89 results about "Thrust control" patented technology

The invention relates to the technical field of unmanned aerial vehicle control, in particular to an unmanned aerial vehicle dynamic obstacle avoidance method based on multi-sensor fusion. Comprising the steps of receiving an image sequence, a depth point cloud set, a pose state parameter and a flight speed parameter; calculating an illumination distortion gradient value and a speckle noise entropy value based on the image sequence and the depth point cloud set; performing coordinate registration and feature extraction on the image sequence, the depth point cloud set and the pose state parameter, and outputting a visual feature set and a radar feature set; generating a weighted visual feature set and a weighted radar feature set through a weight adjustment function, and generating a joint heterogeneous feature tensor through alignment splicing; and generating a body attitude and thrust control instruction by using the combined heterogeneous feature tensor through a probability prediction model and a model prediction control algorithm device. According to the method, through cross-domain multiplexing and deep coupling of the body physical parameters in the data stream, error accumulation and decision delay caused by multi-stage series calculation are avoided, and global performability of an obstacle avoidance task is facilitated.

The invention discloses an intelligent control method and system for dynamic balance of three floating bodies for crude oil transfer in deep and far sea. The method comprises the following steps: (1) data acquisition and state vector construction; (2) constructing a dynamic response prediction model: constructing a floating body historical motion database based on the initial motion data set, fusing hydrodynamic interference coefficient matrix calculation and multi-body motion mixed constraint analysis, and designing a space-time prediction algorithm based on a graph neural network and a recurrent nerve process to obtain a dynamic response prediction model; establishing a dynamic response prediction model under close-range coupling interference of the three floating bodies; (3) evaluating and correcting data confidence; (4) self-adaptive thrust control and early warning are carried out; and (5) visual monitoring and log management. The problems that in the prior art, positioning precision is low, response lags behind, the abnormal rate of sensor data is high, hydrodynamic coupling interference is not fully considered, and visual monitoring and intelligent early warning are lacked are solved, and the safety, stability and operation efficiency of the deep and far sea crude oil transfer process are effectively improved.

The invention relates to the technical field of robot and unmanned aerial vehicle control, and solves the technical problems that in the prior art, when an unmanned aerial vehicle platform carries a mechanical arm for operation, the total center of mass of a system drastically shifts due to movement of the mechanical arm, then dynamically changing disturbance torque is generated, and the attitude of an unmanned aerial vehicle is unstable and even out of control. The coupling dynamics compensation and vibration suppression method for the aerial work platform comprises the steps that feedforward compensation torque used for counteracting disturbance torque generated due to the change of the position of the total mass center is obtained and decoupled into a control instruction for controlling thrust of multiple rotor wings of an unmanned aerial vehicle platform through a mixed control matrix, and accurate control of the unmanned aerial vehicle platform is realized. According to the method, the self-adaptive feed-forward compensation mechanism is introduced, the mass center change caused by movement of the mechanical arm can be sensed and predicted in real time, the feed-forward compensation torque is generated accordingly, the disturbance torque generated accordingly is actively counteracted, and therefore the attitude stability and operation precision of an unmanned aerial vehicle platform are remarkably improved.

The invention relates to a power transmission network overhead line inspection device based on a miniaturized unmanned airship, and belongs to the field of power inspection. The objective of the invention is to solve the problem that long-distance, high-precision, safe and stable power transmission line automatic inspection cannot be realized under complex terrain and severe weather conditions due to short cruising ability of an existing power inspection unmanned aerial vehicle and low intelligent level and poor environmental adaptability of a traditional unmanned airship. The airship main body adopts a light high-strength sandwich structure flexible airship body, and a thin film solar cell is integrated on the surface of the airship main body to prolong the endurance; the intelligent control module fuses an environment sensing unit and a path planning unit, and realizes intelligent obstacle avoidance and dynamic path planning based on a sensor group and a danger sensing model; the vector power system is provided with three power sources of a right-angle fan structure, and the three power sources are arranged at the tail, the top and the bottom of the boat respectively and provide omni-directional vector thrust control. The buoyancy adjusting system dynamically adjusts the buoyancy through the symmetrical inflatable sub-cabins, so that the wind resistance stability and the terrain adaptability are enhanced.

The present application relates to the technical field of unmanned aerial vehicle intelligent control, and particularly relates to a method and system for analyzing the power of an unmanned aerial vehicle engine based on self-adaptive working conditions. The method comprises the following steps: obtaining flight task data; extracting task behavior according to the flight task data to obtain task behavior data; mapping working conditions according to the task behavior data to obtain working condition data; extracting features from the working condition data to obtain working condition feature data; identifying working condition discontinuity according to the working condition feature data to obtain working condition discontinuity data; and re-estimating the power demand of a sudden working condition according to the working condition discontinuity data to obtain sudden working condition power demand data. Through working condition identification and dynamic power re-estimation driven by task behavior, the present application can adaptively respond to load fluctuations and sudden disturbances in dynamic flight tasks of unmanned aerial vehicles, and achieve engine thrust control and energy consumption optimization.

