85 results about "Free flight" patented technology

The invention relates to the technical field of air traffic management, in particular to an unmanned aerial vehicle conflict-free route planning method and system applied to a low-altitude airspace, and the method comprises the steps: obtaining the starting point and terminal point information of the flight of an unmanned aerial vehicle in an airspace unit when detecting that a new unmanned aerial vehicle enters the airspace unit; acquiring information about whether the grids of the airspace units have conflicts or not; obtaining reachable grids and feasible grids of the unmanned aerial vehicle; obtaining alternative nodes based on the feasible grids of the unmanned aerial vehicle; based on the alternative nodes, a preset constraint condition and the power consumption, obtaining a directed weighted graph; a path in the directed weighted graph represents a conflict-free track; searching the directed weighted graph by adopting an A-star algorithm to obtain an optimal conflict-free track, and controlling the unmanned aerial vehicle to execute the optimal conflict-free track; according to the invention, the optimal conflict-free flight path of the unmanned aerial vehicle can be efficiently and rapidly planned.

The invention provides an unmanned aerial vehicle conflict resolution method based on reinforcement learning and a self-attention mechanism, and the method comprises the steps: firstly, modeling a dynamic relation between an unmanned aerial vehicle and an airspace as an interaction process between an intelligent agent and an environment in reinforcement learning; then, designing an action space, an observation space and a reward function of the intelligent agent, and building a conflict resolution training framework based on reinforcement learning; and finally, designing an unmanned aerial vehicle attention model based on a self-attention mechanism, which comprises an encoder for extracting unmanned aerial vehicle positions and conflict characteristics in a dynamic environment and a decoder for generating unmanned aerial vehicle conflict resolution actions by using an autoregression mode. According to the novel unmanned aerial vehicle free flight conflict resolution method, reasonable combined action distribution can be carried out on multiple unmanned aerial vehicles flying in the airspace, conflict resolution is completed, and flight safety is guaranteed.

The invention relates to an all-welded Ramsey microwave resonant cavity for a cold atom fountain clock, the all-welded Ramsey microwave resonant cavity comprises a Ramsey resonant cavity, a flying area waveguide, a cut-off waveguide and a microwave feed-in system, the flying area waveguide is arranged above the Ramsey resonant cavity, and a non-closed atom free flight channel is formed above the flying area waveguide; the flying area waveguide is connected with the cut-off waveguide through welding; the cut-off waveguide is integrally connected with the Ramsey resonant cavity; the microwave feed-in system is connected with the Ramsey resonant cavity through welding. According to the invention, a full-cavity integrated structure is realized through an integrated welding process, the hidden danger of microwave leakage is thoroughly eliminated, repeated debugging is not needed after welding is completed, the tuning period of the resonant cavity is shortened, and the resonant cavity is especially suitable for a low-temperature working environment scene. Meanwhile, through a non-closed atom free flight channel, a vacuum system can conveniently keep a high vacuum state in a flight area, so that the loss of cold atom cohesion is reduced, and an atom signal is relatively large.

The invention provides an unmanned aerial vehicle group obstacle avoidance method and system based on least square and distributed arbitration, and belongs to the field of multi-unmanned aerial vehicle path planning, and the method comprises the steps: maintaining the historical observation data of a dynamic obstacle; a trajectory prediction model is constructed based on historical observation data, and a future trajectory prediction set is generated through least square fitting; selecting an optimal prediction model from the trajectory prediction set through a backtracking verification strategy; on the basis of a preset distributed arbitration rule, whether the local machine obtains the release right of the obstacle prediction information or not is judged; packaging the trajectory information corresponding to the optimal prediction model into a standard message by using the unmanned aerial vehicle which obtains the release right, and broadcasting the standard message to the cluster; and incorporating the obtained predicted trajectory message into collision avoidance constraint of a planner, performing local trajectory planning, and generating a collision-free flight path. According to the method, the safety, the collaboration and the passing efficiency of the cluster system in a real complex scene are remarkably improved.

