1063 results about "Landing point" patented technology

A control method and system for precise landing of an unmanned aerial vehicle. The method comprises the following steps: on the basis of a multi-sensor fusion technique, using a lidar and a stereo vision algorithm to collect environmental data and perform primary processing, and generating comprehensive environmental perception data (step S1); on the basis of the comprehensive environmental perception data, using a digital elevation model algorithm to re-construct a three-dimensional terrain of a landing area, and generating a three-dimensional terrain model (step S2); on the basis of the three-dimensional terrain model, using an A* search path-planning algorithm to perform risk assessment and plan a safe landing path, and generating an optimized landing path (step S3); on the basis of the optimized landing path, using an adaptive control algorithm to adjust a flight attitude in real time by means of a fuzzy logic controller, and generating flight parameter adjustment (step S4); on the basis of the flight parameter adjustment, using machine vision and a decision tree algorithm to execute autonomous obstacle avoidance and emergency response, and generating a safe landing execution scheme (step S5); and on the basis of the safe landing execution scheme, using an ultrasonic sensor and a ground feedback system to confirm and fine-adjust a landing point, and completing final landing confirmation (step S6).

The invention relates to the field of unmanned aerial vehicle automation, in particular to a three-dimensional modeling and unmanned aerial vehicle landing area address selection method based on laser point cloud data. The method comprises the steps of collection and dynamic compensation of laser radar point cloud data, multi-scale adaptive registration of three-dimensional point cloud, topographic feature extraction and evaluation, selection of an optimal landing point, path planning based on an improved A algorithm, and real-time environmental data updating and dynamic adjustment mechanism. According to the method, point cloud data is dynamically compensated through Kalman filtering, a 3D-NDT algorithm is utilized to perform high-precision three-dimensional environment modeling, key topographic features are extracted through an RANSAC algorithm to comprehensively evaluate topographic complexity and safety distance, an optimal landing point is selected, an optimal path of an unmanned aerial vehicle is planned in combination with an improved A algorithm, and path safety and flight energy efficiency are ensured. By updating environment data in real time and dynamically adjusting a flight path and a landing point, the unmanned aerial vehicle is adapted to sudden environment changes, and safe and stable autonomous landing of the unmanned aerial vehicle in a complex and changeable environment is ensured.

The invention relates to the technical field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle parking apron dynamic landing point adjustment method and system based on environment awareness, and the method comprises the steps: obtaining environment data and flight parameters, constructing a three-dimensional terrain grid model, and analyzing the stability; loading obstacle data and path constraints to generate a comprehensive evaluation model, and simulating to obtain regulation and control data; training the model to generate initial adjustment parameters, and combining the parameters with the model to obtain dynamic adjustment simulation information; constructing a multi-path optimization model to obtain optimal parameters; and combining real-time sensing to generate a safety probability, and adjusting a landing strategy. The system comprises a data acquisition module, a terrain modeling module and the like. According to the scheme, intelligent optimization and real-time adjustment of a landing point are realized through multi-dimensional environment perception and dynamic modeling, the landing safety and reliability of the unmanned aerial vehicle in a complex environment are improved, and the method is suitable for an intelligent landing scene of the unmanned aerial vehicle.

The invention discloses an unmanned aerial vehicle accurate position landing method and system based on image recognition analysis, particularly relates to the technical field of aircraft landing, and aims to solve the problem of influence of jitter interference caused by micro airflow on landing precision. Identifying the jitter signal intensity and judging whether the jitter signal intensity is abnormal or not by detecting the posture change of the unmanned aerial vehicle in the landing process in real time; when the jitter is abnormal, carrying out multi-frame image superposition processing to generate a stable image sequence; detecting fine texture disturbance between adjacent frames based on multi-resolution fractal dimension analysis, and compensating non-linear influence caused by micro airflow; recording a jitter trajectory and calculating the relative displacement of the landing target through reverse trajectory reconstruction; extracting calibrated landing area features in combination with a convolutional neural network, generating an offset compensation value of a landing point, and dynamically correcting a landing path; according to the invention, the landing precision of the unmanned aerial vehicle in a complex environment is improved, and reliable guarantee is provided for automatic landing of the unmanned aerial vehicle.

