242 results about "Quadcopter" patented technology

The invention discloses a dynamic model adaptive trajectory tracking control method for a deformable unmanned aerial vehicle. The method comprises the following steps: establishing a dynamic model of the deformable unmanned aerial vehicle; a control framework based on the model is constructed, flat mapping is performed according to a given reference trajectory, an expected state feed-forward item is calculated according to a current estimated or measured state, and flight control is realized according to a four-rotor geometric control theory; deformation control is achieved based on feedback control over the angle error of the servo motor; uncertain factors in the grabbing process of the deformable unmanned aerial vehicle are modeled into a residual term formed by external force and corresponding torque, an L1 self-adaptive control algorithm is used for conducting self-adaptive compensation on the external force, an incremental nonlinear dynamic inverse control algorithm is used for conducting compensation on the external torque, and therefore self-adaptive trajectory tracking control is achieved. Flight control is performed based on the deformable unmanned aerial vehicle dynamic model, and external force and torque are observed and compensated in real time, so that the uncertainty problem and the external disturbance influence are effectively solved.

The invention provides a pose integrated control method for a quad-rotor unmanned aerial vehicle with a time-varying mass load, and the method comprises the steps: inputting a desired position and desired attitude quaternion based on a pose integrated dynamical model and a kinematic model of the quad-rotor unmanned aerial vehicle carrying the time-varying mass load, and a pose integrated hyperbolic sliding mode controller based on a torque, and carrying out the control of the time-varying mass load of the quad-rotor unmanned aerial vehicle. And performing unified control on the position and the attitude of the unmanned aerial vehicle through the attitude integrated hyperbolic sliding mode controller of the torque.

The invention discloses a path planning method for a quad-rotor unmanned aerial vehicle. The method comprises the following steps: acquiring a voxel map through a visual sensor of a quadrotor unmanned aerial vehicle, establishing a Voronoi map according to the voxel map, and solving three-dimensional points of the Voronoi map near an obstacle in the voxel map through a quadratic programming solver to obtain a plurality of path points; updating the plurality of path points through the ESDF gradient field to obtain a front-end path point set; establishing a multi-order B spline curve according to the front-end path point set; extracting control points according to a preset constraint condition through a B spline curve to obtain a plurality of control point groups, and aggregating the plurality of control point groups to obtain an aggregated control point group; performing path search on the aggregation control point group based on an A * algorithm to obtain an initial path trajectory; and optimizing the initial path trajectory through a preset rule to obtain a final path trajectory. Compared with the prior art, the path planning trajectory of the quad-rotor unmanned aerial vehicle provided by the invention is higher in quality and efficiency.

Various embodiments of a novel monocoque aerostructure quadcopter implemented as a vertical take-off and landing vehicle are described. In one example, a vertical take-off and landing vehicle includes a fuselage having a leading end positioned in a first horizontal plane and a trailing end positioned in a second horizontal plane that is vertically below the first horizontal plane. The vertical take-off and landing vehicle further includes a first arm assembly extending from the leading end of the fuselage in the first horizontal plane. The vertical take-off and landing vehicle further includes a second arm assembly extending from the trailing end of the fuselage in the second horizontal plane. The vertical take-off and landing vehicle further includes a first rotor assembly coupled to the first arm assembly and a second rotor assembly coupled to the second arm assembly.

The invention relates to the technical field of unmanned aerial vehicle navigation, in particular to a low-complexity obstacle avoidance method and system for a quad-rotor unmanned aerial vehicle, and the method comprises the steps: representing the geometric shapes of the quad-rotor unmanned aerial vehicle and an obstacle as a union set of convex geometries; the obstacle avoidance requirement between the unmanned aerial vehicle and the obstacle can be converted into a mathematical problem that the intersection between two union sets is an empty set, and the implicit obstacle avoidance mathematical expression with the intersection being the empty set is converted into continuous differentiable explicit obstacle avoidance inequality constraints by further using the hyperplane separation theorem, so that efficient obstacle avoidance between the unmanned aerial vehicle and the obstacle is realized. According to the method, the separation hyperplane between the unmanned aerial vehicle and the obstacle is creatively and directly constructed, the constructed obstacle avoidance inequality is micro-continuous and can be directly adapted to a universal nonlinear solver, the efficiency of the unmanned aerial vehicle for rapidly planning the flight path is effectively improved, the accurate and real-time obstacle avoidance requirement of the unmanned aerial vehicle can be met, and the method is suitable for large-scale popularization and application. Practical technical support is provided for rapid flight path planning of the quad-rotor unmanned aerial vehicle.

