5963 results about "Propeller" patented technology

An aerial vehicle configured for operation within indoor spaces has a meshed construction with a housing defined by upper and lower sections having meshes provided above and below propellers and motors of the aerial vehicle. The aerial vehicle also includes a suite of sensors such as LIDAR sensors, time-of-flight sensors, cameras, ultrasonic sensors, or others. Meshes of the upper and lower sections include central openings along with spokes and concentric rings provided about the central openings. Meshes of the lower section have substantially larger central openings than meshes of the upper section, but feature more dense spokes or concentric rings beneath tips of the rotating propellers, which may be hinged or foldable in nature. Data captured by sensors of the aerial vehicle may be utilized for any purpose, such as to generate environment maps of an indoor space, or to monitor the indoor space for adverse conditions or events.

A heat dissipation structure includes a housing configured to accommodate a heating element of an aerial vehicle. The housing includes a first air vent configured to guide an airflow into the housing and a second air vent configured to guide the airflow out of the housing. The airflow includes a propeller-generated airflow generated by a propeller of the aerial vehicle during rotation. The housing is located at an end of an arm of the aerial vehicle, away from the propeller in a longitudinal direction of the arm. A projection of the housing on a plane on which an area of rotation of the propeller lies at least partially overlaps the area of rotation of the propeller.

A craft comprises at least one hull, a main wing coupled to the hull and configured to facilitate airborne operations of the craft, a plurality of propellers that include one or more electric motor propellers and one or more combustion motor propellers arranged along each of a port side and a starboard side of the main wing and configured to generate lift on the craft by blowing air over the main wing, and a control system. The control system comprises data storage having instruction code stored thereon that, when executed by one or more processors of the control system, causes the control system to: after receiving a takeoff indication, increase thrust generated by the electric motor propellers to cause the craft to transition from a hull-borne mode of operation to an airborne mode of operation, and after a thrust adjustment condition occurs, increase thrust generated by the combustion motor propellers.

The invention provides an electric engine, a control method, a related device, a motor controller and an aircraft, and relates to the technical field of aircrafts. The electric engine comprises a power motor, a heat dissipation system and a control module, a cavity is formed in the power motor, the control module is integrated in the cavity, the space occupied by the electric engine is reduced, and therefore the size of the aircraft is reduced; the control module comprises at least three integrated driving modules, part of the driving modules are electrically connected with the power motor so as to control the power motor, part of the driving modules are electrically connected with a variable pitch motor of the propeller so as to control the variable pitch motor, and part of the driving modules are electrically connected with a heat dissipation motor in the heat dissipation system so as to control the heat dissipation motor. The performance and efficiency of the electric engine are improved through unified integrated control over the power motor, the heat dissipation motor and the variable pitch motor. And through a unified control architecture, the system design is simplified, the development and maintenance cost is reduced, and the maintainability of the electric engine is improved.

A VTOL aircraft includes a lift propeller configured to provide lift during takeoff, landing and hover operations. The lift propeller is configured to be stowed close to a boom surface when not in use during, e.g., cruise flight, to minimize drag around propeller surfaces. The lift propeller may be displaced vertically with respect to the boom when switching to a lift configuration to provide greater separation from the boom to improve lift efficiency and reduce unwanted vibrations. The lift propeller may have a fail-safe configuration that allows the propeller to move passively between lift and stowed configurations, and to fully rotate even when fully retracted.

The present disclosure relates generally to flight control of electric aircraft and other powered aerial vehicles. In one embodiment, a method is disclosed, comprising: receiving a descent rate command from a pilot input device, determining a proximity of each propeller of at least two propellers to a vortex ring state; and controlling the aircraft's descent rate to be less than the commanded descent rate when at least one of the at least two propellers is within a first threshold proximity to the vortex ring state.

The present disclosure relates to an aircraft including two or more propulsive devices, and a fuselage integrated with a pair of wings to create a Blended Wing Body (BWB) structure, wherein an orientation of the fuselage and the pair of wings change based on a transition of the aircraft from a vertical position to a horizontal position. Further, each wing of the pair of wings includes a lower winglet and an upper winglet that are identical and coupled to each other at a wing tip. The aircraft further includes a plurality of elevons controlled by two or more propellers associated with the two or more propulsive devices.

