735 results about "Flight stability" patented technology

The invention discloses a remote sensing surveying and mapping image enhancement processing method for an unmanned aerial vehicle, and relates to the technical field of image enhancement processing. During operation of a system, flight attitude and position information are recorded through GNSS and IMU equipment, the flight path of the unmanned aerial vehicle is controlled, and collected original images are primarily processed; calculating and obtaining a flight stability coefficient Fs, an image acquisition quality coefficient Iq and a topographic feature retention coefficient Tf, removing random noise in a remote sensing image by using an improved non-local mean NLM algorithm, optimizing and processing an edge region, improving edge definition and texture details of a topographic image through a Laplacian pyramid algorithm, strengthening landform features of mountains and hills, and obtaining a remote sensing image; according to the method, color distortion caused by complex mountain illumination conditions is corrected, image colors are enabled to truly restore topographic features, important landform information is prevented from being lost due to over-brightness or over-darkness, topographic feature extraction is optimized, a final index Zfinal is generated, and quality evaluation is performed on an enhanced and corrected image.

The invention discloses a flight control method and system of an unmanned aerial vehicle tracking technology, and relates to the technical field of unmanned aerial vehicle control, and the method comprises the following steps: before an unmanned aerial vehicle takes off, starting an airborne sensor in advance, executing parameter initialization and calibration operation, and installing a magnetic marker on a tracking target; acquiring the body position of the unmanned aerial vehicle in the flight process, and sensing the target position of the tracking target in real time by adopting a multi-sensor data fusion algorithm; obstacles existing in the flight path are detected in real time, a three-dimensional environment model is integrated, and the motion state of a tracking target is captured in combination with a follow-up visual tracking algorithm; target tracking data are stored and fed back in real time, and the battery state and the energy consumption speed of the unmanned aerial vehicle are monitored. By combining the magnetic guidance technology, multi-sensor data fusion and a follow-up visual tracking algorithm, high-precision target tracking can be realized in a dynamic complex environment, meanwhile, obstacles are effectively avoided, and the flight stability and tracking precision of the unmanned aerial vehicle are ensured.

The invention discloses an unmanned aerial vehicle flight path optimization system and method based on artificial intelligence and Internet of Things, and relates to the technical field of unmanned aerial vehicle control, and the method comprises the steps: collecting communication delay, environment data and an unmanned aerial vehicle state in real time; analyzing historical communication delay data by using a Markov chain, and predicting a basic delay value in a short time in the future; correcting the basic delay value through a machine learning model; outputting a final delay prediction result; calculating a delay risk index, and judging a delay risk level; based on the delay risk level, when the delay risk level is low risk, sending a control instruction in advance according to the final delay prediction result; and when the delay risk level is medium or high risk, calling a pre-trained reinforcement learning strategy library, and generating a self-adaptive control instruction. According to the method, the multi-dimensional risk index is constructed, multiple strategies are provided to adjust the flight path according to the real-time data and the risk index, and the flight stability of the unmanned aerial vehicle is improved.

The invention discloses a multi-rotor unmanned aerial vehicle stability control method suitable for multiple environments, and relates to the technical field of unmanned aerial vehicle stability control, and the method comprises the following steps: obtaining the environmental factor data of the height of an unmanned aerial vehicle in a flight stage and the internal detection data of a fuselage; establishing an evaluation coefficient of height flight attitude stability of the unmanned aerial vehicle according to the factor data of the environment where the unmanned aerial vehicle is located and the fuselage internal detection data; and comparing the flight attitude stability evaluation coefficient with a preset flight stability coefficient, judging whether the unmanned aerial vehicle flies stably at the height or not, and warning and adjusting the unstable flight attitude in time. The problem that when the unmanned aerial vehicle continuously rises in the flight process, the flight attitude cannot be kept or adjusted to be stable in time is solved.