The invention discloses an unmanned aerial vehicle motion planning method and system for guiding visual heat conduction based on depth information, and the method comprises the steps: constructing a motion planning model, and inputting a depth image, an unmanned aerial vehicle attitude and an expected speed into the motion planning model, and real-time high-speed obstacle avoidance of the quad-rotor unmanned aerial vehicle in an unknown complex environment is realized. According to the motion planning model, a visual heat conduction module with a global receptive field is adopted as a sensing system trunk, a depth information guide heat conduction operator module is introduced, depth information is coded into an energy weight, and heat conduction calculation is performed after spatial information and scene representation are guided to be coupled, so that the model can focus on a close-range obstacle. The generated depth information guide scene representation is then input to a decision module to generate an action instruction.

The invention belongs to the technical field of mechatronics, and relates to a four-finger flexible gripper applied to a four-rotor unmanned aerial vehicle. The device is characterized by comprising an electric control part, a soft claw base, a fishing line, fingers and a connecting piece between the electric control part and the base, the electric control part comprises two speed reduction direct current motors, a winch, an electric control assembly, a lithium battery and an upper computer. And four fingers are fixed at four corners below the soft claw base. The base is fixedly connected with the fingers, and the fingers are fixedly connected through screws. Motor racks are fixed to the middle positions of the fingers on the same side above the base, and all the motor racks are connected through screws. Logarithmic spiral lines are benchmarked on the elephant nose and serve as driving lines to be benchmarked on tendons; meanwhile, the state when the tendons are relaxed is used as the initial state of the soft claws, and the effects that the soft claws are folded when the tendons are tensioned and unfolded when the tendons are relaxed are achieved.

The invention relates to the technical field of unmanned aerial vehicle anti-interference control, and provides an anti-interference control method, system and device for a photovoltaic panel cleaning unmanned aerial vehicle, and a medium, and the method comprises the steps: constructing an unmanned aerial vehicle dynamic linearization control model based on the external unknown disturbance of the unmanned aerial vehicle and the dynamic characteristics of a four-rotor unmanned aerial vehicle; respectively carrying out system input control analysis and pseudo partial derivative estimated value control analysis by taking a balance tracking error and an input quantity change as a principle and taking a balance modeling error and a pseudo partial derivative estimated value change as a principle to obtain a corresponding model-free adaptive control law and a model-free adaptive parameter estimation law; and acquiring an external unknown disturbance monitoring quantity based on a preset disturbance observer, and generating a control signal in combination with the dynamic linearization control model of the unmanned aerial vehicle to perform attitude regulation and control. On the basis of model-free self-adaptive control scheme design considering unknown disturbance, the control modeling workload can be reduced, self-adaptive change adjustment can be achieved, the self-adaptive anti-interference and vibration suppression capacity is improved, and the attitude control precision is effectively improved.

The invention discloses a floating type monitoring device carried by an unmanned aerial vehicle, and relates to the technical field of water environments, an embedding groove is formed in the top of a control platform, and a mesopore small ball is movably embedded in the embedding groove; the balance ball is arranged in the supporting platform, the bottom of the balance ball is connected with a damping cone through a steel wire rope, and the damping cone is arranged below the supporting platform in a suspended mode. Flight motors are installed at the four corners of the four-rotor-wing body correspondingly, and blades are installed at the output ends of the flight motors correspondingly. The feedback ball is installed on the top of the supporting platform and electrically connected with the battery. The interior of the balance ring is connected with a supporting cavity of an inverted-cone-shaped structure through a plurality of floating connecting rods, the water inlet connecting pipe penetrates through the supporting cavity and the cavity cover, and a plurality of water inlet holes are formed in the position, located in the supporting cavity, of the lower end wall of the water inlet connecting pipe. Lots of manpower and material resources are not needed, and convenience is provided for monitoring work; a probe, a sensing device and the like are used, so that the monitoring efficiency is greatly improved; operation is not limited by positions, and the monitoring range can be expanded; and the depth is adjustable.

The utility model discloses a quad-rotor unmanned aerial vehicle debugging platform, and particularly relates to the technical field of unmanned aerial vehicles, the quad-rotor unmanned aerial vehicle debugging platform comprises a base, the top of the base is fixedly connected with two fixing blocks, the tops of the two fixing blocks are both fixedly connected with fixing rods, and the inner walls of the tops of the two fixing rods are jointly and fixedly connected with a connecting rod; the outer surface of the connecting rod is rotationally connected with a fixing base, and a supporting assembly is arranged above the base. According to the four-rotor unmanned aerial vehicle debugging platform, the supporting assembly is arranged, specifically, the motor is started to drive the supporting plate to slide upwards on the outer surface of the corresponding fixing block so as to support the fixing base, manual supporting by workers is not needed, the workers can be liberated from the tedious task, and the debugging efficiency is improved. According to the unmanned aerial vehicle, the unmanned aerial vehicle does not need to be supported by a specially-assigned person, the labor cost is reduced, and the situation that the unmanned aerial vehicle is suddenly started under the unexpected condition, and consequently workers are injured can be avoided.

