59 results about "Flight stability" patented technology

The application belongs to the technical field of unmanned aerial vehicle navigation. A pipeline inspection unmanned aerial vehicle navigation method and system based on reinforcement learning are provided. By collecting inertial measurement, visual inertial odometry, cross array ranging and electronic governor feedback data, a state vector is constructed and high-frequency motion prediction and measurement update are realized through extended Kalman filtering to output high-precision unmanned aerial vehicle body state. The best anti-interference height is solved by combining the pipeline wind disturbance and rotor airflow disturbance model, and the external disturbance torque is decoupled. A dual-frequency reinforcement learning state is constructed and control instructions are output, and safe speed is obtained through safety shield filtering. With safe speed as the target, the motor speed is directly output through the reinforcement learning network to control flight, and the three-dimensional topological mapping of pipeline defects is completed synchronously. The application can realize high-precision navigation, active disturbance rejection and safe inspection in the pipeline, and improve the flight stability and operation reliability in complex aerodynamic environment.

This invention discloses an air-sea collaborative underwater topographic survey system and its deployment control method, belonging to the field of underwater topographic survey technology. It adjusts the flight attitude of the target UAV in the hoisted state through a center-of-gravity adaptive hoisting module, compensating for the center-of-gravity shift of the target unmanned vessel, improving transport speed, and ensuring flight stability. A sonar water-entry protection module decelerates the target unmanned vessel, reducing mechanical impact upon entry into the water and preventing sonar damage. An air-sea collaborative scheduling module enables synchronous scheduling of the target UAV and the target unmanned vessel, ensuring accurate and automatic recovery of the target unmanned vessel, greatly improving the efficiency and automation level of underwater topographic mapping. A multi-dimensional sonar fusion sensing module performs synchronous multi-sonar scanning, avoiding blind spots at land-water boundaries and misalignment of dynamic and static data, forming an accurate point cloud map, and greatly improving the geometric precision and spatial continuity of the detection results.

The application discloses a fire extinguishing bomb throwing device for a unmanned aerial vehicle, which comprises a pitch adjusting mechanism, a bomb storage and bomb conveying mechanism capable of being adjusted in pitch on the pitch adjusting mechanism, two groups of mounting pipes, a spacing adjusting plate, a conveying structure and a throwing acceleration structure, and the throwing acceleration structure comprises an acceleration connecting frame, an acceleration conveying belt assembly, an acceleration motor and an acceleration transmission assembly. The application has the advantages that the high-pressure gas launching mode is replaced by the throwing acceleration structure, the recoil force is small, the flight stability of the unmanned aerial vehicle during launching of the fire extinguishing bomb is ensured, and the safety hidden danger is reduced. Meanwhile, the spacing between the upper and lower mounting pipes is adjusted by adjusting the position of the lower mounting pipe on the spacing adjusting plate, and the throwing of fire extinguishing bombs with different specifications is realized.

The utility model discloses a kind of damping device of unmanned plane rotating shaft, it is related to unmanned plane technical field, including: unmanned plane body and damping protection piece, unmanned plane body has rotor support, the end of rotor support is equipped with rotor drive structure, the end of rotor support is located below rotor drive structure and is equipped with through mounting hole;Damping protection piece is connected in the outside of rotor drive structure by mounting rod through mounting hole, the connecting place of mounting rod and mounting hole has elastic damping part, the outside of mounting rod is formed with damping and protection structure.The utility model sets up mounting hole by being arranged at the end of rotor support, connects damping protection piece in the outside of rotor drive structure, and sets up elastic damping part at the connecting place of mounting rod and mounting hole, can effectively buffer the vibration and impact of rotor rotating shaft, improve the flight stability and reliability of unmanned plane under complex environment.