The invention relates to an unmanned aerial vehicle visual guidance precise landing method, and belongs to the technical field of machine vision and unmanned aerial vehicle control. The method comprises the following steps: capturing surrounding environment information through a camera of an unmanned aerial vehicle to obtain operation environment data, and constructing a flight control model through construction parameters of the unmanned aerial vehicle; setting an expected landing point, extracting a target image from the corresponding operation environment data according to the expected landing point, and establishing visual mapping between the unmanned aerial vehicle and the expected landing point based on the target image; the relative position data and the to-be-flied distance of the unmanned aerial vehicle are calculated according to the visual mapping, and a predicted moving trajectory based on the relative position data and the to-be-flied distance is obtained through a flight control model; and an expected landing point is automatically captured and tracked in the landing process, relative pose information between the unmanned aerial vehicle and the expected landing point is solved in real time, and flight parameters of the unmanned aerial vehicle are adjusted in real time according to the relative pose information and the predicted moving trajectory. Visual guidance precise landing of the unmanned aerial vehicle is realized.

The invention provides a mine hole inspection unmanned aerial vehicle based on a laser radar and UWB distance measurement and a positioning system, and relates to the technical field of mine hole unmanned aerial vehicle inspection. Through the 360 laser radar and UWB distance measurement, the system can adapt to unmanned aerial vehicle positioning in the mine hole environment, so that the unmanned aerial vehicle can safely fly in the mine hole environment in which the light is dark and flying dust spreads due to the fact that the unmanned aerial vehicle is closed all the year round, the unmanned aerial vehicle is accurately positioned and lands in the preset hangar when necessary, the key problem that the unmanned aerial vehicle autonomously inspects in the mine hole is solved, and the unmanned aerial vehicle safety is improved. And the application scene of the unmanned aerial vehicle system under the inspection task is expanded. According to the invention, the position and attitude of the unmanned aerial vehicle under the launching inertial system are obtained through the laser radar for feedback control of the position and speed control module, and the distance between the unmanned aerial vehicle and the UWB base station is obtained to obtain the approximate position of the unmanned aerial vehicle in a mine and obtain the relative position relation with the hangar, so that the unmanned aerial vehicle can preliminarily position a landing point, and the unmanned aerial vehicle can be accurately located. And the subsequent unmanned aerial vehicle can be accurately positioned and landed in the preset hangar.

The invention relates to a dynamic cooperative path planning and autonomous landing control method for an unmanned aerial vehicle and an unmanned ship, and the method comprises the following steps: collecting the state data of the unmanned ship and the unmanned aerial vehicle and the high sea condition environment data, and carrying out the data fusion processing; an improved fast extended random tree algorithm is adopted to plan a safe navigation path for the unmanned ship, the generated path of the unmanned ship is optimized based on an unmanned ship motion model considering environmental interference, and a model prediction control algorithm is adopted to plan a path for the unmanned ship to fly to a predicted landing point of the unmanned ship. Dynamic cooperation between the unmanned ship and the unmanned aerial vehicle is realized through information interaction between the unmanned ship and the unmanned aerial vehicle; the unmanned aerial vehicle recognizes an unmanned ship landing identifier through a visual servo guide system, calculates the position and attitude deviation relative to a landing point, adjusts flight control parameters according to interference conditions by using an adaptive control algorithm, and performs trajectory prediction compensation in combination with an unmanned ship motion model to realize autonomous landing. Compared with the prior art, safe landing of the unmanned aerial vehicle on the unmanned ship under the high sea condition is achieved.