An unmanned quadcopter aircraft system integrated with a pneumatic paintball projectile launching mechanism for recreational and training applications. The system includes a compressed gas powered single-shot paintball launcher with gravity-fed ammunition hopper, mechanical counterweight recoil compensation, and multiple electronic safety systems. GPS-based geofencing prevents firing in restricted zones, while altitude sensors prevent firing above predetermined heights. The flight control system automatically reduces aircraft speed and altitude limits when the projectile system is armed. A ground control system integrates standard flight controls with firing controls, safety indicators, and emergency stop capability. An alternative embodiment allows a used to adjust the elevation of the firing system while maintaining the orientation of the drone in space and also allowing recoil compensation. The system enables aerial paintball gaming and training scenarios while maintaining safety through redundant control systems and automatic parameter limiting.

The present application provides a bionic leg claw device based on a quadcopter drone that can quickly perch and grasp, relating to the field of drone technology; it includes a base body with a first mounting surface and a second mounting surface, the quadcopter drone is provided on the first mounting surface; two bionic mechanical leg claw bodies are provided on the second mounting surface, each bionic mechanical leg claw body includes a first sliding mechanism, a leg claw mechanism and a first connecting component, the first sliding mechanism includes a slide rail provided on the second mounting surface, a track slider matching the slide rail and a first driving component that drives the track slider to move, one end of the leg claw mechanism can be rotatably connected to the second mounting surface, and the other end is provided with a grasping and releasing component, one end of the first connecting component is connected to the grasping and releasing component, and the other end is connected to the track slider; in the process of the first driving component driving the track slider to move, the first connecting component stretches and drives the grasping and releasing component to grasp the target object, thereby realizing active grasping of the device.

The utility model discloses a biological prevention and control releasing device based on a four-axis unmanned aerial vehicle, which belongs to the technical field of biological prevention and control and comprises an unmanned aerial vehicle body. The throwing mechanism comprises a connecting assembly and a storage shell, the top of the connecting assembly is fixedly connected to the bottom of the unmanned aerial vehicle body, the bottom of the connecting assembly is clamped to the two sides of the top of the storage shell in a limiting mode, the storage shell comprises a storage bin, a protection cover is connected to the bottom of the storage bin, and a discharging bottom cylinder is connected to the bottom of the protection cover; a discharging buffer pipe is arranged among the storage bin, the protection cover and the discharging bottom cylinder in a communicating mode. And a synchronous putting assembly is arranged in the storage shell and comprises a material shifting rod and a discharging ratchet wheel, the material shifting rod and the discharging ratchet wheel are arranged at the two ends of the discharging temporary storage pipe in a transmission mode correspondingly, and the synchronous putting assembly is used for stably putting trichogramma eggs, so that the situation that the trichogramma eggs are put too much or too little on one side is avoided.

The present application relates to a kind of dual-mode quadcopters, including fuselage, circular arc shell, short wing of circular arc shell, long wing of circular arc shell, short wing of fuselage and long wing of fuselage;For the commonness of traditional four rotors and four propeller fixed wing all have four sets of propeller power system, and the relative position difference of four sets of propeller "X" type arrangement and "one" type parallel, design two groups of mirror image symmetry long half wing and short half wing, adopt single wing rotation switching mode, mainly meet the relative position of four rotors and four propeller fixed wing airfoil and propeller.The application is repeatedly switched between fixed wing and four rotors, compared with the configuration switching mechanism of tilt rotor aircraft, it is more simple and reliable, control is more stable;Compared with composite quadcopter, it does not need to set special lifting power device, and load utilization rate is higher.

The utility model discloses a remote control Korean pine protection patrol unmanned aerial vehicle, which comprises a four-rotor unmanned aerial vehicle, wherein a patrol camera is arranged at the lower part of the four-rotor unmanned aerial vehicle; lower supporting frame bodies are symmetrically arranged on the lower portion of the quad-rotor unmanned aerial vehicle and extend towards the outer side, and controllable supporting mechanisms are symmetrically arranged on the two sides of each lower supporting frame body. And adjustment is flexible, butterfly bolts and nuts in the controllable supporting mechanism are matched, spring dampers are convenient to fix and adjust, and the spring dampers with different damping coefficients can be replaced according to actual conditions so as to adapt to different terrains and landing conditions. Due to the design of the annular internal thread sleeve body and the elastic clamping plate body on the transverse hollow pipe body, the controllable supporting mechanism can be firmly installed on the lower supporting frame body, and meanwhile disassembly and adjustment are convenient.