The invention provides an aircraft, and relates to the technical field of aircrafts. The aircraft comprises a fuselage, tilting rotors and fixed rotors. Wings are arranged on two sides of the fuselage, and an empennage is arranged at the tail of the The tilting rotors are symmetrically arranged on at least one of the empennage, the wings and the fuselage, each tilting rotor comprises a first propeller and a first electric engine, the first electric engines are in transmission connection with the first propellers, and the first electric engines are integrated electric engines. The fixed rotors are symmetrically installed on the wings on the two sides of the fuselage, each fixed rotor comprises a second propeller and a second electric engine, the second electric engines are in transmission connection with the second propellers, and the second electric engines are distributed electric engines. The aircraft can solve the problems that the size, weight and heat dissipation efficiency of an existing electric engine are difficult to consider, and efficient flight of the aircraft is difficult to achieve.

A variable-sweep wing for a tiltrotor aircraft includes a fuselage link coupled to the fuselage and a pylon link coupled to a pylon. A wing airframe has a root end pivotably coupled to the fuselage link and a tip end pivotably coupled to the pylon link. A driveshaft is coupled between the fuselage link and the pylon link and is positioned within the wing airframe. The driveshaft is operable to transmit torque from the main gearbox to a proprotor gearbox. A crank is coupled between the fuselage link and the pylon link and is positioned within the wing airframe. The fuselage link, the pylon link, the driveshaft and the crank form a linkage such that pivoting the crank relative to the fuselage link causes the wing airframe to shift between a substantially straight wing configuration for low-speed forward flight and a swept wing configuration for high-speed forward flight.

Disclosed is a turbulent structure of a reactor, the turbulent structure comprising a reactor body (1), a main shaft (2), and a drive assembly (5), wherein the main shaft (2) is rotatably connected to the reactor body (1) and is provided with a shaft rod (201) transversely extending at a bottom end thereof, a transmission member (3) is arranged between the shaft rod (201) and the interior of the main shaft (2), a propeller-type agitator (4) is provided at an output end of the transmission member (3) to drive the propeller-type agitator (4) to rotate, the propeller-type agitator (4) rotates eccentrically around the central axis of the main shaft (2), and the propeller-type agitator (4) is used for propelling fluid upward. The main shaft (2) and the shaft rod (201) drive the propeller-type agitator (4) to perform a circular motion around the axis of the main shaft (2), expanding the area for upward agitation at the bottom, thereby creating a fluid motion inside the reactor body (1) with upward floating on one side and gradual sinking on the other side, resulting in a differential speed between the two sides of the reactor body (1). During rotation, when a blade moves into the differential region of sinking, the upward-floating fluid collides with the sinking fluid, resulting in turbulence.

The invention belongs to the technical field of wind tunnel tests, and particularly relates to a precession simulation device for a spiral flutter wind tunnel test. According to the invention, the design problem of the rotor craft spiral flutter wind tunnel test device is solved, and the key influence parameters and influence rules of the spiral flutter of the aircraft are researched by designing the precession motion simulation device of the rotor craft. Rotation of the rotor wings can be realized in the wind tunnel, and the rotating speed of the rotor wings is adjusted through the motor. Meanwhile, pitching and deflection modal decoupling of the rotating shaft of the rotating system is achieved, and pitching and deflection modal frequencies are independently adjustable; meanwhile, the axis of the pitch axis and the axis of the yaw axis coincide, so that pitching and yaw freedom degree coupling precession motion can be achieved under the effect of gyroscopic moment. Meanwhile, nacelle rotating mass rotational inertia, nacelle weight and mass center position adjustment can be achieved; and finally, the rotating speed of the rotating mass such as the rotor wing and the propeller hub can be adjusted through a speed adjusting motor, matching of the rotating speed and the incoming flow speed is guaranteed, and the spiral flutter state is achieved.

