216 results about "Quadcopter" patented technology

The invention relates to an aircraft which can both take off and land vertically and can hover and also fly horizontally at a high cruising speed. The aircraft has a support structure, a wing structure, at least three and preferably at least four lifting rotors and at least one thrust drive. The wing structure is designed to generate a lifting force for the aircraft during horizontal motion. To achieve this the wing structure has at least one mainplane provided with a profile that generates dynamic lift. The wing structure is preferably designed as a tandem wing structure. Each of the lifting rotors is fixed to the support structure, has a propeller and is designed to generate a lifting force for the aircraft by means of a rotation of the propeller, said force acting in a vertical direction. The thrust drive is designed to generate a thrust force on the support structure, said force acting in a horizontal direction. The lifting rotors can have a simple construction, i.e. they can have a simple rigid propeller for example, and a vertical take-off or hovering of the aircraft can be controlled, in a similar manner to quadcopters, by a simple control of the speeds of the lifting rotors. High cruising speeds can be achieved as a result of the additional horizontally acting thrust drive.

An unmanned aerial vehicle (UAV) such as a drone, quadcopter or octocopter having a projector on board for projecting information into physical space such as onto objects or locations while the UAV is in flight, and further with the position and orientation (i.e., the six degrees of freedom) of the UAV in flight being accurately tracked and controlled from the ground, e.g., by a laser tracker or a camera bar, thereby leading to a relatively more stable flight of the UAV.

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

A vertical take-off and landing (VTOL) roadable aircraft which has the features and dimensions of a typical road vehicle is disclosed. When operated on the road the wheels are powered by the engine. When the vehicle is configured for flight, a plurality of propellers is deployed from the storage compartment located on the roof and is powered by the same engine. The conversion process transforms the vehicle into a highly manoeuvrable quadcopter or a multi-rotor aircraft. The design concept enables propellers of relative large diameter to be conveniently secure to the vehicle, while allowing reliable deployment, retrieval and storage of the propellers as required. The total combined area of the propellers enables a low disk loading in the range of some helicopters with equivalent flight efficiency. The propellers are shrouded for safe operation. The conversion is automated, fast, and can be carried out while the vehicle is still moving.

The invention discloses a portable target tracking method and system based on a four-axis air vehicle. The method includes the steps that (1) the four-axis air vehicle tracks and collects a target image in real time, and the image is output after being compressed; (2) video compression data are received, decompression is performed, target detecting and tracking are conducted through a TLD algorithm according to the decompressed image data, template matching is executed independently, and when a target is detected, the detected target location is output; (3) a control parameter is obtained through calculation by using a PID algorithm according to the target location, a PID coefficient in the PID algorithm is set according to the flight state, and the movement of the four-axis air vehicle is controlled. The device comprises the four-axis air vehicle, a target detecting and tracking module and a flight control unit, wherein the four-axis air vehicle is used for tracking and collecting the target image in real time, the target detecting and tracking module is used for conducting target detecting and tracking, and the flight control unit is used for calculating the control parameter. The device has the advantages of being high in execution speed, high in tracking accuracy and capable of achieving the purpose of automatic searching and tracking.

The invention discloses a bridge detection robot based on a four-axle aircraft, comprising the four-axle aircraft. The main machine body of the four-axle aircraft is axially provided with a trough installation channel; the installation channel is internally provided with a self-adaptation matching regulation device; the main machine body is also provided with an onboard flight control unit and an installation platform, wherein the installation platform is connected with the main machine body through the self-adaptation matching regulation device and is provided with a shooting unit; a master control system consists of the onboard flight control unit and a ground control unit; and an image data processing system consists of the shooting unit and a ground image processing unit. The invention realizes the automatic sensing and line walking of a bridge detection position through a wireless shooting controller and high-accuracy distancer by utilizing the four-axle aircraft with superhigh stability in the sky as a basic equipment carrier and can also move high-accuracy photographing equipment to a bridge position to be detected, thereby realizing the automatic bridge damage detection and identification under no-man control.