The invention discloses an unmanned aerial vehicle path planning and obstacle avoidance optimization method based on an improved elite colony algorithm, and the method comprises the following steps: carrying out three-dimensional grid environment modeling and obstacle generation, and obtaining a discrete model of a whole three-dimensional space according to a layering + two-dimensional grid method; elite strategy and path generation: ants select paths by using a random proportion strategy, set a transition probability function and introduce a fluctuation coefficient to prevent excessive concentration of path weights caused by pheromone volatilization; dynamic volatilization rate self-adaptive adjustment: carrying out self-adaptive adjustment according to pheromone distribution, and constructing a dynamic volatilization rate model; path cost calculation and dynamics constraint are integrated, a multi-objective planning method is applied, the path length and flight stability are optimized at the same time, and a path cost function is constructed; and performing path post-processing and smooth optimization, including processing a balanced path to improve the flyability and performing collision detection, thereby establishing an unmanned aerial vehicle dynamics constraint model, and ensuring the flight safety on the premise of path optimization.

The invention discloses a flight control method and system for an electric power inspection unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicle inspection flight control. According to the flight control method of the electric power inspection unmanned aerial vehicle, the current flight position of the unmanned aerial vehicle is obtained in real time, deviation analysis is performed on the current flight position and a target inspection position, and when the deviation exceeds a preset threshold value, disturbance sensing data in a set area is further obtained and a disturbance sensing intensity index is calculated; according to a comparison result of the index and a disturbance attribution judgment threshold value, an offset cause is judged, and a corresponding disturbance response control strategy or a flight error correction strategy is executed respectively, so that the flight stability and the control precision of the electric power inspection unmanned aerial vehicle are dynamically guaranteed; according to the invention, through dual discrimination of the disturbance perception intensity index and the flight error adjustment index, external interference and flight control error causes are accurately distinguished, path offset cause identification and strategy matching are realized, and the flight stability and control precision of the electric power inspection unmanned aerial vehicle in a complex environment are improved.

The invention discloses a multi-sensor fusion unmanned aerial vehicle environment monitoring and early warning system, and relates to the technical field of environment monitoring and early warning, and the system comprises the following components: an unmanned aerial vehicle platform which is used as a carrying basis of sensors and data processing equipment and has excellent flight stability and strong cruising ability; according to the invention, by introducing a task planning mechanism based on autonomous learning, the unmanned aerial vehicle can continuously learn and optimize the flight strategy when executing the monitoring task, the innovation point significantly improves the efficiency of task execution, and the unmanned aerial vehicle can perform real-time monitoring according to the actual environment feedback and historical task data. The unmanned aerial vehicle can automatically adjust the parameters of the flight path, speed and height to avoid adverse factors and select the optimal path, and meanwhile, the unmanned aerial vehicle is endowed with strong scene adaptability by the autonomous learning ability, so that the unmanned aerial vehicle can quickly respond to a complicated and changeable natural environment or a sudden emergency, and smooth completion of a task is ensured.

The invention discloses an aircraft attitude control method and device based on a semiconductor microcomputer system, and the method comprises the steps: collecting the multi-source sensor data of an aircraft, calculating an attitude error vector, and constructing a three-dimensional error space coordinate system; taking the three-dimensional error space coordinate system as a reference, adjusting the model in real time, and solving the optimal attitude adjustment amount in a prediction window period; the optimal attitude adjustment amount is input into an execution mechanism distribution module, and a thrust adjustment instruction sequence and a control surface deflection angle instruction queue of each vector propeller are generated through calculation in combination with a propeller response matrix and a control surface efficiency coefficient; dynamically correcting and predicting weight parameters of the controller through closed-loop verification; and updating the multi-objective optimization model based on the corrected parameters, adjusting the instruction distribution proportion through a dynamic reconfiguration interface, and writing the updated parameters into the attitude database to form a complete closed-loop period. According to the invention, high-precision real-time control of the attitude of the aircraft is realized, and the flight stability and the energy efficiency ratio in a complex environment are improved.

The invention discloses a transmission driving control method of a bimodal integrated engine. The transmission driving control method comprises the following steps: S1, state sensing; s2, mode decision making; S3, dynamic adjustment; s4, mode switching; S5, power optimization distribution; s6, adaptive learning is carried out; and S7, fault-tolerant guarantee. The invention further discloses a bimodal integrated engine transmission system which comprises the following modules: a power input module; a transmission adjusting module; a state sensing module; an intelligent control module; and a fault-tolerant guarantee module. Parameters are dynamically adjusted through fuzzy PID control according to speed deviation, meanwhile, real-time correction is conducted in combination with a multi-mode intelligent algorithm, speed fluctuation is precisely controlled within + / -3 km / h, flight stability is guaranteed, a model prediction control and multi-mode intelligent control cooperation mechanism is adopted, an optimal power output sequence is calculated in advance, coordinated distribution is completed, and the optimal power output sequence is controlled to be within + / -3 km / h. The dynamic response speed is increased by 40%, and the high-dynamic task requirement is met.

