642 results about "Fly control" patented technology

The invention discloses a power transmission line inspection system based on a fixed-wing unmanned aerial vehicle. The power transmission line inspection system based on the fixed-wing unmanned aerial vehicle comprises a ground station and a fixed-wing unmanned aerial vehicle, wherein the ground station comprises a ground control system, an image receiving system, and a data processing system, the fixed-wing unmanned aerial vehicle comprises an unmanned aerial vehicle body, a remote sensing monitoring device, a real-time detection device, an image transmission system, an instruction receiving system, a power system, and a flying control system. The remote sensing monitoring device is used for collecting image information in an area of a power transmission line at a fixed time or a fixed distance or a fixed spot, the real-time detection device is used for collecting information in the area of the power transmission line in real time, and the remote sensing monitoring device and the real-time detection device are arranged on the unmanned aerial vehicle body in a front-and-back adjacent and direct-to-ground mode. The power transmission line inspection system based on the fixed-wing unmanned aerial vehicle is capable of conducting periodical or emergent macroscopic inspections on the power transmission line and accessory equipment of the power transmission line, so that labor intensity of manual power transmission line inspection work is greatly reduced, and power transmission line inspection efficiency is improved.

The invention discloses intelligent multi-mode flying shooting equipment and a flying control method thereof, and belongs to the technical field of aviation. The flying shooting equipment comprises a rack, a flying mechanism, a shooting device and a control mechanism; the control mechanism also comprises an automatic tracking module, a shooting action setting module and a shooting strategy setting module, wherein the automatic tracking module is used for recognizing a target object, and realizing track tracing and follow shooting in allusion to the target object; the shooting action setting module is used for predefining at least one shooting action of the flying shooting equipment; the shooting strategy setting module is used for setting a corresponding shooting strategy according to the preset condition of the target object, and executing a corresponding shooting action when the preset condition is met. According to the intelligent multi-mode flying shooting equipment and the flying control method thereof disclosed by the invention, on the technological base of the traditional automatic follow shooting on the target object, intelligent situational shooting is completed with a rich shooting mode; under the condition that artificial control is not needed completely, a shooting effect with a lens sense and a shocking effect can be generated.

The invention discloses a flying robot used for detecting transmission line insulator in the field of aircraft control and image transmission technique. The technical proposal is that the flying robot used for detecting the transmission line insulator consists of a three-axis aircraft or four-axis aircraft, a flying control system and an objective recognition system; the power part of the three-axis aircraft consists of three pairs of airscrews, three coaxial motors and three supporting arms; the power part of the four-axis aircraft consists of 4 direct-drive brushless motors and four airscrews; the flying control system consists of an on-board self-control system and a ground station control system; the objective recognition system consists of on-board mission load and a ground image processing system. By installing a precise navigation system on the flying robot, the flying robot exactly flies in the space above the insulator to be detected; by adopting the image gaining and transmission system, the zero-value insulator is exactly detected, the labor intensity is lightened, and the safety of the detection personnel is improved during the detection process.

The invention relates to an image stabilizing method of an airborne tripod head moving target autonomous tracking system based on human eye-like complex movement, which comprises an unmanned aircraft, and a flying control system, an airborne tripod head video camera, an airborne image processing unit and an airborne bionic control microprocessor. The method comprises the following steps that: a posture sensor measures the posture location of the small unmanned aircraft, a visual sensor acquires the target information of the video camera, after corresponding analog/digital (A/D) conversion and digital filtration, the information of posture location and the information of the video camera are operated and processed according to the input relation of established eyeball composite movement, the relevant deviation between a tracked target and the optical axis of the video camera is obtained, corresponding scale conversion is carried out, the processed information serves as a control law of an airborne tripod head controller to respectively control an airborne tripod head motor and realize the characteristics of the eyeball composite movement. The method can regulate an airborne tripod head in real time through the steps according to the position information of the tracked moving target and the posture information of the unmanned aircraft, so that the unmanned aircraft can autonomously track a suspicious moving target in an uneven environment and play a certain role in stabilizing a tracked image.

The invention discloses a flight control method of a small unmanned helicopter. According to the method, a flight execution unit, a state sensor unit, a parachute unit, a flight control unit, a ground control terminal and a remote controller unit are adopted, so that the effects of obstacle-avoidance flight, water-surface-avoidance landing, self-adaptive flight attitude control, power monitoring, automatic parachute opening in case of engine stop, flight control through a flight control panel, flight path generation through a signal panel and the like can be achieved. The flight control method of the small unmanned helicopter has the advantages that the self-adaptive obstacle-avoidance flight capacity of the small unmanned helicopter can be improved; the small unmanned helicopter can operate in a beyond visual range according to a preset instruction, can slowly land by using a parachute in an emergency of the engine stop in the air, is protected from being damaged, and can automatically avoid a water surface during landing.