The invention belongs to the cross technical field of the fusion graph attention network and the ship resistance field, and discloses a ship resistance intelligent forecasting method and system, and the method comprises the steps: constructing nodes and edges in a graph attention network, and carrying out the preprocessing of data; designing and improving a loss function; a dynamic weight multi-attention mechanism is established, and attention weights are automatically distributed according to different ship type features; applying a training strategy of an Adam and SGD combined optimizer to obtain a graph attention network model; and carrying out ship resistance prediction evaluation through the dynamic weight map attention network model. By introducing the ship resistance intelligent forecasting method based on the dynamic weight map attention network and the physical constraint, the ship resistance intelligent forecasting method has the advantages of simple structure and clear algorithm, is specially designed for forecasting resistance under different ship types and solving the matching problem of propellers and power devices, shows remarkable innovativeness and practical value, and is suitable for popularization and application. Powerful support is provided for optimization design, energy conservation and emission reduction and safe navigation of the ship.

Provided are: an aircraft that can fly stably even when water is discharged from a hose installed on the airframe thereof; and an aircraft system that uses the aircraft. This aircraft system comprises: a master aircraft 10; three slave aircrafts 20; and a remote control device 30 that is for making the aircraft fly as a unit. Each slave aircraft 20 has: four rotary blade portions that have propellers 221; and a suspending means 23 that is for suspending a prescribed part of a hose 50 that is for discharging water. The master aircraft has: four first rotary blade portions that have first propellers 121 that have been arranged to rotate in a horizontal plane; four second rotary blade portions that have second propellers 131 that have been arranged to rotate in a vertical plane; and a nozzle 15 on which a tip end part of the hose 50 is installed. The direction of the center axis of the nozzle 15 is parallel to the direction of the rotational axes of the second propellers 131.

The invention discloses a liquid cooling heat dissipation ducted fan which comprises a duct, a propeller, a motor, a supporting rib plate, a propeller hub shell and a liquid cooling mechanism. The propeller hub shell is fixed in the duct through the supporting rib plates; a motor and a liquid cooling mechanism are arranged in the propeller hub shell; a rotor output shaft of the motor is connected with a propeller and a fairing through a coupler. The fairing is arranged on the propeller in a sleeving mode, and an opening is formed in the fairing so that blades of the propeller can stretch out. The liquid cooling mechanism is at least partially formed in the propeller hub shell and the supporting rib plate, and the propeller hub shell and the supporting rib plate are of a sandwich structure to form a cooling liquid circulation channel of the liquid cooling mechanism. According to the liquid cooling heat dissipation ducted fan, the cooling liquid flow channels are arranged in the propeller hub shell and the supporting rib plates, the cooling liquid is cooled through the structure of the cooling liquid while the cooling liquid dissipates heat of the motor, the cooling liquid circulates in the propeller hub shell and the supporting rib plates, the motor is continuously cooled, and the heat dissipation efficiency is improved.

An aircraft propulsion assembly that has a nacelle with a front opening and a rear opening, a propeller driven by an electric motor, a fuel cell supplying the electric motor with electric current, an inner channel arranged in the nacelle between the front opening and the rear opening. The electric motor and the fuel cell are disposed in the inner channel. A motorized fan is arranged at the rear part so as to draw in the air present in the inner channel and expel it to the outside through the rear opening. A control unit controls the motorized fan. With such an arrangement, the outside air cools the inside of the nacelle and the dihydrogen is evacuated.

The invention discloses a dynamic positioning active-disturbance-rejection control method based on an adaptive extended Kalman filtering algorithm, and relates to the field of ship dynamic positioning control. The invention aims to solve the problems that an existing ship dynamic positioning active-disturbance-rejection control method cannot meet the control stability requirement while ensuring the response speed, the positioning speed is low, and the service life of an executing mechanism is short. The method comprises the following steps: obtaining a ship motion model by using a dynamic positioning ship low-frequency motion model and a dynamic positioning ship high-frequency motion model in a state space form; designing a non-linear state error feedback control law, and obtaining a thrust value applied by the propeller by using the non-linear state error feedback control law; discretizing the ship motion model to obtain a discretized ship motion model; and based on an adaptive extended Kalman filtering method, designing a dynamic positioning active-disturbance-rejection controller by using the discretized ship motion model and a thrust value applied by a propeller. The method is used for ship dynamic positioning active-disturbance-rejection control.