This invention provides an adaptive planning system and method for UAV inspection paths based on transfer learning, belonging to the field of human-machine inspection path planning technology. The system includes: constructing a vertical airflow layer structure representation model of the inspection space for inspection areas with densely packed tall structures, and outputting a set of vertical airflow layer structures for the inspection space; performing airflow layer mapping processing on the inspection path based on the set of vertical airflow layer structures, and outputting a set of airflow-adapted paths; constructing a path cost model with airflow constraints based on the set of airflow-adapted paths, and outputting a set of path costs including the total cost of the inspection path and the comprehensive cost of path segments; and performing cross-airflow layer path reconstruction based on the set of path costs and the set of vertical airflow layer structures, outputting the optimal inspection path. This accurately identifies airflow separation layers in the inspection space, achieving airflow adaptation, risk quantification, and adaptive planning of the inspection path, effectively improving the flight stability and operational safety of UAVs during inspections in areas with densely packed tall structures.

This invention relates to the field of unmanned aerial vehicle (UAV) flight control technology, and discloses a method for adaptive adjustment control of UAV flight attitude. Addressing the problems of unstable flight and untimely or inaccurate attitude adjustment of UAVs in complex weather conditions and variable terrain, this method deploys multiple types of sensors on the UAV to collect flight data in real time, including information such as air pressure, wind speed and direction, and attitude angles, and transmits the data to a central processing unit (CPU). The CPU analyzes and processes the data based on a preset algorithm model. When it detects a deviation in flight attitude from a set value, it automatically adjusts the UAV's rotor speed, wing angle, and other actuators to achieve rapid adaptive adjustment of flight attitude. This method effectively improves the flight stability and reliability of UAVs in complex environments and can be widely applied in fields such as aerial surveying, material delivery, and environmental monitoring, ensuring efficient and safe operation of UAVs.

A kind of unmanned aerial vehicle motor vibration suppression circuit, the vibration data of multiple motors are respectively collected by multiple vibration sensors, and the data transmission is transmitted to single-chip microcomputer synchronously, after the algorithm process of multiple sensor fusion→kalman filtering→LSTM prediction→self-adaptive PID in single-chip microcomputer, the PWM control signal capable of inhibiting vibration is output to multiple electronic speed regulators of brushless, to regulate and control the rotating speed of multiple motors respectively, and the rotating speed of motor after regulation and control can effectively reduce the vibration of multiple motors, finally realize the motor vibration suppression effect of entire unmanned aerial vehicle, improve the flight stability, camera imaging quality and equipment reliability of unmanned aerial vehicle.

This invention discloses a zero-sum game optimal tracking control method for UAV swarms under denial-of-service attacks. It establishes a communication topology model of the UAV swarm and constructs a nonlinear dynamics model of the UAVs containing unknown external interference. Based on a zero-sum game strategy, it constructs a stabilizing controller and a cooperative tracking controller. It identifies whether a follower UAV is under a denial-of-service attack based on the communication topology state, switches to stabilizing control for attacked UAVs to suppress state divergence, and reconstructs the communication topology for unattacked UAVs while maintaining cooperative tracking control. Simultaneously, a memory self-triggering mechanism is introduced to determine the communication update time based on the combined effect of historical and current information. This invention can improve the anti-attack capability, topology recovery capability, and cooperative flight stability of UAV swarms under conditions of communication link obstruction and external disturbances, while reducing continuous detection and communication resource consumption.

The present invention relates to a method for improving flight stability, effective range, accuracy, and destructive force by moving the center of gravity of a bullet (shell) forward, and the bullet (shell). To this end, the front part of a counterweight jacket of the bullet (shell) is designed to be thicker or higher in density than the rear part thereof, so that the center of gravity is naturally moved forward. This structural feature stabilizes the trajectory by minimizing the yaw angle during flight, and increases the force of impact transmission to the target. In addition, a material having a low specific gravity is used inside a gunpowder contact part and the rear part to further strengthen the effect of moving the center of gravity to the front part. The present invention can maintain a stable flight trajectory in both ground and underwater environments, and maximizes the performance of a bullet (shell) to increase an effective range, destructive force, and accuracy.