The invention provides road traffic inspection system and method based on a small unmanned aerial vehicle. The road traffic inspection system comprises a flying control subsystem, a road monitoring detecting subsystem and a road information distributing subsystem; the flying control subsystem is used for shooting the traffic condition of each road on real time and sending the shot picture to the road monitoring detecting subsystem; the road monitoring detecting subsystem is used for processing the received picture to obtain the traffic condition data and processed picture of the road and then displaying the processed picture on real time; the road information distributing subsystem is used for receiving the traffic condition data analyzed by the road monitoring detecting subsystem, storing the traffic condition data into a historical database and sending to related department and/ or an information platform. With the adoption of the system, the traffic conditions of all roads can be flexibly and efficiently comprehensively monitored on real time; in addition, the corresponding traffic condition can be obtained through the shot pictures; meanwhile, the safety level of the roads is also improved.

The invention discloses tracking flying control system and method of a six-rotor unmanned helicopter. The six-rotor unmanned helicopter of the six-rotor unmanned helicopter comprises an onboard part and a ground station control part; the onboard part comprises a six-rotor flying platform and a flying controller; the ground station control part comprises a measuring control terminal with the wireless transmission function. The system has an automatic control mode and a manual control mode and has the characteristics of being small in size and light in weight. The invention further discloses a control method of the six-rotor unmanned helicopter of the six-rotor unmanned helicopter. The method is that the control output is calculated by the closed-loop control algorithm to control an actuating mechanism to work. With the adoption of the method, the indoor tracking flying of the six-rotor unmanned helicopter is achieved, and the applicable scope of the multi-rotor unmanned helicopter is expanded; the social benefit and economic benefit are increased.

The invention relates to an unmanned aerial vehicle express deliver unit remotely controlled and received by a mobile phone and belongs to the technical field of mobile phone control by using Internet of things. A transmitter opens a mobile phone remote control and reception application program in the mobile phone I and realizes wireless connection with a mobile phone terminal module in an unmanned aerial vehicle by network signals; the transmitter clicks an authorization light key on a mobile phone display screen in the mobile phone I, starts the unmanned plant to fly in the sky by a command information processor and a flying control device, and then selects a target place which the unmanned aerial vehicle flies to on the mobile phone display screen; the unmanned aerial vehicle flies to the target place according to a command sent by the mobile phone; similarly, a receiver at the target place opens the mobile phone remote control and reception application program in a mobile phone II and realizes wireless network connection with the unmanned aerial vehicle by the mobile phone terminal module in the unmanned aerial vehicle; the reliever acquires the authorization of the transmitter by pressing the authorization light key in the mobile phone II, starts to operate the unmanned aerial vehicle to land at a specified safe place and then takes out goods in a goods cabin.

The invention discloses a flying monitoring system of an unmanned aerial vehicle, and belongs to the field of aviation electronics or aeronautical communication. The flying monitoring system comprises an airborne terminal and a ground terminal, wherein the airborne terminal is arranged on the unmanned aerial vehicle and comprises a satellite positioning communication module, a flying control module and a first wireless communication module, and the ground terminal comprises a ground control module, a man-machine interaction module and a second wireless communication module. The system is in communication with a central control processing unit and sends position information, flying information, flying control information and air line application information to the central control processing unit. The central control processing unit obtains the air line application information and sends the air line application information to the system. The flying of the unmanned aerial vehicle is effectively monitored, the application of the air line of the unmanned aerial vehicle can be more convenient and rapid, the flying air line examination and approval and the information issuing feedback can be easier and more timely, the air line application efficiency is improved, the running and management difficulty and the running cost of the unmanned aerial vehicle are reduced, and the management efficiency and safety are improved.

A dumachine control system of coaxial pilotless heligyro comprises two sets of ground units and one set of heligyro unit. It is featured as forming said ground unit by control machine platform, flying control table , remote control coder, remote detection decoder, ground control computer, control emitter/receiver and control antenna; forming heligyro unit by control antenna, control emitter/receiver, control video processing combination and low speed signal regulator.