The invention discloses an air-ground multi-mode cross-domain robot system with a clutch structure and a control method. The air-ground multi-mode cross-domain robot system comprises a machine body, wings, clutch assemblies and rotor assemblies. The aircraft body drives the connecting rod mechanism through the steering engine to control the bilateral wings to move. Rotor driving motors, wheels and transmission gear sets are integrated on the wings, and motor power can be distributed to wheel driving shafts and propeller shafts. The clutch assembly is connected with a motor and a propeller shaft through a ratchet wheel meshing mechanism, and power on-off control is achieved, in the ground running process, a clutch is separated to stop rotation of a propeller, power is fully output to wheels to serve as driving wheels, and in the flight mode, the clutch is meshed to synchronously drive rotors and the wheels. According to the system, bimodal power distribution is achieved through a single motor, a driving wheel motor does not need to be additionally arranged, the structural complexity is effectively reduced, the moving speed and controllability are remarkably improved through the ground mode propeller static design, the advantage of cross-domain operation is achieved, and the system is suitable for complex task scenes.

The invention discloses an AUV (Autonomous Underwater Vehicle) path tracking method based on predicted line-of-sight angle guidance, which comprises the following steps: acquiring a real-time navigation state through inertial navigation, acoustic positioning and DVL fusion, introducing a fixed time disturbance predictor to estimate a sideslip angle and an ocean current velocity component on line, adaptively adjusting a line-of-sight distance according to transverse error-navigational speed-curvature, and tracking the path of the AUV. Calculating a predicted line-of-sight angle and outputting an expected heading; and then a propeller and a control surface are driven by adopting a fixed time feedback control law, so that track and attitude error fixed time convergence of the under-actuated AUV under the conditions of strong time-varying ocean current and large sideslip is realized. The method does not need a side thruster or an ocean current prior model, is simple in algorithm structure, is suitable for a high-speed high-curvature track, and has the advantages of high speed, high steady-state precision, low energy consumption and high robustness.

A method includes: calculating a first difference between a current actual attitude of a fuselage and a desired attitude and a second difference between an actual depth and a desired depth; inputting the first difference and the second difference into a set terminal sliding mode surface to obtain an output value of the terminal sliding mode surface; using the output value as an input of a preset high-order observer, a radial basis function neural network and a terminal sliding mode control law, respectively, and using an output of the high-order observer and an output of the radial basis function neural network as a compensation input of the terminal sliding mode control law; performing power distribution for each propeller of a propeller assembly on the basis of the virtual force to obtain a propelling force of each propeller; and controlling the propellers of the underwater submersible robot.

The invention provides a ship ocean route optimization forecasting method, which comprises the following steps of S1, establishing an initial route according to a voyage number task, a steering point and a route type; s2, establishing a motion response mathematical model of the ship on the sea to the environment; s3, obtaining a marine environment forecasting result of a sea area through which the ship passes; s4, calculating the motion response of the ship passing through the sea area; s5, collecting other requirement conditions in the current voyage task of the ship as other constraints; s6, performing optimization calculation to obtain an optimized route and an optimized propeller rotating speed which should be adopted by the ship under the optimization target; and S8, repeating the steps S3-S7, and executing the newly obtained route and speed optimization scheme. According to the method, the ship navigation plan elements including the ship route and the propeller rotating speed are optimized, and a navigation scheme meeting the optimization requirement of a user can be obtained on the premise of avoiding severe sea conditions to guarantee safety. The method is beneficial to intelligent construction of ship navigation.

A vertical take-off or landing (VTOL) aircraft is disclosed that includes a propulsion system comprising at least four tilting propulsion assemblies and two or more lifting propulsion assemblies. Actuation of the tilting mechanisms can convert the aircraft from a hover configuration, in which all propellers produce thrust generally upward to counteract the aircraft's weight, to a forward flight configuration, in which the four or more tilting propellers produce thrust generally in a forward direction parallel to the fuselage to overcome drag in cruise flight and the lifting propellers produce no thrust or a level of thrust generally less than that required in the hover configuration.