This invention discloses a radioactive particle strip implantation system and method, relating to the field of medical device technology. It includes: an implantation gun and a particle strip module; the implantation gun includes: a gun body; a drive assembly disposed within the gun body, including a driver and a thrust control unit; a push rod, drively connected to the power output end of the driver; a particle strip placement slot disposed at the front end of the gun body for placing the particle strip module, and coaxially arranged with the push assembly; the gun body has a docking part at the front end of the particle strip module compartment for connecting an implantation needle; the push rod can pass through the particle strip module to push the particle strip into the implantation needle; the particle strip module includes: a module body; multiple radioactive particles and multiple hemostatic drug units are pre-sealed in an alternating arrangement within the module body; the radioactive particles and hemostatic drug units are coaxially arranged and can be pushed into the implantation needle by the push rod. This invention uses a pre-assembled plate stacking structure to make the spacing of the radioactive particles adjustable, simplifying on-site operation.

The application discloses a combustion chamber thrust control method in the acceleration process of a scramjet engine, and adopts a gradually expanding series connection cavity combustion chamber, fuel injection holes are arranged on the upstream of two cavities, the first cavity is a pre-combustion zone, and the second cavity is a main combustion zone; the thrust control method is as follows: when the combustion chamber inlet Mach number is low, the combustion mode of the pre-combustion zone is controlled to be kept in a weak subsonic combustion mode, and the combustion mode of the main combustion zone is controlled to be kept in a strong subsonic combustion mode; when the combustion chamber inlet Mach number is high, the combustion mode of the pre-combustion zone is controlled to be kept in a supersonic combustion mode, and the combustion mode of the main combustion zone is controlled to be kept in a strong subsonic combustion mode. The application is applied to the field of scramjet engines, can guarantee that the combustion chamber can generate higher thrust in a wide flight Mach number range, simultaneously avoids thermal choking, and the thrust mutation caused by combustion mode conversion is smaller, thrust control is more stable, and smooth transition of thrust during combustion mode conversion can be realized.

A jet propulsion boat includes: a boat body; a propulsion device that imparts propulsion force to the boat body to propel the boat body; an engine and an electric motor that drive the propulsion device; and a control device that determines which of an engine mode and an electric mode is to be used as an operation mode of driving the propulsion device in accordance with a condition, the engine mode configured to drive the propulsion device with the engine and the electric mode configured to drive the propulsion device with the electric motor while stopping the engine, and controls the engine and the electric motor to drive the propulsion device in the determined operation mode.

This application belongs to the field of robotics technology, providing a modular pipeline inspection robot and its control method suitable for pressurized water-filled pipe networks. It includes a head-mounted vision acquisition mechanism, a magnetic flux leakage (MF) detection mechanism, and a propulsion mechanism. The head-mounted vision acquisition mechanism acquires images of the inner surface of the pipe and is rotatably and sealingly connected to the MF detection mechanism. The MF detection mechanism includes a folding mechanism and a MF detection sensor. The folding mechanism is configured to be driven to control the MF detection sensor to be in contact with or away from the inner surface of the pipe. The MF detection sensor is used to acquire pipeline defect data. The MF detection mechanism is rotatably and sealingly connected to the tail-mounted main propeller. The control motherboard adjusts the thrust of each vertical propeller in real time through closed-loop control, controlling the robot to travel along the centerline of the pipe. This robot has a compact structure, flexible movement, can adapt to water-filled and certain pressure environments, and integrates multiple detection methods, improving the reliability and applicability of pipeline inspection.

An aircraft may include a tail having a rudder and a pair of wings. The pair of wings may include at least one flap and at least one roll control device. The aircraft may also include at least two thrust-producing devices. The aircraft may also include a differential thrust control system including a computing device having at least one processor. The at least one processer may be configured to control an attitude of the aircraft by selectively operating the at least two thrust-producing devices, the rudder, and the at least one roll control device based at least in part on a plurality of conditions provided by a plurality of sensors on the aircraft and a selected mode setting of a mode control panel. The computing device may be communicatively coupled to the at least two thrust-producing devices, the rudder, and the at least one roll control device.

The present invention discloses a shaft multi-cylinder propulsion control system and its control method, belonging to the technical field of shaft boring machine equipment. The shaft multi-cylinder propulsion control system includes a hydraulic power source unit, multiple groups of propulsion cylinder units and a control valve group. The control valve group is provided with an electro-hydraulic proportional control valve group, which forms a closed-loop position servo control in cooperation with displacement detection elements supporting the propulsion cylinders, so as to achieve high-precision synchronous operation of multiple groups of propulsion cylinders. An independent electro-proportional pressure regulating unit is provided in each branch corresponding to the propulsion cylinders to achieve integrated control of flow regulation and independent pressure regulation. The control method includes a synchronous control step and an integrated control step, which completely cover all working conditions of shaft construction. The present invention effectively solves the problems of low synchronous accuracy, easy jamming, inaccurate boring thrust control and insufficient safety protection in the existing shaft propulsion system, and simultaneously takes into account high-precision control, wide-range speed regulation, constant-force boring and high safety protection, adapts to various shaft construction scenarios, and has high engineering application value.