The invention provides an unmanned helicopter independent landing method based on natural landmark and vision navigation, belonging to the technical field of unmanned helicopters. The unmanned helicopter independent landing method based on natural landmark and vision navigation is characterized by comprising an unmanned helicopter, a flying control computer, a magnetic heading sensor, an altimeter and a vehicular camera, wherein the flying control computer controls and locks the heading of the helicopter by reading the data of the magnetic heading sensor in real time during the independent landing process of the unmanned helicopter; by correcting the pitching and rolling control instructions, the motion of the ground natural landmark in the vehicular camera image is locked, so as to eliminate the horizontal displacement of the unmanned helicopter; and by reading the data of the altimeter in real time, the descending speed of the helicopter is controlled till the helicopter is landed safely. By adopting the unmanned helicopter independent landing method, the unmanned helicopter can complete independent landing precisely, safely and reliably by utilizing the vision navigation function of the computer, the magnetic heading sensor and the altimeter simultaneously.

The invention relates to a drive decoupled plant protection unmanned aerial vehicle control system and a control method. The control system includes a plant protection comprehensive management module, a height control module, a navigation control module, and a spray control module. The plant protection comprehensive management module is configured to manage the interactive function of navigation, spray operation, height control and parameter setting. The height control module is configured to measure the distance between the unmanned aerial vehicle and the crop canopies, and to maintain the height of the unmanned aerial vehicle, and reduced the droplet drift caused by the influence of natural wind, and ensured the operation effect. The navigation control module is configured to control the unmanned aerial vehicle to flying along the preset operation route. The spray control module is configured to control the operation switch in accordance of the position of the unmanned aerial vehicle, and effectively avoid leakage spray and pesticide spray. The present invention realized the autonomous flight control of the plant protection unmanned aerial vehicle, the decoupled drive of the vertical lift and horizontal thrust guaranteed the simple and reliable of the control system, and reduce the labor intensity of operators.

This method implements a transition from i) moving state in which the drone is flying at speed and tilt angle that are not zero to ii) hovering state in which the drone has speed and tilt angle that are both zero. The method comprises: a) measuring horizontal linear speed, tilt angles, and angular speeds at the initial instant; b) setting stopping time value; c) on the basis of initial measurements and set stopping time, parameterizing a predetermined predictive function that models optimum continuous decreasing variation of horizontal linear speed as a function of time; d) applying setpoint values to a loop for controlling motors of the drone, which values correspond to target horizontal linear speed precalculated from said parameterized predictive function; and e) once hovering state has been reached, activating a hovering flight control loop for maintaining drone at speed and tilt angle that are zero relative to the ground.

The invention discloses a double-rotor-wing unmanned plane. Flying control on the double-rotor-wing unmanned plane is realized based on a four-rotor-wing unmanned plane flying control principle by designing a single-degree-of-freedom automatic tilter, semi-rigidity rotor wings and a flying control system. The unmanned plane consists of a stander, a plane body, a power bin, rotor wing systems and a rotor wing system support, wherein the plane body is provided with an equipment bin in which a flight posture sensor group, a PID controller, a lithium battery and an electronic speed controller are arranged; the plane body, the power bin and the rotor wing system support are in rigid fixed connection through the stander; a brushless motor and a steering engine are arranged in the power bin; the steering engine drives a pull rod to operate the single-degree-of-freedom automatic tilter and control the rotor wings to periodically change the distance; the angle of the tilter is measured by a potentiometer, so that precise control is facilitated; the rotor wing systems are symmetrically arranged and are positioned on the same horizontal plane; the rotating directions of the rotor wings are opposite, and the rotor wings are mounted on a total distance hinge so as to be mechanically limited to do waving motion. According to the unmanned plane, the operation mechanism is simplified; the flying quality is good; the requirement on the precision of a theoretical model is low, and an extremely high practical value is achieved.

The invention discloses a method and a device for an unmanned plane during the flying. The method comprises that: the unmanned plane is provided with a vehicle-mounted response recognition system which is connected with a navigation flying control system of the unmanned plane and transmits a local plane number and flying parameters in real time to notify the ground and other planes the position and flying parameters of the local plane and simultaneously receive the plane numbers and the parameters of other planes and judge the safe distance between the local plane and the other planes; and when the distance between the local plane and the other planes is smaller than the safe distance, the vehicle-mounted response recognition system automatically avoids other planes through the navigation flying control system of the unmanned plane. The device comprises the vehicle-mounted response recognition system (1) which is connected with the navigation flying control system (4) of the unmanned plane. Compared with the prior art, the method and the device can prevent the unmanned plane from colliding with other planes, enlarge the application range of the unmanned plane, and provide favorable condition for the unmanned plane to enter a common airspace to fly.