The invention discloses a navigation-free autonomous flight bridge bottom inspection control method and unmanned aerial vehicle-mounted control equipment, and the method comprises the steps: responding to the obtained three-dimensional point cloud data of a to-be-inspected bridge, planning and selecting a bridge bottom inspection path through the three-dimensional point cloud data, and enabling the starting point of the bridge bottom inspection path to start from the outside of the bridge; and generating a bridge bottom inspection route based on the bridge bottom inspection path and executing inspection, wherein the inspection comprises bridge bottom navigation-free flight control, autonomous obstacle avoidance, roof-imitating flight and inspection waypoint image acquisition. After the unmanned aerial vehicle flies out of the bridge, when the electric quantity of the unmanned aerial vehicle is too low or the unmanned aerial vehicle is manually triggered to return, the return flight route of the unmanned aerial vehicle is automatically called to execute a return flight task during return flight. The method disclosed by the invention can be efficiently operated on light embedded equipment, so that the unmanned aerial vehicle can realize real-time perception and real-time flight control on the bridge in the flight process, a more efficient and safer bridge bottom inspection flight control solution is provided, and the development of the unmanned aerial vehicle in the bridge inspection field is promoted.

The invention belongs to the technical field of hypersonic wind tunnel free flight tests, and particularly relates to a clamping and releasing device and method for a hypersonic wind tunnel free flight test model. The clamping and releasing device is arranged on the inner wall of the sleeve, a plurality of guide rails parallel to the central axis are fixed on the inner wall of the sleeve, the clamper is located in a central cavity of the sleeve and clamped on the guide rails, the front section clamps the test model, the rear end is connected with a clamper mounting seat, and the clamper mounting seat is fixedly connected with a piston rod of the launching device. The assembling method is rapid and convenient, and rapid assembling can be achieved; according to the clamping and releasing method, the test model can be stably released to the uniform flow field of the hypersonic wind tunnel without interference and freely flies; the test method is simple and reliable, and has good social benefits in combination with an existing test system. Technical support is provided for establishment and development of a hypersonic wind tunnel free flight test technology, the method can be expanded and applied to the technical field of other hypersonic wind tunnel special tests, and the method has engineering practical value.

The invention belongs to the technical field of aircraft wind tunnel virtual free flight tests, and particularly relates to an aircraft wind tunnel virtual free flight lateral course stability augmentation control system design method and system.The aircraft wind tunnel virtual free flight lateral course stability augmentation control system design method comprises the steps that 1, a scale model lateral course linearization dynamics mathematical model is established; step 2, calculating a scaling coefficient of the scaling model; 3, determining the design requirement of the transverse flight quality of the scaling model; step 4, establishing a scale model transverse course stability augmentation control law; 5, establishing a scaling model closed-loop control system; step 6, optimizing control law gain parameters in a scaling model closed-loop control system; and 7, verifying the scale model closed-loop control system.

The invention relates to an adaptive heuristic conflict-free flight path planning method and system with robustness, belongs to the technical field of air traffic management, and is particularly used for flight conflict detection and release. The method is used for rapidly generating the robust conflict-free track meeting the safety interval constraint, can flexibly switch the local search strategy and the global search strategy according to the search stage, achieves effective balance between optimization performance and efficiency, and is especially suitable for an air traffic control automation system needing to dynamically update conflict-free track suggestions at the second-level frequency. The adaptive heuristic conflict-free flight path planning system comprises a conflict detection module, a conflict resolution module, a visualization module and an interaction module, and the conflict resolution module uses the conflict resolution module to generate a conflict-free flight path for a flight.