The invention discloses a small crawler wheel wing combined type deformable land-air amphibious reconnaissance robot and a control method thereof. The robot adopts a crawler wheel wing integrated miniaturization design and comprises a control cabin, a left crawler wheel wing system and a right crawler wheel wing system, the crawler wheel wing systems are connected with the control cabin through steering engines, and a flight mode and a ground mode can be stably switched under the driving of the steering engines. In the flight mode, a flight motor of the crawler wheel wing system drives propellers to rotate at a high speed, lift force is provided, and air flight and attitude stability are achieved. In the ground mode, the crawler wheel wing system is adjusted to the ground contact position, the propellers stop working, the ground motor drives the crawler and the driving wheels through the gear set to provide advancing power, the driven wheels assist in supporting, and the stability and obstacle crossing ability in the complex terrain are enhanced. A multi-mode control method based on model predictive control is adopted for the robot, and the multi-mode control method is achieved by establishing control models of a flight mode and a ground mode, constructing a unified state-space equation and a predictive equation, designing a cost function, dynamically switching the control models and coordinating constraint conditions and control targets. And the trajectory tracking precision and the system stability of the robot in the flight mode and the ground mode are ensured.

The invention provides a multi-mode underwater detection robot. The robot comprises a body section assembly formed by connecting a plurality of cabin pipe assemblies and power cabin assemblies in series. Joints between the cabin pipe assemblies are connected through joint connecting pieces (7); a steering engine joint piece (3) is arranged at the joint connecting piece, a propeller propelling device (4) is arranged at the power cabin assembly, and when the underwater posture and the propelling working condition of the robot are adjusted, a steering engine of the steering engine joint piece applies force to the joint connecting piece to change the included angle of the joint connecting piece, so that the body section assembly is twisted, and the posture of the robot is converted into different modes; the propelling direction of the propeller propelling device is changed; the problems that an existing underwater robot is single in mode, incapable of adapting to complex environments, low in energy efficiency, difficult in structure maintenance and poor in function expansion capacity can be solved.

The utility model relates to a foldable propeller and a cross-medium aircraft with the same, the foldable propeller comprises a propeller hub controlled to rotate, a limiting structure arranged at the end part of the propeller hub and a plurality of blades uniformly arranged around the axis of the propeller hub, and each blade is hinged with the propeller hub; the hinged axis between the paddle and the propeller hub is perpendicular to the rotating axis of the propeller hub, and the limiting structure is located at the front end of the propeller hub in the direction of the pulling force generated when the paddle rotates along with the propeller hub; when the propeller hub rotates, the blades hinged to the propeller hub rotate and unfold under the action of centrifugal force to abut against the limiting structure. When the propeller hub stops rotating, the blades hinged to the propeller hub are folded to be close to the rotating axis of the propeller hub due to self weight or fluid resistance in the underwater flight process. The propellers are configured to be of a foldable structural form, so that the propellers are not prone to being impacted by water flow and damaged, meanwhile, turbulent flow generated when the water flow passes through the propellers is reduced, and the speed and stability of the cross-medium aircraft in the underwater flight process are improved.

The invention relates to the technical field of underwater vehicle fault diagnosis, in particular to a multi-mode propeller fault diagnosis method and diagnosis system. Comprising the following steps: collecting and preprocessing multi-modal data; quantizing the quality of the acoustic signal data and the visual signal data obtained in the previous step in real time; constructing a quality sensing gating network model; and training a quality sensing gating network model, and outputting a propeller fault type by using the trained quality sensing gating network model. The characteristics of the low-quality mode are dominated, enhanced and corrected through the characteristics of the high-quality mode, the interaction strength of the depth characteristics is actively controlled in real time from the source quality of signals, and high robustness and accuracy of propeller fault diagnosis can still be kept in a complex and severe environment.