The invention discloses an aircraft landing method and system and a vertical take-off and landing aircraft, and relates to the technical field of aircraft control, and the aircraft landing system comprises a landing path planning module which is used for responding to a landing instruction, determining a target landing point of the aircraft, and planning a landing path of the aircraft to obtain the landing path of the aircraft; the trajectory prediction module is used for predicting the flight trajectory of the aircraft based on the flight state information of the aircraft to obtain a predicted flight trajectory; the re-flight decision module is used for evaluating the flight state of the aircraft in the tilting transition stage based on the landing path and the predicted flight path; and according to the first evaluation result, carrying out re-flight decision processing on the aircraft, and determining whether to control the aircraft to carry out re-flight so as to guarantee safe landing of the aircraft. According to the scheme, the automatic landing capability of the aircraft can be effectively improved, and meanwhile, the landing safety of the aircraft is ensured through the re-flight decision module.

A method includes providing a radar sensor onboard a vehicle, and one or more active radar beacons around a landing site. Each beacon produces a pattern of one or more artificial echoes that is different from a pattern of echoes produced by others of the beacons. The method further includes guiding the vehicle toward the landing site by transmitting radar signals from the radar sensor to an area around the landing site; receiving return signals from the area around the landing site, including ground reflected signals and transmitted signals from each beacon; and determining whether artificial echoes are detected in the received return signals. When artificial echoes are detected, beacon parameters are loaded from an onboard active beacons database; patterns in the artificial echoes are identified and associated with corresponding beacons from the database; and a slant range to each of the beacons is estimated through the patterns.

The invention discloses an unmanned aerial vehicle take-off and landing site selection method for urban end logistics, and relates to the technical field of facility site selection, and the method comprises the following steps: S1, obtaining a building contour of a region to be subjected to site selection, and constructing a customer buffer region according to the building contour; s2, based on the customer buffer area, performing noise analysis and safety analysis on the unmanned aerial vehicle, and constructing an overall restricted area; and S3, based on the overall restricted area, constructing a target function taking the lowest cost as an optimization target, a target function taking the highest satisfaction as an optimization target and a plurality of constraint conditions, and obtaining a site selection layout result. According to the method, the applicability of the grid map method in the complex urban environment is verified, and a new thought is provided for the layout of the urban logistics unmanned aerial vehicle take-off and landing points.

The embodiment of the invention provides an unmanned aerial vehicle landing system, an unmanned aerial vehicle landing control method and an unmanned aerial vehicle, the system comprises an unmanned aerial vehicle, a hangar monocular vision sensor and a hangar radar, the unmanned aerial vehicle comprises an unmanned aerial vehicle monocular vision sensor and a processor, and an unmanned aerial vehicle state machine runs on the processor. The hangar monocular vision sensor and the hangar radar are mounted on the hangar; a hangar two-dimensional code is arranged on the hangar, and a landing point is arranged on the hangar two-dimensional code; the unmanned aerial vehicle monocular vision sensor is used for determining a first pose of the unmanned aerial vehicle monocular vision sensor relative to the landing point; the hangar monocular vision sensor is used for determining a second pose of a marker on the unmanned aerial vehicle relative to the landing point; the hangar radar is used for determining the position of the unmanned aerial vehicle; and the unmanned aerial vehicle state machine is used for generating a control instruction according to the first pose, the unmanned aerial vehicle position and the second pose, and controlling the unmanned aerial vehicle to land to the landing point according to the control instruction. According to the invention, the problem that the unmanned aerial vehicle cannot land accurately is solved.

A legged robot motion control method includes: acquiring centroid state data of a spatial path start point and a spatial path end point of a motion path; determining a target landing point of afoot of the legged robot in the motion path based on the spatial path start point and the spatial path end point; determining a change relationship between a centroid position change coefficient and a foot contact force based on the centroid state data; selecting, under constraint of a constraint condition set, a target centroid position change coefficient that meets the change relationship; the constraint condition set including a spatial landing point constraint condition; determining a target motion control parameter according to the target centroid position change coefficient and the target landing point of the foot; and controlling, based on the target motion control parameter, the legged robot to perform motion according to the motion path.