This invention provides a separation and positioning mechanism for a separate body and a method for adjusting the position of the separate body. It includes an aircraft model fixed to the root of a wind tunnel support rod. A connecting plate is detachably installed on the wind tunnel support rod near the aircraft model. A separate body located directly below the aircraft model is rotatably connected to the connecting plate. A locking mechanism is provided between the connecting plate and the separate body. The invention also includes the following steps: S1, analyzing the position of the separate body and confirming the position of the positioning bolts; S2, analyzing the angle of attack α of the separate body and confirming the position of the locking bolts. This invention, by setting up a connecting plate and a locking mechanism, facilitates multi-position adjustment of the separate body during experiments. It is beneficial for detailed studies of the load and dynamic response of the separate body at a determined position, effectively replacing traditional free-flying vehicle experiments that are inconvenient for research and measurement, and avoiding increased experimental costs and damage to the wind tunnel.

The present application belongs to the technical field of aircraft wind tunnel virtual free flight test, and specifically relates to a design method and system for a lateral and yaw stabilization control system for aircraft wind tunnel virtual free flight, wherein the design method for a lateral and yaw stabilization control system for aircraft wind tunnel virtual free flight comprises: step one, establishing a scaled-down model lateral and yaw linearized dynamic mathematical model; step two, calculating the scale coefficient of the scaled-down model; step three, determining the design requirements for the lateral and yaw flight quality of the scaled-down model; step four, establishing a lateral and yaw stabilization control law for the scaled-down model; step five, establishing a closed-loop control system for the scaled-down model; step six, optimizing the control law gain parameters in the closed-loop control system of the scaled-down model; and step seven, verifying the closed-loop control system of the scaled-down model.

An embodiment of the present invention relates to a method for transmitting test signals in a free flight test of a ballistic target, which is applied to a free flight test system of a ballistic target. The method includes: accelerating a test model to a preset speed by using a launcher so that the test model at the preset speed enters the target chamber from the launcher; sampling relevant parameters of the test model by using a test device at a preset sampling frequency to obtain first data of the test model at different times in the launcher and second data of the test model at different times in the target chamber; sending the first data obtained at each moment to a receiving device at least twice; wherein the moment of the first sending is the moment when the first data is obtained, and the moment of the second sending is delayed by a first time compared with the moment of the first sending; and sending the second data to the receiving device at least at the moment when the second data is obtained. This method can reduce the probability of transmission failure of test data in the launcher and improve the reliability of signal transmission.

The invention provides a cooperative control method and system for low-altitude operation of multiple air mechanical arms, and the method comprises the following steps: building dynamic models of the air mechanical arms in multiple free flight modes, and designing a sliding mode controller according to the dynamic models of the multiple air mechanical arms, so as to achieve the pose control of the multiple air mechanical arms; parameters of the sliding mode controllers of the multiple aerial mechanical arms are set through an improved crown porcupine algorithm; contact collision dynamic models of the multiple aerial mechanical arms are established, an operation space compliance controller of the aerial mechanical arms is designed according to the multiple contact collision dynamic models, and grabbing of the platform is achieved according to the operation space compliance controller and the set sliding mode controller; and a rigid-flexible coupling dynamic model is established, a fault-tolerant controller is designed according to the rigid-flexible coupling dynamic model, and pose control of the grabbing platform is achieved according to the fault-tolerant controller, the operation space compliance controller and the set sliding mode controller.

The utility model discloses an unmanned aerial vehicle flight control board double-sided appearance defect detection device in an assembly line, and relates to the technical field of circuit board detection, the unmanned aerial vehicle flight control board double-sided appearance defect detection device comprises a first conveyor belt, a second conveyor belt, a first detection module, a second detection module and a flight control board, the flight control board is divided into a to-be-detected flight control board, an appearance defect-free flight control board and an appearance defect flight control board, the flight control board to be detected is arranged on the first conveying belt, the first detection module and the second detection module are arranged on the front side and the rear side of the first conveying belt respectively, the second conveying belt stretches across the first conveying belt, and the first detection module and the second detection module are matched with each other to achieve double-face appearance defect detection of the flight control board. And the second detection module is used for placing the flight control board with the appearance defect on the second conveying belt. The double-sided appearance defect detection and sorting device can realize double-sided appearance defect detection and sorting of the unmanned aerial vehicle flight control board, is high in detection efficiency, meets the continuous operation requirement of a conveyor belt, and improves the production efficiency.