This invention provides a surveying drone and surveying method for reducing surveying errors, relating to the field of surveying drone technology. The invention includes wing direction adjustment mechanisms on both sides of the drone body for connecting and adjusting the wing direction. A drive mechanism on the drone body drives the wing direction adjustment mechanisms to adjust the wing direction. A flight mechanism on the mounting plate propels the drone in flight for surveying activities. A lifting mechanism on the drone body is used to lift and lower the surveying instrument and clean dust from it. Through the coordinated operation of the wing direction adjustment mechanism and the drive mechanism, this invention allows for flexible adjustment of the wing direction, enabling the drone to achieve slow high-altitude flight and in-flight parking, improving flight stability and ensuring low-error surveying. The drive mechanism, through a combination of gear transmission, threaded transmission, and ball joint connection, ensures smooth wing adjustment, avoiding flight instability caused by adjustment jams or deviations.

This invention relates to the field of UAV spraying and discloses an adaptive compensation method, system, device, and medium for live-line spraying of anti-flashover coatings on UAVs. The method includes establishing a flight reference coordinate system and a dynamic model of the UAV's flight attitude under disturbance; analyzing the external environmental loads and internal mass changes of the UAV based on the dynamic model to obtain the total disturbance; constructing an adaptive feedback control network to obtain a compensation control quantity to offset the impact of the total disturbance on the UAV's flight; and dynamically updating the controller gain and the adaptive feedback control network based on the real-time estimated disturbance state to achieve active disturbance rejection flight control. This invention dynamically updates the controller gain and provides feedback compensation for disturbances caused by external environmental load disturbances and changes in the UAV's internal mass, thereby achieving active disturbance rejection and adaptively adjusting flight stability, ensuring the safety of live-line spraying of anti-flashover coatings on UAVs.

This invention relates to the field of unmanned aerial vehicle (UAV) automatic control technology, specifically to an UAV automatic window-breaking fire extinguishing system and method. The system uses an airborne lidar and image sensor to accurately measure the distance to the building wall and the target position, while simultaneously using a wind speed sensor to collect wind field data in real time. The control system is based on a ballistic model to comprehensively calculate the launch elevation angle, wind speed compensation, and recoil effects, dynamically adjusts the launch parameters of the fire extinguishing projectile, and uses a buffer mechanism to offset the launch impact, ensuring flight stability.

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.

This application discloses a flight control method, device, drone, and medium based on a movable counterweight. The technical solution provided in this application detects the first lateral displacement of the seed delivery tray relative to its initial position during seedling throwing operations, and determines the real-time weight of the seed delivery tray at the corresponding first lateral displacement position. Based on the weight of the counterweight module, the real-time weight, and the first lateral displacement position, the counterweight module is controlled to move laterally to maintain the drone's attitude balance. Using this technique, the center of gravity shift of the seed delivery tray can be determined by the lateral displacement position and real-time weight. Then, based on this center of gravity shift, the counterweight module is controlled to move laterally in the opposite direction to counteract the center of gravity shift of the seed delivery tray, preventing the drone from tilting due to the shift in the center of gravity of the seed delivery tray, improving the drone's flight stability, and thus improving the seedling throwing operation effect.

This invention belongs to the technical field of intelligent equipment and unmanned systems for marine fisheries, and particularly relates to a feeding equipment and operation method for marine fisheries drones adapted to high sea states. An environmental perception module acquires environmental information data and attitude data of the flight platform. The operation control terminal controls the attitude compensation mechanism based on the attitude data to ensure that the discharge port of the centrifugal feeding device always remains vertically downward. Simultaneously, based on real-time environmental information data and its built-in feeding trajectory correction model, the operation control terminal calculates the feed landing point offset and accurately corrects the landing point by controlling the flight platform to perform position compensation and / or velocity compensation. This invention improves the flight stability and anti-drift capability of drones in turbulent airflows at high sea states, actively counteracts the impact of wind damage and platform tilt on accuracy, achieves high-precision and uniform feeding under harsh sea conditions, and significantly reduces feed waste and operational risks.

