a wind resistance equipment structure, when a user operates improperly, a propeller of the unmanned aerial vehicle touches the surface of the wind resistance equipment, and potential safety hazards are likely to be caused, and the device is reasonable in structure, good in practicability and easy to popularize. The distance between the multi-angle air blowing lower supporting frame and the multi-angle air blowing upper supporting frame can be adjusted through the electric push rod, so that the multi-angle air blowing lower supporting frame and the multi-angle air blowing upper supporting frame can be far away from the unmanned aerial vehicle and can perform the wind resistance test, and the test jet head can perform multi-angle test on the unmanned aerial vehicle under the power of the motor. The flight space of the unmanned aerial vehicle is increased.

The invention discloses a low-altitude flight path planning method, system and device and a medium. The method comprises the following steps: determining a landing point of an unmanned aerial vehicle according to environmental data of a landing area of the unmanned aerial vehicle; a plurality of passable flight areas distributed in the flight direction of the unmanned aerial vehicle are obtained according to the landing point and the take-off point of the unmanned aerial vehicle; acquiring an obstacle in each passable flight area, and acquiring the time cost, the energy cost and the flight risk when the unmanned aerial vehicle flies between any two adjacent passable flight areas according to the flight space coordinates of the candidate flight points and the obstacle coordinates of the obstacles, the flight point in each passable flight area is determined from the multiple candidate flight points, and the low-altitude flight path corresponding to the unmanned aerial vehicle is generated according to the flight space coordinates of the flight points, the take-off point and the landing point, so that the task execution efficiency of the unmanned aerial vehicle is improved.

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 invention discloses an unmanned aerial vehicle detection path planning method for low-altitude security and protection, and relates to an unmanned aerial vehicle. The method comprises the steps that geographic space data and flight mission parameters of a target area are acquired; constructing a three-dimensional grid map model according to the geographic space data; based on the three-dimensional grid map model, establishing a multi-constraint flight model comprising a height safety constraint, an airspace limitation constraint and a sensor coverage constraint; carrying out two-stage decomposition on the flight space by adopting a hierarchical set division method to obtain a hierarchical space decomposition graph; constructing an optimization problem of unmanned aerial vehicle detection path planning based on the spatial decomposition graph; solving the optimization problem by adopting a hybrid heuristic algorithm to obtain an unmanned aerial vehicle detection path covering the target area; according to the method, a large-scale complex three-dimensional urban space path planning problem is converted into a hierarchical small-scale sub-problem through hierarchical spatial decomposition, efficient solving is performed in combination with a hybrid heuristic algorithm, and the solving efficiency is improved.

The invention relates to the technical field of flight data acquisition, in particular to a flight data acquisition method and system for a hydrogen energy unmanned aerial vehicle. The method comprises the following steps: firstly, collecting flight data of each hydrogen energy unmanned aerial vehicle at each historical moment; then all yaw time periods of each hydrogen energy unmanned aerial vehicle in a preset historical time period are determined, a yaw risk coefficient in each yaw time period and a yaw attention coefficient at each historical yaw moment are obtained, and then the time interval between each historical moment and the to-be-adjusted moment is combined at the to-be-adjusted moment; and predicting the future yaw distance of each hydrogen energy unmanned aerial vehicle so as to determine the collection frequency of the flight data of the hydrogen energy unmanned aerial vehicle in the preset future time period and collect the flight data. In the flight process of the hydrogen energy unmanned aerial vehicle, the flight dynamic state, the flight space and the flight environment are comprehensively analyzed, the flight risk is evaluated, the yaw dynamic state in the future is predicted to adjust the collection frequency, the risk that the unmanned aerial vehicle yaw cannot be found in time is reduced, and the flight data collection effect of the hydrogen energy unmanned aerial vehicle is improved.

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.