This invention belongs to the field of hydraulic system technology and discloses an AI-based online monitoring method for external leakage in aircraft hydraulic systems. It aims to solve the technical problems of poor real-time performance, high false alarm rate, and difficulty in adapting to dynamic operating conditions in existing monitoring methods. The aircraft hydraulic system is the power source for critical functions such as door opening and closing, landing gear retraction and extension, braking, and control surface actuation. External leakage can easily lead to serious safety accidents. Existing monitoring methods have obvious defects, insufficient generalization ability, and inadequate real-time performance. The steps of this method are as follows: First, select multiple leak-free flight parameter data, extract multi-dimensional parameters such as pressure and temperature, and construct a feature vector set after preprocessing; second, based on AI algorithms, construct and train a fuel tank oil volume prediction model under leak-free operating conditions; third, input real-time collected multi-dimensional time-series data into the model and output the predicted oil volume value; finally, compare the predicted value with the measured value from the level sensor, determine the leakage status, sensor failure, or model deviation through the volume difference, and realize online model updates. This invention integrates multi-dimensional parameter features, improves the accuracy of leak identification and anti-interference ability, can output monitoring results in real time and provide early warning of leakage, enhances the robustness of hydraulic system leak monitoring, reduces operation and maintenance costs, and can provide technical support for early warning of leaks in aircraft hydraulic systems, thus having significant engineering application value.

The invention relates to a method for starting a kite system (23), wherein the kite system (23) comprises a kite (14) and a gondola (25), and the gondola (25) is connected to the kite (14) via a line tree (24). The kite system (23) is coupled to a base station (16) via a traction cable (15). In an intermediate phase (28) of a starting process, a guide line (29) extends between the freely flying kite system (23) and the base station (16). In the method, the kite system (23) is controlled along a flight path such that the traction cable (23) is guided in a lateral direction (42) with respect to the wind direction (W) until the guide line (29) rests against the traction cable (15), the guide line (29) is moved until the guide line (29) lies in a guide line receiving area (55, 56) of the base station (16), said receiving area adjoining the traction cable (15), and the distal portion (32) of the guide line (29) is separated from the proximal portion (31) of the guide line (29). The invention also relates to a control unit for a kite device and to a kite device.

The invention provides an inspection obstacle avoidance method and system for a low-altitude traffic gate, and relates to the technical field of inspection obstacle avoidance, and the method comprises the steps: marking a low-altitude traffic gate in a target low-altitude airspace, and collecting the spatial point cloud data of the gate; comparing the point cloud data with pre-stored point cloud data, and if the comparison does not pass, adding an obstacle mark; after the inspection unmanned aerial vehicle enters a low-altitude flight channel associated with the low-altitude traffic gate, first navigation track information corresponding to the non-free flight obstacle object is collected according to the obstacle mark; and carrying out movement prediction in a preset time period through the first navigation track information, and carrying out obstacle avoidance adjustment under the limitation of a dynamic obstacle safety distance in combination with second navigation track information corresponding to the inspection unmanned aerial vehicle. According to the invention, the technical problem of poor obstacle avoidance efficiency caused by difficulty in accurately identifying and predicting the dynamic obstacle in a low-altitude environment in the prior art is solved, and the inspection obstacle avoidance efficiency is improved through point cloud data comparison and dynamic obstacle prediction.

A drive unit for air vehicle, which allows building the vertical take-off and landing vehicles, intended for use, for instance, in the production of flying taxis, as well as in the model-making branch and in the toy industry.The drive unit is composed of the air channel, in the form of a straight segment of a tube with circular section, which has fans with engines fixed on its both ends. The vertical draft force outlet-inlet nozzle opening is located between fixed fans of the drive unit.