The invention relates to a retractable folding quad rotor which comprises a central supporting mechanism and four sets of propeller mechanisms. The improvement of the retractable folding quad rotor is as follows: the four sets of propeller mechanisms are four sets of retractable propeller mechanisms with identical structures; each set of retractable propeller mechanism comprises a bevel pinion, a telescopic rod, a propeller, a motor and a lifting arm mechanism, and also comprises a large conical gear and a servo motor; the servo motor, the large conical gear and the four bevel pinions form driving mechanisms of telescopic rods of the four sets of propeller mechanisms; and under the drive of the servo motor, the four bevel pinions respectively and simultaneously drive the four telescopic rods to realize outward retraction or inward retraction by virtue of screw drive of the screw rods. According to the improvement, four sets of folding mechanisms are arranged, wherein each set of folding mechanism drives each set of telescopic propeller mechanism to fold or unfold. According to the quad rotor, the telescopic mechanisms and the folding mechanisms are additionally arranged, so that the four-rotor body is greatly retracted; and compared with the conventional product, the retractable folding quad rotor disclosed by the invention has the advantages that the size of the quad rotor is effectively reduced, and the quad rotor is convenient to carry.

A quadcopter has a fuselage and four rotors, each defining a thrust vector. An onboard camera system includes a gimbal with a roll axis and a pitch axis. Right side motors are mounted with a dihedral angle so that their respective thrust vectors intersect at a common focal point located above the fuselage. Left side motors are mounted with a dihedral angle so that their respective thrust vectors intersect at a common focal point located above the fuselage. The tilted thrust vectors provide yaw stability which allows flight yaw control to be used as yaw control of the onboard camera.

The invention provides a ZigBee-based quadrocopter farmland positioning system which comprises a plurality of known positions, ZigBee beacon nodes at the same height, and to-be-positioned quadrocopter nodes composed of the quadrocopter and ZigBee nodes, and also a positioning method which comprises the steps of selecting four beacon nodes strongest in wireless signal intensity when the quadrocopter flies over the farmland, calculating the spatial distance between the node of the quadrocopter and each beacon node through the intensity of a received wireless signal, mapping the spatial distances into horizontal distances between the node of the quadrocopter and the beacon nodes within the horizontal plane, combining every three beacon nodes to form a triangular positioning subregion and forming 4 subregions in total, for each subregion, calculating the relative coordinates of the quadrocopter by a trilateral positioning method, next, calculating the center of mass of a quadrangle formed by the four pairs of relative coordinates by a center-of-mass method, and then taking the coordinates of the center of mass as the final position coordinates of the node of the quadrocopter. The ZigBee-based quadrocopter farmland positioning system is capable of realizing low-cost, high-precision and fast-positioned regional operation in the farmland.

The invention acquires design inspiration from a mechanical aperture tuning mechanism of a camera lens, and designs an automatic folding rack comprising a central worm and gear speed reduction motor, an upper center plate, a lower center plate, a crank, connecting rods, support arms and rotor baffles. Therefore, a four-rotor aircraft can be folded to a compact square structure under the driving of the motor distributed in the center of the rack, end parts of adjacent rotors are close to the peak of the square as far as possible, positions of the rotors are relatively fixed, and accordingly, the geometric dimensioning of the four-axis aircraft is greatly reduced; and the four-rotor support arms can be spread automatically when the central motor rotates reversely.

The invention relates to a damping undercarriage of a quadrotor, and belongs to an unmanned plane undercarriage with damping function. According to the damping undercarriage, a support is utilized for fixing a motor, the motor drives two belts to make transmission along different directions through a group of gears, and further drives the undercarriage to deploy and retract through the belts. The undercarriage is hinged with a fastening connector, and the upper end of the undercarriage is connected with the fastening connector via an extension spring. The undercarriage comprises an upper arm and a lower arm which are in connection via s crossbeam and are respectively inside provided with springs. The advantages comprise that the damping undercarriage is novel in structure, can be deployed and retracted according to flight states, reduces air resistance in the flight process, and substantially improve the stability of an unmanned plane. In landing process, the undercarriage is telescopic, the shock loading coefficient is reduced, and the safety of the unmanned plane is improved.