The invention discloses a hydrogen fuel cell unmanned aerial vehicle hydrogen cylinder positioning device which comprises a front fixing plate, a rear fixing plate is installed on the rear portion of the front fixing plate through a connecting rod, a tightening sliding groove is formed in the surface of the front fixing plate, and a tightening sliding bolt is embedded in the tightening sliding groove. A tightening supporting rod is installed below the tightening sliding bolt through a bolt, a tightening sliding plate is slightly attached to the outer side of the tightening supporting rod, a tightening sliding plate is installed on the inner surface of the rear fixing plate through a tightening supporting block, a tightening protection plate is welded to one end of the tightening supporting rod, and a tightening wheel is installed in the tightening protection plate through a bearing; an adjusting sliding groove is formed in the surface of the front fixing plate, and an adjusting moving bolt is embedded in the adjusting sliding groove. By means of the supporting legs, the hydrogen cylinder support, the gas guide structure and the downward pressing top seat, the problems that according to an existing hydrogen fuel cell unmanned aerial vehicle hydrogen cylinder positioning device, the hydrogen cylinder is still installed at the upper position, the flight stability of an unmanned aerial vehicle is likely to be affected, the hydrogen cylinder is unstable after being installed and likely to shake in the flight process, and the unmanned aerial vehicle cannot work easily are solved. And rapid mounting and dismounting are not convenient.

The invention provides an unmanned aerial vehicle flight attitude adaptive prediction and control method and system, and relates to the technical field of unmanned aerial vehicle control, and the method comprises the steps: building a prediction compensation amount through obtaining environment data, carrying out the multi-scale prediction and adaptive fusion of a flight attitude, building a prediction control relation containing a state variable item, a reference input item and an interference compensation item, and carrying out the adaptive prediction of the flight attitude. And performing hierarchical updating on the control parameters according to the state change rate, and finally generating a control instruction to adjust the flight attitude. The flight stability and adaptability of the unmanned aerial vehicle in a complex environment are improved.

The invention discloses an anti-unmanned aerial vehicle power rotary flying rope net capturing device and a control method thereof, and belongs to the technical field of unmanned aerial vehicles. An electromagnet circuit is controlled to be switched on through a relay, so that an electromagnet instantly loses attraction force, and the four brushless motors are rapidly, synchronously and accurately released; the brushless motor is used as a power source for unfolding the catching net to drive the catching net to unfold and cover a target. Wherein the magnet vane is attracted with the electromagnet when the electromagnet is powered off so that the four corners of the catching net can be fixed to the unmanned aerial vehicle, the influence of the electromagnet on the brushless motor is effectively isolated in the whole process, and the flight stability is ensured. The net ring can rotate freely, the direction of the catching net traction rope is kept stable, and winding with a motor or a propeller is avoided; the ball bearing and the magnet vane jointly ensure the height of the catching net traction rope, the catching net device is prevented from being separated from the motor, and the whole device can achieve synchronous and safe falling of all components and achieve the recovery function.

The invention discloses a Beidou-based patrol inspection unmanned aerial vehicle positioning system, and relates to the field of unmanned aerial vehicles. The method comprises the following steps: an unmanned aerial vehicle positioning estimation module which performs positioning optimization through cloud processing based on Beidou satellite and unmanned aerial vehicle data so as to realize position estimation; the unmanned aerial vehicle position correction module obtains the accurate position of the unmanned aerial vehicle through an intelligent error correction function; a multi-unmanned aerial vehicle task allocation module which constructs a scene influence index, performs task allocation among multiple unmanned aerial vehicles by using the task execution adaptation score, and improves the efficiency; the map construction and path planning module is used for constructing an environment map and carrying out optimal path planning according to a scene influence index optimization A * algorithm; and the real-time positioning and obstacle avoidance module is used for acquiring unmanned aerial vehicle data, performing obstacle detection and making an obstacle avoidance decision in combination with obstacle information. Through intelligent error correction and real-time obstacle detection, the positioning precision, flight stability and obstacle avoidance capability of the unmanned aerial vehicle in a complex environment are improved, and efficient and safe execution of a task is ensured.