The invention relates to a three-dimensional terrain intelligent surveying and mapping tool and method. An inner rack meshed with the driven gear is arranged on the inner side face of the gear ring, longitudinal supporting guide rods are evenly arranged on the outer wall of the gear ring, a rotating base is fixedly installed below the longitudinal supporting guide rods, and the center of the rotating base is arranged on the outer side of a center channel column with the top fixedly connected with the bottom face of the circular box body in a sleeving mode. The outer side of the central channel column is further sleeved with a horizontal data acquisition rotating cylinder with the top connected with the bottom of the rotating base, a horizontal data acquisition head is installed on the side face of the horizontal data acquisition rotating cylinder, and a bottom connecting base with the bottom of a spherical structure is fixedly installed at the bottom of the central channel column. A longitudinal data acquisition head which is vertically and downwards arranged is arranged in the center of the bottom of the bottom connecting seat; the overall streamline design can overcome wind resistance in the air, shaking is avoided, meanwhile, the free flight state of the fuselage is achieved through lifting operation, and comprehensive data collection operation on irregular rugged terrains is achieved.

The application discloses a state grid-based civil aviation passenger plane conflict-free path planning method, and relates to the technical field of traffic management, which comprises the following steps: selecting a target airspace; collecting environmental information and initial state parameters of an aircraft; constructing an airspace grid map based on the target airspace, marking a no-fly area, and setting a starting point and an ending point of the aircraft; initializing a cost value of a state grid corresponding to the starting point; assigning the state parameters to the starting point; formulating a search strategy: based on a first state grid, searching for a state grid not belonging to the no-fly area in nine state grids in front of the aircraft according to the orientation of the aircraft in the first state grid, and marking the state grid as a second state grid; calculating and updating the state parameters and the cost value of the second state grid according to the parameters of the first state grid; in the airspace grid map, traversing the state grids between the starting point and the ending point according to the search strategy combined with an A* algorithm, and constantly selecting the second state grid with the minimum cost value. Finally, an optimal path between the starting point and the ending point is found.

The application relates to the technical field of air traffic management, in particular to a UAV conflict-free flight path planning method and system applied to low-altitude airspace, which comprises the following steps: when detecting that a new UAV enters an airspace unit, obtaining start point and end point information of UAV flight in the airspace unit; obtaining information whether a grid of the airspace unit has a conflict; obtaining reachable grids and feasible grids of the UAV; obtaining alternative nodes based on the feasible grids of the UAV; obtaining a directed weighted graph based on the alternative nodes, preset constraint conditions and power consumption; a path in the directed weighted graph represents a conflict-free flight path; an A-star algorithm is used to search the directed weighted graph to obtain an optimal conflict-free flight path, and the UAV is controlled to execute the optimal conflict-free flight path; the application can efficiently and quickly plan the optimal conflict-free flight path of the UAV.

Various embodiments of the present disclosure provide a rotorcraft-assisted system and method for launching and retrieving a fixed-wing aircraft into and from free flight. The launch and retrieval system includes a modular multicopter, a storage and launch system, an anchor system, a flexible capture member, and an aircraft-landing structure. The multicopter is attachable to the fixed-wing aircraft to facilitate launching the fixed-wing aircraft into free, wing-borne flight. The storage and launch system is usable to store the multicopter (when disassembled) and to act as a launch mount for the fixed-wing aircraft by retaining the fixed-wing aircraft in a desired launch orientation. The anchor system is usable with the multicopter, the flexible capture member, and the aircraft-landing structure to retrieve the fixed-wing aircraft from free, wing-borne flight.