The invention discloses a two-wheeled self-balancing intelligent vehicle posture control method, which belongs to the technical field of inertial navigation. An inertial sensor gyroscope and an accelerometer in rigid connection with the intelligent vehicle are used for acquiring original posture inclination angle information, and on the basis, Kalman filtering is used for carrying out data fusion on the gyroscope and the accelerometer, and the posture inclination angle information for thoroughly describing the motion state of the intelligent vehicle can be accurately acquired. The method of the invention inhibits accelerometer interference noise caused by dynamic acceleration, overcomes the lag problem caused by time integration by the gyroscope and can be applied to posture calculation for systems such as a two-wheeled self-balancing robot and a quadrocopter. Verification is carried out via a two-wheeled self-balancing intelligent vehicle platform, and the solution accuracy and the response speed are good.

The invention relates to an express transportation system based on a quadrirotor, an express transportation method and a monocular obstacle avoidance method, belonging to the technical field of unmanned aerial vehicles. The express transportation system based on the quadrirotor, the express transportation method and the monocular obstacle avoidance method provided by the invention are high-efficiency and convenient. The express transportation system disclosed by the invention comprises a C / S architectural client mobile phone, a PC management platform, a server and the quadrirotor and is structurally characterized in that data communication between the PC management platform and the quadrirotor is carried out in a GPRS manner; the client mobile phone is used for sending express information to the server; the PC management platform is used for sending GPS coordinates, client information and locating and express information to the quadrirotor; and the server is used for storing and transferring the express information of the client mobile phone and the PC management platform.

An air quality detector based on a quadcopter comprises the quadcopter and control systems. The quadcopter mainly comprises a mechanical arm, a main engine body, a containing platform, a machine body cavity, a propeller, a foot stand, a camera pan-tilt and the like, the control systems comprise an onboard control system and a ground control system, the onboard control system comprises a posture measuring unit, an application measuring unit and an onboard microcontroller, and the ground control system comprises a manual control unit and an automatic driving control center. The quadcopter stable in flying and good in controllability is adopted to be carried with a camera and the detector, the quadcopter can be controlled by a ground remote control unit, meanwhile, automatic control can be achieved, the detecting range can be expanded, multi-index detection on air quality is carried out at different heights and different positions of the low altitude, the indexes are transmitted to the ground to be received, and the air quality detector has the advantages of being small in size, light, low in cost, low in requirement for the flying airspace, safe, reliable, flexible and efficient.

The invention relates to a thermal power plant coal inventory measuring and calculating method based on a four-axis aircraft. The method includes the following steps that (1) laser distance measurement is conducted over a coal pile, the straight-line distance h between an acquisition point over the coal pile and a surface point of the coal pile is measured, the straight-line distance between the acquisition point and the horizontal plane of a place where the coal pile is located is H, the straight-line distance z between the surface point of the coal pile and the horizontal plane of the place where the coal pile is located is equal to H-h, and meanwhile, horizontal coordinates x and y of the acquisition point are acquired through a GPS positioning module; (2) the step (1) is repeated, so that the straight-line distances between multiple acquisition points over the coal pile and multiple surface points of the coal pile and horizontal coordinates are acquired, the straight-line distances between the surface points of the coal pile and the horizontal plane of the place where the coal pile is located are acquired through the straight-line distances between the acquisition points over the coal pile and the surface points of the coal pile, and therefore a coal pile vertical view outline is drawn; (3) the approximate size of the coal pile is calculated through the straight-line distances between the surface points of the coal pile and the horizontal plane of the place where the coal pile is located and the horizontal coordinates of the acquisition points. The method is suitable for measurement conducted in various environments and large-area region measurement can be achieved.