The invention discloses a system and a method for predicting the underwater sinking position of a wrecking target object, which belong to the technical field of ship and ocean engineering, are used for predicting the underwater position of the wrecking target object, and comprise a user side and a system computing platform, and the user side communicates with the system computing platform through an ocean communication satellite; the method comprises the following steps: outputting wreck target parameters to a wreck target underwater drop point distribution calculation module, outputting wave flow information of a wreck sea area to the wreck target underwater drop point distribution calculation module, forecasting the sinking drop point distribution of the wreck target, establishing an underwater six-degree-of-freedom motion equation of the wreck target, and calculating the wreck target underwater drop point distribution according to the underwater six-degree-of-freedom motion equation of the wreck target. And according to the underwater six-degree-of-freedom motion equation, predicting underwater drop point distribution of the wrecked target object by combining a Monte Carlo simulation method. Searching can be sequentially carried out according to the falling point scattering probability of the wrecked target object, so that searching resources are reasonably distributed, the success probability of deep sea searching is improved, and the cost of deep sea operation is reduced.

The invention relates to an amphibious unmanned vehicle amphibious actuator cooperative control method, belongs to the technical field of amphibious unmanned vehicles, and solves the problem of poor adaptability of amphibious unmanned vehicles in different scenes in the prior art. The method comprises the following steps: acquiring suspension state data and attitude angle data of the amphibious unmanned vehicle at each moment; at the current moment, predicting the overwater model mismatch probability based on the trained recurrent neural network according to the suspension state data and the attitude angle data at the current moment and the historical moment; determining whether the current scene key point is a scene key point based on the predicted overwater model mismatch probability; the scene key points comprise a landing point, a water leaving point, a water entering point and a full floating point; and calculating an actuating mechanism action instruction of the amphibious unmanned vehicle according to whether the current key point is the scene key point or not and the predicted overwater model mismatch probability. And stable control of the amphibious unmanned vehicle under the land and water working conditions is realized.

The invention discloses an unmanned aerial vehicle autonomous address selection method based on terrain evaluation and approach cost analysis, and relates to the technical field of unmanned aerial vehicle autonomous address selection. After the unmanned aerial vehicle receives a landing instruction in an unknown environment, the geometric safety of the terrain and the cost problem of the approach path can be comprehensively considered, and the landing point selection strategy of the unmanned aerial vehicle is optimized from the global perspective. Firstly, semantic segmentation is performed on an RGB image acquired by a visual sensor through deep learning to acquire a semantic image, then point cloud data acquired by a laser radar and the semantic image are fused to acquire a three-dimensional semantic point cloud, and a terrain safety area conforming to terrain geometric feature constraints is screened out on the basis of considering semantic tags. And finally, calculating the cost of the linear approach path of each candidate landing point in the terrain safety area through traversal, and screening out the landing point with the optimal comprehensive cost, thereby improving the accuracy and practicability of terrain safety area identification. According to the method, an unreachable or high-risk area is avoided, and the global point selection optimization effect is improved.

An unloading control system accesses a weight / mass versus position fill profile for an identified container. The unloading control system generates control signals to position the material transfer vehicle so that an initial landing point of material in the container is at a desired positioned based upon the fill profile. The unloading control system generates control signals to unload material into the container according to the weight / mass versus position fill profile and obtains an indicated of the weight / mass of material transferred. The control system generates control signals to control the landing point of material in the container based upon the fill profile and the weight / mass of material transferred.

The invention discloses a low-altitude airspace planning method and system based on a micro-terminal area, and relates to the field of low-altitude airspace planning, and the method comprises the steps: generating a corresponding take-off and landing area for a low-altitude take-off and landing point or a take-off and landing field, and generating a take-off and landing hub area for an adjacent take-off and landing point or a take-off and landing field, so as to construct the micro-terminal area of the low-altitude airspace; constructing a risk area, and forming a restricted area of the low-altitude airline network together with the control area and the no-fly area; on the basis of the restricted area, generating alternative intermediate points connected with the take-off and landing points or the take-off and landing fields; based on the data of the alternative intermediate points and the data of the micro-terminal area, constructing an initial low-altitude airline network connected with all the points; calculating a weight corresponding to each side line in the initial low-altitude airline network, and optimizing the initial low-altitude airline network based on a weighted network; and removing redundant intermediate points based on the optimized network, constructing access points of the airline network and each micro-terminal area, and generating a final low-altitude airline network. According to the invention, a more reliable technical basis is provided for low-altitude route network planning.