The invention provides an unmanned aerial vehicle autonomous obstacle avoidance and dynamic path planning method and system based on multi-modal perception and hybrid intelligent decision. Environmental parameters such as wind speed, illuminance, temperature and humidity and image quality indexes are collected in real time through an airborne weather station, an IMU and a visual sensor, a flight parameter-image quality coupling model is established, and multi-target optimization is achieved through support vector regression (SVR) and particle swarm optimization (PSO). And designing a dynamic strategy optimization module based on Q-learning, and designing a reward function in combination with image quality, obstacle avoidance safety and energy consumption. An obstacle three-dimensional model is constructed in real time through ORB-SLAM3, a dynamic danger coefficient is calculated, and an obstacle avoidance track is generated by adopting an improved APF-RRT * algorithm. And the online cooperative control module optimizes the control quantity by using a BFGS algorithm so as to ensure the flight stability and the task efficiency. The method realizes high-precision obstacle avoidance and path planning of the unmanned aerial vehicle in a complex environment, has the characteristics of high robustness and wide adaptability, and is suitable for practical application scenes such as routing inspection, surveying and mapping and the like.

The invention discloses a flight control method and system for unmanned aerial vehicle tracking, and relates to the technical field of unmanned aerial vehicle flight control. The flight control method for unmanned aerial vehicle tracking comprises the following steps of flight stability detection, frequency rise adjustment judgment and frequency drop adjustment judgment. According to the invention, the stability degree of the flight control power performance of the unmanned aerial vehicle is detected based on the obtained performance data of the unmanned aerial vehicle to obtain the stability detection result, and the initial attitude update frequency rising and falling adjustment judgment is executed in combination with the stability detection result to obtain the corresponding rising judgment update frequency and falling judgment update frequency; the effect of more accurately controlling the flight attitude of the unmanned aerial vehicle in the distribution line inspection operation is achieved, and the problem of inaccurate control of the flight attitude of the unmanned aerial vehicle in the distribution line inspection operation based on the unmanned aerial vehicle in the prior art is solved.

The invention discloses an unmanned aerial vehicle automatic homeward voyage method based on a global topological map and a graph search algorithm, which comprises a global passable area topological connected graph module, a homeward voyage path search module, a homeward voyage path optimization module and a homeward voyage path error processing module. According to the method, global path searching is carried out in combination with a Dijkstra algorithm, path smoothness, flight time and obstacle avoidance are optimized by using a B spline curve, the precision and speed of path planning are effectively improved, and meanwhile, the system can cope with changes in the environment by updating a topological connected graph and optimizing the path in real time, so that the path planning efficiency is improved. And secondly, the path safety and the flight stability are both considered, and an obstacle distance penalty term is introduced, so that the flight path can avoid the obstacle, and the collision risk is reduced.

The invention discloses a method and platform for unmanned aerial vehicle flight management through out-of-step pre-judgment, and relates to the technical field of unmanned aerial vehicles, and the method comprises the steps: carrying out the associated feature extraction of an out-of-step data set of an unmanned aerial vehicle, and obtaining an out-of-step feature data set of the unmanned aerial vehicle; constructing an unmanned aerial vehicle out-of-step pre-judgment network model library; the flight state data flow and the operation environment data flow of the unmanned aerial vehicle are acquired; obtaining a target unmanned aerial vehicle out-of-step pre-judgment network model; performing out-of-step pre-judgment identification to obtain out-of-step pre-judgment abnormal parameters; and constructing an unmanned aerial vehicle flight control strategy space, determining unmanned aerial vehicle flight control strategy parameters, and performing out-of-step flight control on the target unmanned aerial vehicle. The technical problems of poor flight stability and safety and low task execution efficiency of the unmanned aerial vehicle due to the fact that flight out-of-step in a complex flight environment and under operation requirements cannot be predicted in advance in existing unmanned aerial vehicle flight management are solved, and the technical effect of improving the flight stability, safety and task execution efficiency of the unmanned aerial vehicle is achieved.