The wide-range intelligent variable aircraft design method based on the curved shock wave theory comprises the following steps: 1) according to a flight envelope, the aerodynamic design of the wide-range intelligent variable aircraft is divided into a minimum resistance state, an optimal lift-drag ratio state and a maximum lift state, wherein the minimum resistance state corresponds to a boost climb section and a free flight section, the optimal lift-drag ratio state corresponds to a re-entry glide section, and the maximum lift state corresponds to a terminal down pressure section; 2) the aerodynamic design of the minimum resistance state is as follows: the aerodynamic profile of the wide-range intelligent variable aircraft is inversely designed based on a full three-dimensional curved shock wave surface; 3) the aerodynamic design of the optimal lift-drag ratio state is as follows: the aerodynamic profile of the wide-range intelligent variable aircraft is designed based on a full three-dimensional curved shock wave surface and a wall surface pressure distribution simultaneously controllable inverse method; 4) the aerodynamic design of the maximum lift state is as follows: the aerodynamic profile of the wide-range intelligent variable aircraft is inversely designed based on a three-dimensional wall surface pressure distribution.

The present application belongs to the technical field of hypersonic wind tunnel free flight test, and particularly relates to a clamping and releasing device and method for a hypersonic wind tunnel free flight test model. The clamping and releasing device is fixed with a plurality of guide rails parallel to the central axis on the inner wall of the sleeve. The clamp is located in the central cavity of the sleeve and is clamped on the guide rail. The front section clamps the test model, and the rear end is connected with the clamp mounting seat. The clamp mounting seat is fixedly connected with the piston rod of the launching device. The assembly method is quick and convenient, and can realize quick assembly. The clamping and releasing method can stably and non-interferingly drop the test model into the uniform flow field of the hypersonic wind tunnel and make it fly freely. The test method is simple and reliable, and has good social benefits in combination with the existing test system. The present application provides technical support for the establishment and development of hypersonic wind tunnel free flight test technology, can be applied to other hypersonic wind tunnel special test technology fields, and has engineering practical value.

The invention belongs to the technical field of analytical chemistry and physical instruments, and discloses a mass spectrometry system and a mass spectrometry method.The system comprises an ion optical subsystem used for applying target acceleration voltage to ion pulses generated after ionization of a target analysis sample injected through an ion inlet; the rotating subsystem is used for providing a target angular velocity corresponding to a mass spectrometry mode for the ion pulse with the target radial velocity, so that the accelerated ion pulse freely flies in the rotating subsystem, and the accelerated ion pulse is impacted to the position sensitive detector after generating a deflection angle under the action of a Coriolis force in the free flight process; the position sensitive detector is used for acquiring the impact deflection angle position of each ion in the ion pulse and the ion strength corresponding to the impact deflection angle position; and the control subsystem is used for constructing a mass spectrum of the target analysis sample. According to the scheme, wide-range and high-resolution analysis can be flexibly balanced.

The invention relates to the technical field of unmanned aerial vehicle electric power inspection, and discloses a man-machine mixed transformer substation collision-free intelligent inspection system, which comprises the steps of transformer substation inspection personnel intention recognition: performing operation intention judgment according to the propulsion amount and swing degree of an operator control rod and the heart rate of an operator input by a multi-sensor system; and collision-free flight under a man-machine hybrid control algorithm: according to the intention recognition result of the inspection personnel, performing convolution operation on the input data of the millimeter wave radar carried by the unmanned aerial vehicle and the motion state of the unmanned aerial vehicle, and judging the autonomous auxiliary flight takeover degree of the unmanned aerial vehicle in combination with the flight track prediction of the unmanned aerial vehicle to achieve collision-free flight in the inspection process. By applying the unmanned aerial vehicle, a common substation inspector can be allowed to fly safely without collision in the process of operating the unmanned aerial vehicle to inspect, and compared with an existing passive defense unmanned aerial vehicle, a full-automatic unmanned aerial vehicle inspection system which can only plan a route in advance and other methods, the unmanned aerial vehicle inspection system has the advantages of being low in operation threshold, high in safety, high in maneuverability and the like.