1. The name of the design product: quadcopter (MINI5). 2. The use of the design product: the design product is used for entertainment and play. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view 1.

The application provides a tilt thrust four-duct aircraft, comprising: four curved ducts, which are distributed in up, down, left and right directions; a fixed frame, which is provided with four arc-shaped grooves, and the four ducts are embedded in the four arc-shaped grooves and fixed; and a duct fan is obliquely installed in each duct. The curved duct design can effectively reduce noise, and can reduce the danger that the aircraft may cause to people and objects in the surrounding environment during flight, and the safety is significantly improved compared with an open rotor configuration.

This invention relates to time series prediction of UAV faults based on entropy weight fusion and a time-graph convolutional network (T-GCN). It acquires data on the UAV's acceleration, angular velocity, and angle in the x, y, and z directions using sensors; combines the data into a matrix and calculates the entropy weight fusion value; determines the threshold value for fault occurrence based on the chi-square distribution; and constructs graph data for input into a T-GCN model based on the relationships between the sensor data. n historical time data points are segmented from the graph data and input into the T-GCN model. After inputting n historical time data points, the T-GCN model can predict data at time T in the future. After model training, it captures the spatiotemporal correlation of the data obtained from the UAV's sensors and predicts the graph data based on the time series. The prediction results are accurate and reliable, facilitating timely maintenance of quadcopter UAVs.

1. The name of the design product: wide-body quadcopter. 2. The use of the design product: for passenger or cargo transport. 3. The design features of the design product: in shape. 4. The picture or photo that best indicates the design features: perspective view.

1. Name of the product in this design: Toy Quadcopter (D15). 2. Purpose of this design: for children to play with. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.

1. The name of the product of this design: Quadcopter (L105). 2. The purpose of this design product: children's play. 3. The design key point of this appearance design product lies in the shape. 4. The picture or photo that best illustrates the key points of the design: 3D drawing of Design 1. 5. Designate Design 1 as the base design.

1. The name of the design product: quadcopter (SF1200). 2. The use of the design product: for quadcopter. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view.

1. The name of the design product: toy quadcopter (D2). 2. The use of the design product: children playing. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view.

1. The name of the design product: toy quadcopter (D5). 2. The use of the design product: children playing. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view.

1. Name of the product in this design: Adjustable wheelbase fully enclosed quadcopter drone (miniature). 2. Purpose of this design: This design is intended for use in primary school students' study tours and competitions. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: 3D view 1.

1. The name of the design product: four-axis unmanned aerial vehicle. 2. The use of the design product: for aerial photography, monitoring survey, rescue search, logistics transportation, scientific research and entertainment activities, etc. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective drawing.

The utility model relates to the field of quadcopters, and specifically to a mini quadcopter, comprising an aircraft body, a mounting frame bolted to the bottom of the aircraft body, and sleeves bolted to the four corners of the bottom of the mounting frame. The utility model can effectively perform multi-layer buffering on the quadcopter through the mounting frame, the sleeve, the first spring, the concave rod and other components. When the aircraft lands, the folding support rod and the pulley at the bottom thereof will first contact the ground. When the aircraft lands at a high speed, the folding support rod will move to both sides through the pulley and squeeze the torsion spring to perform a buffering. When the folding support rod is unfolded to the maximum range on both sides, the concave rod contacts the ground again, and with the assistance of the first spring, the aircraft is buffered for the second time, thereby avoiding strong hard contact between the aircraft and the camera assembly below it and the ground, thereby improving the landing stability and service life of the aircraft.

The utility model relates to unmanned plane technical field discloses a four rotor unmanned plane frame assembly, including unmanned plane body, the both sides front end and middle part of unmanned plane body all are provided with adjusting mechanism, four adjusting mechanism one side all are provided with machine arm, four adjusting mechanism includes four adjusting column, four base pile, four adjusting ring and four screw rods, four adjusting column respectively mobile sleeve sets on four base piles, four adjusting ring inner wall both sides all are provided with the limit slot, four adjusting column inner wall upper end all are provided with multiple positioning slots that are circularly distributed, four screw rods lower ends all rotatably set up with the positioning plate, four screw rods upper ends all are fixed with the knob setting. In the utility model, through rotating machine arm adjusting column, realize the adjustment of machine arm horizontal angle, after adjusting, rotate the knob and move the positioning plate to the positioning slot through the screw rod, fix the arm angle, ensure the stability of the angle in the flight process.

1. The name of the product under this design: quadcopter drone. 2. Application of this design product: for quadcopter drones. 3. The key point of the design of this product lies in its shape. 4. The picture or photo that best illustrates the key points of the design: Design 1 3D drawing. 5. Designate Design 1 as the base design.