The invention discloses an unmanned aerial vehicle wind resistance performance evaluation method, device and equipment and a storage medium, and the method comprises the steps: obtaining flight parameters of an unmanned aerial vehicle under different wind speed conditions, and carrying out the quantification processing of the flight parameters, and obtaining flight stability performance scores under different wind speed conditions; according to the flight stability performance scores under the different wind speed conditions and the actual wind speed, wind resistance scores of the unmanned aerial vehicle under the different wind speed conditions are calculated; and based on the wind resistance score and the weight coefficients corresponding to different wind speeds, determining a comprehensive wind resistance score of the unmanned aerial vehicle. According to the quantitative evaluation method, the comprehensive wind resistance performance of the unmanned aerial vehicle at low, medium and high wind speeds can be comprehensively evaluated, the limitation of evaluation under a single wind speed condition is avoided, objective quantitative evaluation of the wind resistance performance is realized, and the wind resistance performance of the unmanned aerial vehicle can be accurately reflected.

The invention discloses a fire-fighting unmanned aerial vehicle autonomous navigation method and system oriented to a complex building environment, and relates to the technical field of unmanned aerial vehicle navigation.The method comprises the steps that firstly, obstacle distribution point cloud data and thermodynamic data are obtained based on a laser radar and other sensors, and a spatial constraint coefficient and a thermal disturbance intensity factor are calculated respectively; therefore, the space trafficability and stability of the flight environment are comprehensively reflected. And then, fusing the global path planning and the local obstacle avoidance to generate a comprehensive environment evaluation parameter, adaptively configuring a weight ratio of the global path planning to the local obstacle avoidance according to the comprehensive environment evaluation parameter, and carrying out weighted fusion on instructions output by different algorithms so as to generate a smooth and safe flight control instruction. According to the invention, the dynamic adjustment of the navigation strategy can be realized according to the change of the building environment, the obstacle avoidance safety in the complex environment is ensured, the continuity and efficiency of the overall path planning are also considered, and the autonomous flight stability and task execution reliability of the fire-fighting unmanned aerial vehicle in the high-risk building environment are significantly improved.

The invention discloses an automatic control method of a four-power-source tiltable aircraft, relates to the technical field of flight control of tiltable aircrafts, is realized based on a PX4 flight control system, and is suitable for a tiltable aircraft provided with four independent tiltable power sources and corresponding tilting execution mechanisms. According to the method, through configuration of a tilting angle control module, a power distribution module and a full-stage flight logic scheduling module, full-stage automatic control of vertical take-off and landing, suspension, horizontal take-off, fixed-point horizontal flight, automatic cruise, one-key return flight, fixed-angle flight, power source fault handling and the like is achieved. Smooth transition of all flight modes is achieved, the stability of the attitude, the height and the position of the tiltable aircraft in different flight stages is maintained, meanwhile, the functions of automatic obstacle avoidance, fault emergency and the like are integrated, flight safety is guaranteed, flight stability and applicability are improved, and the method can be widely applied to various tiltable aircraft operation scenes.

The invention belongs to the technical field of intelligent disaster relief equipment, and particularly relates to a long-endurance high-altitude fire-fighting unmanned aerial vehicle, which comprises a flying fuselage, no water tank load is arranged on the fuselage, a water pipe is fixedly arranged in the fuselage, and one end of the water pipe is communicated with a sprinkler head; the other end of the water pipe communicates with a water injection head, and a cushioning sealing assembly is arranged in the water injection head. The control seat is arranged on the machine body, a plurality of detection units are arranged on the control seat and the machine body, and a power supply end is arranged on one side wall of the control seat; through the design of the ground end, the buffer sealing assembly and the like, the unmanned aerial vehicle can carry a cable and a water pipe, the water pipe or the cable can be prevented from excessively floating in the air while long-time endurance fire extinguishing in the air is completed, the flight stability is guaranteed, various data can be collected, and the rescue efficiency is improved.