The present disclosure relates to a method and apparatus for energy state-based partial encryption, for efficiently securing data security in an environment in which energy resources are limited. The method according to an embodiment of the present disclosure: acquires data requiring security processing during a flight of an aircraft; and determines an energy state of the aircraft on the basis of the remaining battery capacity and expected energy consumption required for a flight to a destination. According to the determined energy state, encryption of all data or partial encryption of some of the data is selectively performed, and if the partial encryption is performed, a range to which encryption is to be applied is determined on the basis of the energy state. In addition, data to be encrypted is selected according to the priority of the data, and encryption is performed on all the selected data or some of the data according to whether the range to which encryption is to be applied is sufficient. Furthermore, data exposure is minimized by rearranging data to which encryption has not been applied, according to a predefined rule. According to the present disclosure, security-critical data may be preferentially protected even in a limited energy environment, and data processing efficiency and aircraft flight stability may be improved together by reducing energy consumption due to encryption operations.

This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a tandem twin-rotor UAV helicopter with a large payload capacity. The helicopter includes a fuselage, with a front rotor system mounted on the upper part of one end and a rear rotor system mounted on the upper part of the other end. Landing gear is mounted on the bottom of the fuselage. The fuselage houses a synchronous transmission system, a power system, and a control system. The synchronous transmission system synchronizes the rotational speeds of the front and rear rotor systems, while maintaining opposite directions. The power system drives the front and rear rotor systems via the synchronous transmission system. The control system controls flight attitude, transmits and receives commands, and processes data. This invention optimizes the structure of the fuselage, front rotor system, rear rotor system, and landing gear, and achieves counter-synchronous rotation of the front and rear rotor systems through the synchronous transmission system, power system, and control system. This effectively balances anti-torque, improving both high payload capacity and flight stability.

This invention relates to a retractable arm and control method for a multi-rotor unmanned aerial vehicle (UAV), belonging to the field of UAV technology. It includes a fixed arm, a movable arm, a telescopic drive mechanism, a length monitoring device, a vibration sensor, and a piezoelectric actuator. The fixed arm has an external guide groove; the movable arm is fitted over the fixed arm, with an inner wall slider engaging the guide groove, allowing non-axial loads to be transmitted to the fuselage via the slider and guide groove, achieving separation of drive and load-bearing. The telescopic drive mechanism uses a self-locking screw-nut transmission mechanism, allowing for stepless continuous adjustment and self-locking upon power failure. A length monitoring device provides feedback on the arm length to the flight controller, forming a closed-loop control of the arm length configuration. The vibration sensor monitors fuselage vibration, and the flight controller controls fuselage vibration through primary vibration suppression of the rotor and piezoelectric actuator, and secondary vibration suppression through fine-tuning of the movable arm length. This invention solves the problems of easy wear, inability to achieve stepless continuous adjustment, and lack of active vibration damping in existing telescopic arm drive mechanisms, improving flight stability and reliability.

This utility model discloses a drop arrow for killing wild boars using a drone, relating to the field of drone accessory technology. The utility model includes an arrow shaft with an arrowhead on one side and fletching on the other side. A fixing component is provided on one side of the arrow shaft, including a mounting post installed on the side of the arrowhead. This utility model significantly improves the flexibility and adaptability of the drop arrow through modular design. The detachable connection structure between the arrow shaft and the arrowhead allows for quick replacement of the arrowhead or adjustment of the counterweight, thereby precisely adjusting the striking force for wild boars of different sizes. The counterweight is fitted onto the surface of the arrow shaft, and the weight can be increased or decreased according to actual needs, avoiding the drawback of traditional one-piece drop arrows that require complete replacement. The design of the fixing sleeve and the fletching ensures flight stability, while the interlocking structure of the square groove and the square post further prevents fletching deviation, ensuring the drop arrow maintains a precise trajectory after deployment and effectively improving the hunting success rate.