The application relates to the technical field of airspace management, and provides a low-altitude airspace fine management method and system based on a four-dimensional airspace grid. According to a low-altitude airspace geographical boundary and a height level, three-dimensional space grid units are divided and a time dimension attribute is associated to form a four-dimensional airspace grid structure; candidate flight trajectories are generated in the structure; a conflict grid set is determined through traversal and matching; a grid unit sequence is adjusted in a conflict resolution search space, and a conflict-free flight path is generated; the grid units corresponding to the path are marked as occupied and are bound with aircraft identifiers, fine low-altitude airspace resource management is realized, and flight safety and airspace use efficiency are improved.

The invention belongs to the technical field of aviation aircraft full-aircraft landing simulation, and particularly relates to an aircraft free flight hooking working condition full-aircraft pitch angular velocity modeling method and system.The included angle between the longitudinal axis of an aircraft and the horizontal plane, the pitch angle and the distance from a projection point A to the full-aircraft gravity center are obtained, and the X-direction distance from the projection point A to the full-aircraft gravity center is calculated; calculating the X-direction distance from the projection point B to the gravity center of the whole aircraft according to the pitch angle and the distance from the projection point B to the gravity center of the whole aircraft; calculating the Z-direction linear velocity of the projection point A according to the X-direction distance from the projection point A to the gravity center of the whole aircraft, and calculating the Z-direction linear velocity of the projection point B according to the X-direction distance from the projection point B to the gravity center of the whole aircraft; the Z-direction linear speed of the projection point A and the Z-direction linear speed of the projection point B serve as initial conditions, and full-aircraft pitch angle speed modeling is carried out. The initial condition of the pitch angular velocity does not need to be defined at the gravity center of the whole aircraft, so that input parameters are consistent with feedback parameters during calculation, and the initial pitch angular velocity state of the aircraft is truly reflected.

The present application relates to the artificial driving high bionic bird flapping wing vehicle, the vehicle is the ancient flapping wing machine and the combination of other power including but not limited to modern engine or motor, according to the various actions of the driver control from the ground take-off, air flight and landing to the ground, realize artificial driving free flight, the vehicle has the streamlined shell of bird, adjustable head and tail, the wings of bird wing on both sides of the body, cockpit and the accompanying landing driving part under the fuselage, the vehicle drives the wings on both sides of the fuselage to produce flying power by the power system, and freely flies by artificial control, can be used as low-altitude traffic transport and tourism tool.

Systems, methods, and devices for robotic capture of an object are provided. A system for robotic-based capture of a free flyer object includes a grapple fixture for mounting to the free flyer object and an end effector for capturing the free flyer object by interfacing with the grapple fixture. The grapple fixture includes a base and a deflectable probe. The end effector includes a probe guiding surface for deflecting and guiding a probe tip of the probe through an opening in the probe guiding surface and into a grappling position. The end effector includes a probe sensing element for sensing when the probe tip is in the grappling position and triggering a capture mechanism. The capture mechanism grapples the probe tip and an actuator retracts the capture mechanism to a predetermined position to establish a load-bearing interface between the free flyer object and the end effector.

The invention relates to the technical field of vehicle seat impact testing, and provides an auxiliary device for headrest impact speed calibration and a calibration method. The auxiliary device for calibrating the impact speed of the headrest is arranged on a headrest impact test bed and comprises a fixed frame, a supporting frame and a mounting plate, the supporting frame is connected to the fixed frame through the energy absorption piece. The mounting plate is connected to the supporting frame in a turnover mode, one side of the mounting plate is provided with a buffering energy-absorbing material used for buffering a ball head of the impact test bed, and the hardness of the buffering energy-absorbing material is the same as or tends to be the same as that of an energy-absorbing piece in the headrest to be tested. According to the auxiliary device for calibrating the impact speed of the headrest, material waste and damage to the emitter and the auxiliary device in the impact process can be reduced, and the impact condition of the headrest in the actual use function can be simulated more truly; and meanwhile, the multi-angle requirements of different working conditions such as linear impact, pendulum impact and free flight can be met, and the use universality can be improved.