The invention discloses a complementary filtering attitude fusion algorithm and cascade PID control algorithm based mini four-rotor aircraft control system. The fusion algorithm can effectively fuse angular velocity information outputted by a gyroscope and acceleration information measured by an accelerometer to compensate error of the two, and long-term accurate and stable attitude information is obtained. The cascade PID control algorithm takes an angular velocity loop as an inner loop and an angular loop as an inner loop, inner loop feedback is acquired directly through an angular velocity transducer, introduction of error is avoided, and output of the outer loop is directly taken as input of the inner loop. Control accuracy and stability of the system are improved effectively.

The invention discloses a quadrotor attitude control method based on a T-S fuzzy model. According to the invention, a T-S fuzzy model is derived by a simplified attitude dynamic equation; a fuzzy state feedback controller is designed by using a parallel step-by-step compensation technique; while the deviation between the simplified model and an actual model is compensated, stable control of an attitude angle of a quadcopter is realized. According to the invention, compared with a quadcopter attitude dynamical system having strong nonlinearity and strong coupling performance, a more reasonable simplified model is brought forward; the simplified model derived from small angle assumption carried out only on roll angles is more accurate than the model derived from small angle assumption carried out both on the roll angles and pitch angles simultaneously; the model deviation in designing of a controller can be reduced as much as possible; the whole control structure is relatively simple; the calculating efficiency is high; and the convergence speed is fast.

The invention provides an integrated omnibearing all-weather on-water and underwater monitoring system, and belongs to marine environment monitoring equipment. The system comprises a water surface floating platform, a quadcopter on-water unmanned aerial vehicle, an underwater robot and a ground control terminal; the water surface floating platform is communicated with the quadcopter on-water unmanned aerial vehicle and the underwater robot separately through zero buoyancy lines of cables with optical fibers, the water surface floating platform which serves as signal transfer, supplies electricity to the system and monitors on-water information and underwater information transmits electric energy and optical signals to the quadcopter water unmanned aerial vehicle and the underwater robot through the zero buoyancy lines and is communicated with the ground control terminal in a wireless data transmission mode. According to the system, energy supply for long-time work in any sea area is achieved, underwater signal transmission cost is reduced, the image transmission quality is improved, remote control is achieved, operation is convenient, on-water and underwater integrated omnibearing all-weather monitoring is achieved, the monitoring area is large, and the operation time is long.

Provided is a multi-resolution indoor three-dimensional scene reconstitution device based on laser radar and quadrotor and a method thereof, relating to the technology of multi-resolution indoor three-dimensional scene reconstitution based on laser radar and quadrotor. The purpose of the invention is to solve the problem that mobile robot cannot access to a complex indoor environment, thus being not able to reconstitute the indoor three-dimensional scene; and the problem that the resolution of the conventional indoor environment three-dimensional reconstitution method is single. The invention purposely combines the laser radar scanning technology with the quadrotor, takes advantages of both the laser radar and the quadrotor, and concurrently breaks through the difficulty that the complexity of an unknown indoor ground environment makes a common ground robot be not able to access. The resolution of the indoor three-dimensional reconstitution can be increased by combining the laser radar scanning technology with the flexible movement characteristic of the quadrotor, i.e., details and outline information of the indoor three-dimensional environment can be synchronously obtained. The multi-resolution indoor three-dimensional scene reconstitution device and method based on laser radar and quadrotor are applicable to various occasions, including traffic, disaster relief, exploration, and the like.