This invention provides a decoupled control system and method for independent drive of multiple range extenders in a multi-rotor unmanned aerial vehicle (UAV). The system includes: decoupling the motor throttle commands of the flight controller into independent power commands for each range extender's power generation unit by introducing a power management coordinator; separating the flight control loop from the power generation control loop, thus achieving hierarchical decoupling of flight control and power generation control. Simultaneously, by independently optimizing the design of the flight controller and the range extender's power generation unit, this invention can directly utilize commercially available low-power range extender modules, reducing the development risk and cost of high-power customized range extenders and simplifying flight control logic; furthermore, by limiting load disturbances within each power group and preventing global diffusion, flight stability can be improved. In addition, by grouping the rotors of the multi-rotor UAV, with each power group independently powered by a dedicated range extender's power generation unit and electrically isolated between power groups, this invention can alleviate the current sharing problem of parallel range extenders.

The utility model relates to multirotor unmanned plane technical field discloses a kind of motor seat subassembly of coaxial multirotor unmanned plane, including motor seat main body, motor seat adapter, motor seat adapter baffle, motor seat plug and electric governing installation piece;The motor seat main body is equipped with sliding slot structure, for with motor seat adapter sliding fit.This scheme aims at the functional defects such as insufficient power, channel response delay and poor stability that traditional multi-axis unmanned plane faces when executing roll, pitch and other attitude adjustment, and structural complexity, high manufacturing cost, weak environmental adaptability and other structural disadvantages, and innovative solution is proposed.The scheme simplifies the motor installation form adjustment process of multirotor coaxial unmanned plane, improves the adaptability and economy of unmanned plane in diversified application and flight environment, effectively avoids the flight instability phenomenon caused by insufficient power or response delay, significantly enhances the reliability and flight stability of system as a whole.

This invention specifically relates to an adaptive mode method for UAV-borne SAR radar based on multi-target point reconnaissance, belonging to the technical field of radar detection and UAV mission planning. This method determines flight stability by analyzing UAV inertial navigation data in real time. When conditions are met, it automatically selects a suitable target point and determines the corresponding SAR operating mode based on the geometric relationship between the current flight path and multiple preset reconnaissance points. Then, it calculates and sets specific parameters for that mode, controlling the radar to autonomously perform imaging reconnaissance. This invention achieves closed-loop control of UAV-borne SAR radar, enabling intelligent selection from multiple targets and adaptive matching of mode parameters. This significantly reduces the need for manual intervention, solves the problem of missed opportunities due to unfamiliarity with operation or delays, and improves the automation, intelligence, and execution efficiency of reconnaissance operations.

The utility model discloses a kind of reduction landing flapping-wing aircrafts of steering engine drive, comprising: nose assembly, fuselage assembly, wing assembly, tail assembly and torsion connecting rod mechanism;Each assembly is matched and assembled, and is driven by flapping steering engine wing conventional flapping flight, the utility model has the characteristics of good wing deceleration performance, flight stability, low energy consumption and light quality.The defects of the existing flapping-wing aircraft landing speed, high energy consumption and heavy mechanism are solved.

This invention discloses a drone with a folding wing structure, relating to the field of drone technology. It includes an outer shell mechanism, a camera mechanism mounted on the left side of the outer shell mechanism, a wing mechanism mounted on the top of the outer shell mechanism for gliding, and a horizontal wing mechanism mounted on the bottom of the outer shell mechanism. By mounting the wing mechanism at the top, the horizontal wing mechanism at the bottom, and tail rudder mechanisms at both ends of the outer shell mechanism, a complete flight control system is formed. The wing mechanism enables the outer shell mechanism to glide, the horizontal wing mechanism provides balance and guidance for the overall structure, and the tail rudder mechanism precisely controls the flight attitude. These three mechanisms work together to improve flight stability and maneuverability. The complementary functions and structural synergy between the mechanisms enhance the reliability and flexibility of the drone's flight, improve the overall durability and protective performance of the equipment, and significantly optimize the user experience of the drone.