An agricultural harvester has a frame and a spout that is mounted to the frame. A target landing point indicates a position in a receiving vehicle where material is intended to land. A control system detects an actual landing point and automatically controls the spout based on a difference between the actual landing point and the target landing point.

The invention discloses a projectile drop point detection method, system and equipment based on dual-light decision fusion, and a medium. The method comprises the following steps: collecting visible light and thermal infrared imaging data; preprocessing the data to obtain visible light and thermal infrared images of corresponding target region time-space registration; projecting a ground target area on the obtained image after space-time registration to a corresponding reference projection target surface; respectively inputting the registered images into a typical target detection model for target detection, judging whether an explosion phenomenon is detected in the images frame by frame, obtaining positioning information and category information in respective modes, dividing detection results into two categories of matched targets and unmatched targets, and outputting an explosion bounding box after secondary decision making; calculating and correcting the position of the drop point according to the explosion bounding box, and determining the image coordinate of the drop point; and mapping the coordinate of the drop point image to the reference projection target surface to obtain the position coordinate information of the drop point in the reference projection target surface. The method improves the detection precision, and better completes the target scoring task.

The invention discloses an unmanned aerial vehicle non-cooperative environment autonomous landing method and system based on three-dimensional visual semantic information, and relates to the technical field of unmanned aerial vehicle landing recognized.The method comprises the steps that during emergency landing, a semantic segmentation model is used for generating a two-dimensional semantic segmentation map and obtaining semantic tags, and a landing area is automatically screened and tracked; fusing vision and inertia information through an airborne binocular camera and an IMU (Inertial Measurement Unit), outputting an accurate pose and depth map, and inputting a map construction algorithm to reconstruct a landform map of a landing area; projecting the semantic tag to a three-dimensional space and fusing the semantic tag with a terrain map to generate an evaluation map; and finally, an optimal landing point is determined by a landing point selection algorithm, and autonomous landing is completed through a flight control system. The method has the characteristics of high precision and fast reasoning, gets rid of dependence on external signals, significantly improves the landing capability under complex terrains, and guarantees the safety and reliability of autonomous landing.

The invention belongs to the field of rocket recovery, particularly relates to an offshore recovery rocket sealing device and a using method thereof, and provides the following scheme that the offshore recovery rocket sealing device comprises a rocket sealing conveying mechanism movably mounted on an offshore landing platform, and the top end of the outer side wall of the offshore landing platform is rotationally sleeved with a rotating platform with a rotating driving mechanism; a rocket sealing transportation mechanism is movably mounted on one side of the rotating platform through two fixing blocks and a locking bolt, and a weight box is mounted on the other side of the rotating platform; the rocket sealing transportation mechanism comprises a loading cylinder with a sealing gate plate at an opening in one side, and an auxiliary fixing mechanism I with a plurality of clamping mechanisms is mounted in the loading cylinder. According to the device, rockets landing on any landing point on the offshore landing platform can be rapidly clamped and fixed in an auxiliary mode, then the rockets are loaded into the loading cylinder to be transported, the problem that the rockets topple over in the harbor returning process of a rocket recovery platform is solved, and the transportation safety is high.

The invention discloses a logistics unmanned aerial vehicle take-off and landing point selection method, device and equipment, a medium and a product, and relates to the technical field of unmanned aerial vehicle take-off and landing point planning. According to the method, after a solution of a logistics unmanned aerial vehicle take-off and landing point selection problem under the condition of a given instance is obtained, the given instance serves as a model input item, the solution serves as a model output item, a model adopting a deep reinforcement learning method is imported for model training, and an unmanned aerial vehicle take-off and landing point selection model is obtained; and then, the coordinates of all logistics demand points of the target area and the logistics demand quantity are imported into an unmanned aerial vehicle take-off and landing point selection model, and the coordinates of the selected unmanned aerial vehicle take-off and landing points are output to serve as a logistics unmanned aerial vehicle take-off and landing point selection result of the target area, so that the problem of complex logistics unmanned aerial vehicle take-off and landing point site selection decision can be solved. Therefore, distribution with logistics requirements can be realized with low cost, and practical application and popularization are facilitated.