A microactuator comprises a stator, a rotor and an operator coupling the rotor to the stator. The operator comprises a four-block magnet array supported by either the stator or rotor, and first and second coils supported by the other of the stator or rotor. Current in one coil alters magnetic flux linkage to move the rotor along a first axis. Current in the other coil alters magnetic flux linkage to move the rotor along a second axis orthogonal to the first axis. The microactuator is applied to the slider of a disc drive to position the head at a selected flying distance adjacent the disc medium, and to position the head relative to a track on the medium.

The present invention is the flying control system and method for semi-autonomous flying of unattended aeroboat. The control system includes aeroboat borne system and ground system, the aeroboat borne system has structure comprising sensors, A/D converter, monolithic computer, analog multiplexer, executor, aeroboat borne data transmission module, remote controlled signal receiver, etc. connected together; and the ground system has PC, ground data transmission module and remote signal emitter. The aeroboat borne data transmission module and the remote controlled signal receiver in the aeroboat borne system associate with the ground data transmission module and the remote signal emitter of the ground system via RF signal. The control system can identify the mode channel signal and realize the mode switching among remote control, local remote control and autonomous flying.

A flight control system for an aircraft is configured for receiving command signals representing commanded values of a location of a geospatial point and a radius about the geospatial point for defining a circular groundtrack. A sensor determines a geospatial location of the aircraft and provides a location signal representing the location of the aircraft. A controller for commanding flight control devices on the aircraft controls the flight of the aircraft and is configured to receive the command signals and the location signal. The controller uses the command signals and location signal to operate the flight control devices to control the flight of the aircraft for directing the aircraft generally toward a tangent point of the circular groundtrack and then maintaining a flight path along the circular groundtrack.

The invention provides a high-speed aircraft having tilting propellers and being capable of taking off and landing vertically and a flight control method of such high-speed aircraft. The high-speed aircraft is characterized in that canard wings are mounted at the head of a fuselage of the high-speed aircraft, wings and a vertical fin are mounted in the front of and above the tail of the fuselage respectively, the tilting propellers are mounted at the outer ends of two tilting arms, the two tilting arms are symmetrically mounted on two sides of the front middle of the fuselage, each tilting arm, along with the corresponding tilting propeller, can be tilted synchronously around a tilting arm axis, and a tail rotor driven by an independent motor is mounted at the tail of the fuselage and can deflect leftwards and rightwards around a vertical fuselage axis. The high-speed aircraft having tilting propellers and being capable of taking off and landing vertically has the advantages that the tilting propellers are mounted at the middle of the fuselage between the canard wings and forward-swept main wings, and in the vertical takeoff and landing stage, downwash airflow of the propellers does not flow through any fixed airfoils with no blockage, so that hovering efficiency of the whole aircraft can be increased; smooth transition of the aircraft from the vertical takeoff and landing to high-speed flying can be realized and control of flight conversion is easier due to small aerodynamic interference between the downwash airflow of the propellers and the fixed airfoils in a tilting process.

The invention provides an agricultural plant protection unmanned aerial vehicle (UAV) planting control system which is composed of a vehicle-borne subsystem and a ground station subsystem. The vehicle-borne subsystem comprises a vehicle-borne GPS antenna (1), a vehicle-borne relative height detector (2), a vehicle-borne obstacle detector (3), and a vehicle-borne data returning and receiving system (4). The ground station subsystem comprises a ground station geographic information system (5), a ground station flight task planning and flight control system (6), and a ground station instruction receiving and sending system (7). According to the system of the invention, work currently needing vehicle-borne flight control is transferred to the ground, the air control part is only responsible for stability augmentation and obstacle detection, and a lot of path computation and flight control operation are managed and controlled by the ground in a unified manner. Therefore, the weight of the vehicle-borne system is reduced greatly, the difficulty in UAV developing is reduced, and the operation requirements of a variety of UAVs are satisfied effectively.

The invention discloses an unmanned aerial vehicle target tracking method and system. The method includes that an image capture unit comprises a zooming CCD camera and a zooming laser light supplement device, and the zooming laser light supplement device is used for supplementing light for the monitored region of the zooming CCD camera to allow the zooming CCD camera to acquire sharp images of the monitored region; a pan tilt control unit controls the pan tilt in horizontal and vertical directions and the focal distance of the zooming CCD camera to allow a tracked target to be in the center of the vision of the zooming CCD camera constantly; an intelligent analysis unit adopts the method of extracting a moving target from the gray level image sequence and detects the moving target from the images; after extraction and positioning of the moving target, a flying control unit feeds the moving state of the target back to an unmanned aerial vehicle, and the unmanned aerial vehicle flies to track the ground dynamic target automatically. The method has the advantages that the visual distance is long, and the unmanned aerial vehicle is capable of tracking a moving target in a completely dark environment.