The application relates to the technical field of unmanned plane control, and discloses a wind-resistant control method and system for a flying robot. According to the application, multi-dimensional sensing detection data are acquired in real time and combined with a state prediction equation, so that a deviation caused by external wind disturbance can be accurately separated; secondly, an adaptive law is used to estimate the prediction error, and a wind disturbance torque matched with the current wind disturbance is generated; thirdly, a filtering operation and a feedforward compensation calculation are performed on the wind disturbance torque, so that the compensation amount is converted into accurate target feedforward compensation amount, and the interference of measurement noise and estimation error is effectively inhibited; finally, the target feedforward compensation amount is fused with a baseline control amount and converted into a motor speed instruction, feedforward-feedback compound control of wind disturbance is realized, the effectiveness of original trajectory and attitude correction functions is maintained, the active inhibition capability of wind disturbance is increased, and the flight stability and wind resistance of the robot are improved.

The application discloses a method and system for unmanned aerial vehicle cluster cooperative crossing of GNSS denial area, configures an anti-interference positioning module for the unmanned aerial vehicle, so that the unmanned aerial vehicle maintains continuous positioning capability under the GNSS denial environment; cluster task planning and local task planning are performed on the unmanned aerial vehicle; a unified set time and formation shape instruction is sent to the unmanned aerial vehicle; a virtual long machine and time synchronization data are calculated by an airborne task computer according to set information and are sent to a flight control computer; the unmanned aerial vehicle performs formation flight based on the virtual long machine and time synchronization data, and a cluster formation situation is formed in cooperation according to time rhythm. The application realizes stable cluster cooperation without real-time communication, improves technical compatibility and flight stability, adapts to existing unmanned aerial vehicle platform rapid integration, improves cluster overall robustness and task success rate, and adapts to large cluster efficient synchronization and expansion.

This invention discloses a lightweight, wearable, flexible flapping-wing flight device based on bird-inspired posture learning, belonging to the field of biomimetic flight vehicle technology. It aims to solve the problem that existing flapping-wing aircraft use pre-programmed fixed flapping frequencies and amplitudes, which cannot dynamically adjust their attitude according to real-time flight status and environmental changes, leading to instability and crashes under complex conditions. The device includes a fixedly connected flight actuator and a tail mechanism. Flexible flapping wings are hinged to both sides of the first frame of the flight actuator. The tail mechanism has a drive mechanism, and the first frame has a matching transmission mechanism. It also includes a bird flight attitude acquisition unit, an environmental perception unit, a human-machine collaborative interaction unit, and a control system with a built-in end-to-end biomimetic flight control model. This invention can dynamically adjust the flapping-wing flight attitude in real time, significantly improving flight stability, environmental adaptability, and aerodynamic efficiency.

This invention relates to the field of control technology for fuel-powered rotorcraft, and in particular to an automatic speed control method for fuel-powered rotorcraft engines. Through bench testing and flight experiments, a multi-dimensional adaptive control parameter table is constructed using current power, target power, and altitude as three-dimensional indexes to quantify engine acceleration and deceleration characteristics. After the flight control system identifies the power demand in real time, it calls the parameter table to query the engine power response time and attitude loop response time, and calculates the dynamic lead based on the formula, achieving a synchronization effect where "different control start times, the same target arrival time." Simultaneously, a feedforward + incremental PID feedback composite control is employed, and the parameter table is iteratively corrected online based on actual operating data. This invention fundamentally cuts off the positive feedback coupling link between speed and attitude, significantly reducing speed overshoot and attitude fluctuations, and improving flight stability, control precision, and fuel economy.

The application discloses a socket connection tee suitable for a large-load unmanned aerial vehicle and an assembling method thereof, and relates to the technical field of unmanned aerial vehicles. The open socket connection tee comprises a tee body and a rack connecting pipe, the tee body comprises a horizontal interface and two vertical interfaces, the two vertical interfaces are respectively arranged on the upper side and the lower side of the horizontal interface, one end of the rack connecting pipe is detachably nested in the horizontal interface of the tee body, the other end of the rack connecting pipe is connected to the body of the unmanned aerial vehicle, and the vertical interfaces of the tee body are used for installing rotor drive motors of the unmanned aerial vehicle. The application has the characteristics of convenient dismounting and mounting, high assembling precision and reliable connection, and is beneficial to improving the flight stability of the unmanned aerial vehicle.