The invention discloses an integrated machining device suitable for a large marine propeller, which comprises a machining adjusting assembly, the machining adjusting assembly is composed of an X-axis moving mechanism, a Y-axis moving mechanism and a Z-axis moving mechanism, one side of the Z-axis moving mechanism is fixedly provided with a rotating mechanism, one end of the rotating mechanism is fixedly connected with a cutting assembly, and the other end of the rotating mechanism is fixedly connected with a cutter; according to the large marine propeller integrated machining device with the automatic machining function and the self-adaptive clamping function, through the integrated multi-axis linkage machining adjusting assembly and the three-dimensional scanner, automatic path planning can be conducted, and automatic operation is achieved; therefore, the dependence on advanced technicians is greatly reduced, the machining efficiency and the product consistency are remarkably improved, and meanwhile, through the collaborative design of the rotatable three-jaw chuck and the center supporting mechanism, simultaneous reliable supporting from the interior and the exterior of the workpiece can be automatically achieved during clamping.

The invention relates to an annular propeller modeling method and device, modeling equipment and a storage medium, and belongs to the technical field of ship propellors.The annular propeller modeling method comprises the steps that a water flow direction serves as a first coordinate axis, and the radial direction of a first blade serves as a second coordinate axis; a propeller hub center under a corresponding first coordinate axis coordinate when the transition section of the first propeller blade and the second propeller blade reaches the maximum radius of the propeller is used as an original point, a third coordinate axis is determined based on a right-hand rule, a three-dimensional coordinate system is established, and the first propeller blade and the second propeller blade are two different propeller blades; under the three-dimensional coordinate system, the thickness angle of each paddle is determined based on the rotating shaft of the two-dimensional airfoil profile of each paddle, and the inflow angle of each paddle is determined based on the thickness angle of each paddle; and modeling the annular propeller based on the thickness angle and the inflow angle of each blade. According to the method, tip smooth transition and section geometric parameter control of the annular propeller are realized on the premise of relatively low calculation complexity.

The invention provides a flow guiding device of a ship propeller and a ship. The flow guide device comprises a plurality of guide vanes, the guide vanes are fixedly connected to the stern of the ship in the circumferential direction of the propeller, and the guide vanes are arranged at different positions in the axial direction of the propeller. The guide vanes are arranged at different positions in the axial direction of the propeller, so that the stress borne by the flow guide device is reduced; by limiting the circumferential length of flow guide, the resistance borne by the flow guide device can be reduced on the premise that the stability of the structure is improved. The ship stern and the flow field around the propeller are improved, the propelling efficiency of the propeller is improved, and the pressure at the blade backs of the propeller blades can be increased, so that the stress of the propeller is increased, and the thrust component is increased accordingly; the flow field pressure at the guide vanes outside the guide wheel can be reduced, so that the flow velocity of the flow field is increased, and the propeller efficiency is improved.

The invention discloses a rotor aerodynamic force and flow field simulation method, and relates to the field of aerospace, and the method comprises the steps: generating a blade skin grid according to rotor configuration parameters, and constructing a Cartesian background grid; constructing a calculation model of variable-diameter rotor flow field simulation based on the blade skin grid and the Cartesian background grid; and in the constructed calculation model for variable-diameter rotor flow field simulation, a high-precision CFD method suitable for variable-diameter rotor flow field solving is established, rotor aerodynamic force and a flow field in the dynamic diameter changing process are simulated, and a CFD calculation result is output. The aerodynamic performance of the rotor wing can be improved by simulating the variable-diameter rotor wing flow field.

The invention discloses a method for completing an autonomous deep-sea exploration task by a deep-sea cross-domain unmanned aerial vehicle. The method comprises the following steps: determining a target area; taking off to a specified height from the sea level, receiving a task execution command and then flying to a target area; when the relative distance between the current position and the coordinates of the target area reaches a preset value, descending; when it is detected that the device is contacted with seawater, the device dives through gravity; when it is detected that the set depth is reached, the propeller is restarted, and the detection task is executed; after the detection task is completed, the standby battery is rejected and ascends; after leaving the water surface, rising to a specified height and switching to a homeward flight mode; and when the deep-sea cross-domain unmanned aerial vehicle is within the sight distance range, a manual landing task is executed. The invention further discloses the deep-sea cross-domain unmanned aerial vehicle. According to the unmanned aerial vehicle and the method, autonomous switching operation between an air medium and an underwater medium can be realized, and the unmanned aerial vehicle has the capability of autonomously completing detection and water body sampling in an extreme deep sea environment.