The invention relates to an intelligent parking lot based on a four-axis aircraft and a navigation method. The intelligent parking lot comprises the four-axis aircraft and a cloud computing server. When a vehicle drives in the intelligent parking lot, the four-axis aircraft takes off, flies to the periphery of the vehicle, navigates the vehicle according to a navigation planned path transmitted by the cloud computing server, obtains environment data around the vehicle in real time and transmits the environment data to the cloud computing server; when an owner finds a vehicle parked in the intelligent parking lot, the four-axis aircraft takes off, flies to the periphery of the owner, performs navigation for the owner according to a navigation planned path transmitted by the cloud computing server, obtains environment data around the owner in real time and transmits the environment data to the cloud computing server. The cloud computing server is used for generating and transmitting the navigation planned paths to the four-axis aircraft. By the adoption of the intelligent parking lot, of the structure, based on the four-axis aircraft and the navigation method, a user can conveniently and fast enter and exit from a parking space nearby, navigation is more visual and stereoscopic, and interestingness, entertainment and science and technology feeling of parking are improved.

The invention provides a modeling and self-adaptive control method for a four-axis aircraft carrying uncertain loads, and relates to the control technical field of multi-rotor unmanned aerial vehicles. The method comprises the following steps of firstly, carrying out the dynamics accurate modeling under the condition that the four-axis aircraft carries uncertain loads so as to obtain the differential equation form and the column array form of a kinetic model; secondly, designing a self-adaptive controller based on the kinetic model; finally, designing a feedback control law and controlling the attitude of the four-axis aircraft carrying uncertain loads through selecting proper parameters. According to the technical scheme of the invention, a modeling and self-adaptive control method is provided. Based on the feedforward control, the dynamics uncertainty of the aircraft is subjected to parameter adjustment, so that the aircraft is adapted to the current environment. Therefore, the attitude stability of the four-axis aircraft carrying uncertain loads is effectively improved. Based on the design of the Lyapunov method, the stability and the convergence can be guaranteed, and the number of control parameters can be reduced at the same time. The attitude control precision and the flight response speed of the four-axis aircraft carrying loads are effectively improved.

Transitioning quadcopters and tricopters use passively adjusting tiltwings to reduce the number of actuators needed to control flight. Both transitioning copters can operate with four controlled actuators comprising four motor speeds for the quadcopter and three motor speeds and one rudder position for the tricopter.

The invention discloses a miniature quadrotor helicopter and a control method thereof. The miniature quadrotor helicopter comprises a controller module, an acceleration sensor module, a wireless transmitter module, a motor driving module and a power management module. The miniature quadrotor helicopter disclosed by the invention is smaller in size, more energy-saving and higher in degree of freedom and flexibility. In practical applications, the miniature quadrotor helicopter can complete specific missions in complex and hazardous environments, and can also be used for monitoring the traffic, the environment and the like. Meanwhile, the miniature quadrotor helicopter has the characteristics of simple structure, low failure rate, high precision, high performance, low cost, low power consumption and the like.

Disclosed is a parallel-shaft quad-rotor aircraft with rotatable aircraft arm shafts. The parallel-shaft quad-rotor aircraft with the rotatable aircraft arm shafts comprises an aircraft body in the middle, four propeller mechanisms, flight control modules and a battery. The aircraft body is formed by an upper shell and a lower shell in a screw connection mode. The four propeller mechanisms comprise four brushless motors with code discs, and the four aircraft arm shafts, wherein the brushless motors are fixedly arranged in a cavity structure formed inside the upper shell and the lower shell, and every two adjacent aircraft arm shafts are arranged in a parallel mode. A motor shaft of each brushless motor with the corresponding code disc is connected with one end of the corresponding aircraft arm shaft through a set screw, and the other end of each aircraft arm shaft is connected with a propeller motor and a propeller through a motor sleeve. The flight control modules and the battery are connected with the propeller motors and the brushless motors with the code discs through circuits, and are used for controlling the flight state of the quad-rotor aircraft by adjusting the positioning angles of the four aircraft arm shafts and the rotating speed of the propellers. According to the invention, the parallel-shaft quad-rotor aircraft saves the space, is easier and more sensitive to control, and convenient to carry, can preferably adapt to various kinds of complex terrain, and has the good self-protection capacity.