A method for determining and adjusting the landing safety area of ​​an aircraft based on laser radar. It includes the following steps: setting a landing safety area; calculating whether there are points in the landing safety area that are more than 1 / 2H in height; moving the landing point A outward; calculating the height difference between the highest point and the lowest point in the landing surface, if the height difference is ≤10cm, it is considered to be relatively flat; otherwise, moving the landing point A outward. Beneficial effects of the present invention: 1. It can accurately determine the landing safety area, thereby greatly improving the safety of the aircraft during landing, which is of great significance; 2. It can automatically adjust the landing safety area without the need to pre-equip the landing point, thus saving energy consumed by the transfer, which has very important economic benefits; 3. As the price of laser radar becomes lower and lower, it has a higher cost-effectiveness than equipment such as millimeter-wave radar, image recognition and other equipment and technologies, so it has a wider application prospect.

The invention provides a four-foot single-arm robot cooperative motion control method and system, and relates to the field of four-foot single-arm robot planning and control, and the method comprises the steps: building a multi-rigid-body dynamic model and a single-rigid-body reduced-order model as model constraints; screening out a feasible landing area; a safe landing area is generated; formulating a landing point cost function, and determining an optimal landing point; discretizing a state transition equation of the quadruped single-arm robot; taking steps capable of spanning as inequality constraints, taking the optimal landing point as elevation map equality constraints, and introducing the inequality constraints and the optimal landing point into a model prediction controller; based on a multi-rigid-body dynamic model, a multi-task planning method is optimized, control strategies are reasonably distributed, conflict tasks of four-foot movement and mechanical arm operation are dynamically coordinated, and cooperative control is conducted on multiple tasks. And fusing target data of a depth camera at the tail end of the mechanical arm, and autonomously planning a posture adjustment path of the robot body. The cooperative grabbing stability and accuracy of the robot are remarkably improved.

The invention discloses a parafoil system homing drop point planning method based on terrain and ground features. The method comprises the following steps: screening a nominal landing point based on a terrain analysis model; screening out a plurality of two-dimensional feature points from all nominal landing points; sorting all the two-dimensional feature points to obtain an optimal search sequence; obtaining the height of the piloted parafoil passing through each two-dimensional feature point based on time estimation, and obtaining a three-dimensional space path point; carrying out segmented trajectory planning on an air-drop trajectory between every two adjacent three-dimensional space path points by taking the lowest energy consumption as an optimization target, and integrating trajectory planning results of the piloted parafoil; acquiring a ground object image returned by the piloted parafoil; and carrying out ground feature classification on the ground feature image based on the ground feature classification model, and after all nominal landing points which are not suitable for landing are eliminated, outputting the remaining nominal landing points. The method is applied to the field of trajectory planning, the energy consumption of the piloted parafoil can be effectively reduced, and qualitative and quantitative analysis and evaluation can be carried out on a large-range landing preselected area.

The invention discloses an urban vertical take-off and landing airport flight program design and evaluation method, which comprises the following steps of 1, determining an urban vertical take-off and landing airport flight program basic structure and an operation function, and designing a multi-rotor unmanned aerial vehicle in-situ hovering waiting strategy and a flight program operation rule of a dynamic road right matrix planning algorithm; 2, establishing a flight program mathematical model, determining necessary parameters of a flight program, and constructing an optimal flight program structure; 3, selecting a flight program evaluation index, determining a flight program evaluation system, and analyzing the safety and operation efficiency of the flight program; and 4, analyzing the influence of three parameters, namely the first annular layer take-off and landing point, the total number of annular layers and the radius increase amount, on the operation effect of the flight program. According to the flight program design and evaluation method for the vertical take-off and landing airport in the city, operation standardization of the unmanned aerial vehicles in the vertical take-off and landing airport in the city is standardized, operation safety is guaranteed, and operation efficiency is improved.