The invention belongs to the technical field of aviation equipment industry, and particularly relates to an electric power inspection unmanned aerial vehicle which comprises an unmanned aerial vehicle body, a high-definition camera, a temperature sensing variable resistance plate, a flaming foreign matter removing mechanism, a load reduction feedback mechanism, a rotor rotating speed self-adjusting compensation mechanism, a lubricating state visual display mechanism and a PLC. The rotor speed of the unmanned aerial vehicle can be automatically adjusted based on the environment temperature and the condition that the load of the unmanned aerial vehicle is reduced due to fuel consumption in the use of the flaming mechanism, the flight stability of the unmanned aerial vehicle is ensured, and the situation that the unmanned aerial vehicle is more sensitive to airflow and wind direction changes due to excessive lift force can be avoided; according to the method, the problem that the flight stability is influenced due to the fact that the lubricating oil loss condition in the flight process of the unmanned aerial vehicle can be automatically calculated is solved, so that workers can arrange the maintenance time more reasonably, and unnecessary premature maintenance or too late maintenance is avoided.

The invention relates to an unmanned helicopter suspension anti-swing method and system, belongs to the technical field of unmanned aerial vehicle control, and solves the problems that an existing unmanned aerial vehicle suspension flight system is high in dependence on load mass, limited in application range and low in control precision during control. The method comprises the following steps: respectively obtaining three-axis attitude motion information of a detacher adapter plate and three-axis attitude motion information of a hanging box; on the basis of the three-axis attitude motion information of the detacher adapter plate and the three-axis attitude motion information of the hanging box, calculating to obtain swing data of the hanging box relative to the detacher adapter plate; based on the swing data, calculating to obtain an anti-swing horizontal acceleration; and based on the anti-swing horizontal acceleration, calculating to obtain an anti-swing angle output by the anti-swing controller, and inputting the anti-swing angle and the current attitude angle and the target attitude angle of the unmanned helicopter into an attitude controller to control the unmanned helicopter. The swing is quickly eliminated, the flight stability is improved, the dependence on specific conditions is reduced, and the system adaptability and reliability are enhanced.

The invention relates to the technical field of underwater robots, discloses an underwater autonomous flight control method and system for a submersible type unmanned aerial vehicle, and aims to solve the technical defects of rigid route planning, high energy consumption and poor task adaptability of an existing submersible type unmanned aerial vehicle in complex dynamic underwater environment flight control. The method comprises the steps of executing multi-modal underwater environment perception, constructing an environment state fusion model under a unified space-time reference, generating a predictive hydrodynamic field four-dimensional model, executing multi-target route optimization based on energy and risk cost, and implementing self-adaptive flight control based on feedforward compensation. By adopting the above technical scheme, the method can effectively reduce the energy consumption of the unmanned aerial vehicle, remarkably prolong the operation endurance time, improve the intelligence and task adaptability of route planning, and improve the flight stability and trajectory tracking precision. Therefore, the autonomy, the economy and the task success rate in an unknown, unstructured and strong dynamic underwater environment are enhanced.

The invention discloses a tilting multi-rotor unmanned aerial vehicle and a tilting transition method, and belongs to the technical field of unmanned aerial vehicles. The tilting multi-rotor unmanned aerial vehicle comprises a fuselage, wings are symmetrically arranged on the two sides of the fuselage, wingtip small wings with rudders are arranged at the tail ends of the wings, and front tilting mechanisms symmetrically arranged relative to the fuselage are arranged at the front end of the fuselage; rear tilting mechanisms which are symmetrically arranged relative to the fuselage are arranged at the rear end of the fuselage, and a propeller is arranged in the middle of the rear end of the fuselage; the front tilting mechanism comprises a front propeller, the front propeller is connected with the fuselage through a tilting power structure, the rear tilting mechanism comprises a rear propeller, and the rear propeller is connected with the fuselage through a tilting power structure. According to the tilting multi-rotor unmanned aerial vehicle and the tilting transition method, the fuselage layout is matched with the front tilting mechanism and the rear tilting mechanism, the flight stability is improved, and higher air maneuverability is achieved.