The invention discloses an unmanned aerial vehicle formation performance system based on UWB location and an implementation method thereof. An ultra broadband wireless communication technology and a time division TDoA technology are utilized to establish a three-dimensional location system applied to indoor and outdoor small areas; varieties of technologies of micro quadcopter formation navigationflight technology, a full-color LED light dimming technology and the like are combined to be applied to an indoor / outdoor small area performance system. In a three-dimensional location area, an aircraft colony performing navigation flight according to planned tracks, and color change of dimmable LED lamps arranged on a plurality of micro aircrafts is controlled to construct varieties of static and dynamic flight patterns, and stronger visual effect can be generated. As the time division TDoA technology based on UWB, a computer simulation micro aircraft colony flight pattern technology, an unmanned aerial vehicle colony flight pattern distribution storage technology and a PC coordinator synchronization and self synchronization combined technology are utilized, price of the whole system canbe reduced.

The present invention relates to the unmanned aerial vehicle-based environment detection technology and a method thereof during the mine disaster period. During the mine disaster period, such as the period of the gas outburst, the gas explosion, the fire disaster, the water inrush and other accidents in a mine, people cannot get into the mine, and an emergency rescue headquarter cannot evaluate the underground environment. In the prior art, a quadrocopter and an underground wireless positioning system are combined to realize the flight control and the data transmission of an unmanned aerial vehicle. The unmanned aerial vehicle is provided with a miniature infrared camera, a multi-parameter micro gas sensor, a temperature sensor, and a pressure sensor. The monitoring data of the onboard camera and multiple sensors can be recorded in a built-in storage. The unmanned aerial vehicle is provided with a micro self-contained power supply relay unit arranged along the detection line. The relay unit is compatible with an underground communication system and an unmanned aerial vehicle communication system, so that the communication transmission distance of the unmanned aerial vehicle is prolonged. Data stored in the storage are transmitted back to the ground through a wireless communication system. Therefore, disaster-relief basic parameters are provided.

The invention relates to a spatial gesture control device for a quadrotor and a control method thereof. The gesture control device comprises a controller and an inertial sensor, wherein an inertial sensing node necessarily comprises a triaxial angular velocity meter and a triaxial accelerometer or a six-axis inertial sensor integrating the triaxial angular velocity meter and the triaxial accelerometer, and a triaxial magnetometer can be excluded; the inertial sensing node is fixed to the back of a second section of a finger, and a Y-axis positive direction points to a fingertip; a strap down inertial navigation algorithm is adopted for moving posture fusion; the controller is integrated with one six-axis inertial sensor used as a reference point, and the actual measurement angle of the finger is a relative angle between the inertial sensor for finger joints and the reference point. The process of the control method is divided into the following three steps according to acquisition and processing sequence: configuring the sensor, acquiring errors and computing a finger instruction. According to the control method, finger gestures are judged only by use of roll angles; accelerator gears are determined by use of a left hand gesture instruction according to stretching finger quantity; the front, rear, left and right flying directions of the quadrotor are determined by use of a right hand gesture instruction according to stretching and contraction of a thumb and other four fingers.

The invention provides a quadrotor. The quadrotor comprises a quadrotor body, wherein a supporting frame is arranged on the quadrotor body; four cross-shaped mechanical arms are arranged on the supporting frame; a propeller is arranged at the end part of each mechanical arm; a driving motor drives the corresponding propeller to rotate; an ultrasonic sensor is arranged at the top of a propeller shaft of each propeller; a pressure altitude sensor is arranged on the surface, facing the ground, of the supporting frame; a control box is arranged on the quadrotor body; a chip of an integrated controller is arranged in the control box; a protruding end is also arranged on the supporting frame; an industrial camera is arranged on the protruding end. According to the quadrotor provided by the invention, detection and patrol of cracks on a bridge can be realized automatically, so that lots of manpower and material resources can be saved; the measurement is convenient, the manufacturing cost of the quadrotor is low, and the measurement efficiency is high.