The invention provides an exercise evaluation method and device, electronic equipment and a storage medium, and belongs to the technical field of exercise evaluation.The method comprises the steps that in the preparation stage, a preset human shape detection model is called to detect an input image frame so as to position a human body frame, and a tester located in a take-off area is determined according to the human body frame; in the take-off stage, a preset human body posture estimation model and a preset key frame positioning model are called, and whether the tester starts to take off or not is judged, so that a take-off frame is determined; in the flying stage and the landing stage, based on the take-off frame, the human body posture estimation model and the key frame positioning model are called, whether the tester starts to land or not is judged so as to determine a landing frame, the landing point of the tester is determined according to the landing frame, and the standing long jump score is calculated. Through automatic and intelligent technical means, the problems existing in traditional standing long jump evaluation are effectively solved, and a more accurate, objective and convenient evaluation scheme is provided.

The invention provides a round parachute air-drop system and an air-drop landing point prediction method and device thereof, and a program product. The method comprises the following steps: establishing a fluid-solid coupling model in a round parachute opening process; establishing an unsteady aerodynamic model of the round umbrella by using the unsteady aerodynamic coefficient of the round umbrella; establishing a dynamic model of the round parachute air-drop system; establishing a first constraint on speed and a second constraint on force of the round umbrella dynamic model and the load dynamic model; and according to the round umbrella dynamic model, the load dynamic model, the constraint condition of the round umbrella air-drop system, the predetermined round umbrella basic parameters, the load mass, the air-drop height and the current wind speed, predicting the air-drop point of the round umbrella air-drop system. By performing fluid-solid coupling numerical simulation on the inflation process of the circular parachute system, the prediction accuracy of the air drop point of the circular parachute air drop system is improved.

The invention discloses a quadruped robot landing planning method based on scene decoupling and risk avoidance. The quadruped robot landing planning method aims at solving the problems that in the prior art, perception is not precise in a complex environment, and the obstacle avoidance capacity is insufficient. The method comprises the following steps: acquiring and fusing multi-source sensor data, and segmenting an original point cloud; generating a scene decoupling elevation map of a multi-layer structure by using the segmentation point cloud; constructing a multi-objective optimization problem taking risk avoidance as a core based on the elevation map, wherein the multi-objective optimization problem comprises a comprehensive cost function and a strict obstacle avoidance constraint; utilizing a reaction formula adjusting module of a capturable region theory to cope with a dynamic instability risk; and solving the multi-target and multi-constraint optimization problem in real time by adopting a hierarchical solving strategy, and finally generating an optimal foot end drop point considering safety and stability. According to the method, the terrain adaptability, the motion stability and the decision intelligence of the quadruped robot in an unstructured environment are remarkably improved through fine decoupling of a scene and quantitative avoidance of multi-source risks.

The invention discloses an AI vision-based unmanned aerial vehicle landing control method, and relates to the technical field of computer vision, and the method comprises the steps: collecting ground comprehensive data and current attitude data of an unmanned aerial vehicle; inputting the collected ground comprehensive data into a deep learning model for ground feature analysis, and generating an optimal landing point path planning result; predicting the current position and the current attitude of the unmanned aerial vehicle based on the optimal landing point path planning result and the ground comprehensive data; calculating position information error and attitude error information according to the predicted current position and current attitude of the unmanned aerial vehicle; adjusting the attitude and descent speed of the unmanned aerial vehicle based on the position information error and attitude error information, and generating optimized attitude information and descent trajectory; and adjusting motor thrust distribution according to the optimized attitude information and the descending trajectory in combination with the optimal landing point. According to the invention, by combining the optimized attitude information with the descending trajectory, the overall landing process is ensured to be more stable and accurate, and the safe landing capability is improved.