The invention relates to the technical field of unmanned aerial vehicles and bridge inspection, and discloses a bridge support inspection method based on an unmanned aerial vehicle. The method comprises the following steps: importing a bridge three-dimensional point cloud model and a reference slice elevation, and extracting a bridge pier contour; calculating an acquisition interval according to the load parameters, and determining a bridge pier center line as an inspection baseline; buffer inspection waypoints are generated on the two sides of the center line, and the nearest waypoint is selected as an inspection starting point; generating an environment map comprising the bridge piers and the surrounding preset range of the bridge piers; and planning a path by adopting an A-Star algorithm, and carrying out smooth processing through a B spline algorithm to generate an inspection path. Various technical means are fused, an efficient, safe and accurate bridge inspection solution is provided, the manual operation risk and cost are reduced, the inspection efficiency is improved, the flight stability is optimized, and technical support is provided for future intelligent bridge inspection.

The invention relates to the technical field of artificial shuttlecocks, in particular to a preparation method of an artificial shuttlecock. The method comprises the following steps: providing a plurality of artificial feathers for the shuttlecock and a hemispherical shuttlecock head; and inserting the artificial feathers into the shuttlecock head and bonding and fixing to obtain the artificial shuttlecock. The artificial shuttlecock prepared by the method provided by the invention has more excellent flight stability and an original ecological structure close to natural feathers, so that the flight performance of the shuttlecock prepared from the natural feathers is basically restored.

The embodiment of the invention provides a seedling slinging mechanism and an unmanned aerial vehicle seedling slinging system, and relates to the technical field of seedling slinging. The seedling throwing mechanism comprises a load module, a first seedling taking module and a second seedling taking module, the first seedling taking module and the second seedling taking module are arranged on the load module, the load module is used for being arranged on the unmanned aerial vehicle, the first seedling taking module comprises a first driving source and a first tool bit which are connected, and the first driving source is used for driving the first tool bit to rotate; the second seedling taking module comprises a second driving source and a second tool bit which are connected, the second driving source is used for driving the second tool bit to rotate, the rotating direction of the first tool bit is opposite to the rotating direction of the second tool bit so as to offset the swinging torque to the seedling throwing mechanism, and the seedling throwing mechanism guarantees the flight stability of the unmanned aerial vehicle.

The invention provides an unmanned aerial vehicle adaptive path planning method and system fused with environment uncertainty, and the method comprises the steps: obtaining surrounding environment data based on an environment perception module, generating a local grid map and a dynamic obstacle list, inputting the local grid map and the dynamic obstacle list into an environment uncertainty evaluation module, obtaining an uncertainty factor, and carrying out the calculation of the uncertainty factor; and performing path planning through a global path planner and a local path planner based on the uncertainty factor, and adjusting the weight of a global path and the weight of a local path according to the environment uncertainty factor through a dynamic weight fusion device to obtain a final track. According to the method, the flexibility and the real-time performance of unmanned aerial vehicle path planning are effectively improved, the obstacle avoidance capability and the flight stability of the unmanned aerial vehicle in a complex environment are enhanced, and the flight efficiency is improved.

The utility model discloses an airborne flame strip spreading hanger of an unmanned aerial vehicle, and relates to the technical field of airborne flame strip spreading. The unmanned aerial vehicle comprises an unmanned aerial vehicle body, upper hanging frames are arranged below wings on the two sides of the unmanned aerial vehicle body, one side of the bottom of each upper hanging frame is rotationally connected with a first connecting rod, the other side of the bottom of each upper hanging frame is rotationally connected with a second connecting rod, and lower hanging frames are arranged at the bottom ends of the first connecting rods and the bottom ends of the second connecting rods. The upper hanging machine, the first connecting rod, the second connecting rod, the lower hanging frame and the first locking mechanism are arranged, stability, adjustability and operability are combined, an efficient and reliable solution is provided for sowing operation, firm installation and flexible adjustment of the sowing device are achieved, meanwhile, the auxiliary wings and the locking mechanism are used in cooperation, and the sowing device is convenient to use. The operation process is simplified, the flight stability and safety are improved, the unmanned aerial vehicle scattering operation is more accurate and reliable, and the unmanned aerial vehicle is suitable for different scattering requirements.