The application provides a shield tunneling model test tunnel mouth and main shaft sealing system and a verification method, effectively solves the problem that the influence of underground water on the test cannot be considered in the simulation test link of the prior art; the technical solution is that the application comprises a tunnel mouth sealing system and a main shaft sealing system; the tunnel mouth sealing system is composed of a first anti-fouling ring, a first sliding bearing, a first main seal, a first auxiliary sealing ring, a dustproof ring and a first static sealing ring, wherein the tunnel mouth sealing system is arranged on a tunnel mouth connecting piece and connected with a pressure container; the main shaft sealing system is composed of a second anti-fouling ring, a second sliding bearing, a second main seal, a second auxiliary sealing ring and a second static sealing ring; the application can accurately reproduce the tunneling process such as shield cutter disc rotation and shield advancement under high water pressure, and can provide more reference value test data for the optimization of shield construction parameters such as cutter disc rotating speed, thrust control and sealing structure design improvement of deep buried cross-sea and cross-river tunnels.

This application discloses a method for calculating the thrust envelope of a solid rocket motor based on servo uncertainty, relating to the field of solid rocket motor technology. This method focuses on the gas valve servo system of a throat-operated solid rocket motor, performing uncertainty modeling of the motor drive system and transmission system, analyzing the main influencing parameters of servo system uncertainty, including transmission clearance, eccentric shaft friction coefficient, and other uncertainty parameters and their probability distributions; generating random parameter samples based on the uncertainty model, and using the servo system control model to solve for the actual throat displacement response under random samples, obtaining the engine thrust time history under single-valve and multi-valve cooperative working modes; and fitting the thrust uncertainty envelope by calculating the mean and standard deviation of the thrust response through Monte Carlo simulation. This application quantitatively characterizes the degree of influence of internal factors of the servo mechanism on thrust performance, providing a reference for ensuring precise thrust control of solid rocket motors.

The invention discloses a cold air variable thrust control system and method, and belongs to the technical field of aerospace propulsion. The system comprises a primary storage tank, a secondary storage tank, a stop valve, a first electromagnetic valve, a second electromagnetic valve, a first pressure detection part P1, a second pressure detection part P2, a flow control module and a spray pipe, a propellant is stored in the first-stage storage tank in a gas-liquid mixed state, and after vaporization and pressure stabilization are conducted through the second-stage storage tank, gas supplementation is controlled by the first electromagnetic valve, and gas injection is controlled by the second electromagnetic valve. According to the control method, on the basis of real-time pressure detection of P1 and P2, the switching frequency of the electromagnetic valve is adjusted in a closed-loop mode through threshold judgment and a pressure difference-flow model, and accurate flow control is achieved by introducing a PID algorithm. Through double-valve cooperation and a real-time feedback mechanism, under the condition that a traditional pressure reducing valve and a traditional air capacitor are omitted, the structure is remarkably simplified, light weight is achieved, and the beneficial effects of being fast in response, high in control precision, high in environmental adaptability and the like are achieved.

The utility model provides a kind of composite thrust control lever model, including shell, thrust rod assembly, counterthrust rod assembly, locking assembly and angle sensor, the thrust rod assembly is pivoted to the shell, the counterthrust rod assembly is pivoted to thrust rod assembly;The angle sensor is connected with the thrust rod assembly and counterthrust rod assembly, for gathering the input stroke of thrust rod assembly and counterthrust rod assembly;The locking assembly is used to lock counterthrust rod assembly when operating thrust rod assembly.This embodiment can not only simulate the operating process of thrust rod assembly and counterthrust rod assembly, but also lock counterthrust rod assembly when operating thrust rod assembly, in line with the working principle of actual thrust control lever, improve the rationality of the model.In addition, the input stroke of thrust rod assembly and counterthrust rod assembly is collected by angle sensor, can output thrust and counterthrust signal, so as to show the control process of the positive thrust and counterthrust of thrust rod assembly and counterthrust rod assembly.

The application provides a variable cycle engine parameter estimation method based on a variable activation function neural network, and belongs to the field of intelligent aero-engine control.The application comprises the following steps: collecting data of a variable cycle engine during operation; preparing a two-dimensional input data atlas according to a time sequence; constructing a variable activation function neural network; training the network by using the data atlas, and establishing a nonlinear mapping relationship between the two-dimensional input data atlas and engine parameters; and based on the trained variable activation function neural network, realizing real-time and accurate estimation of the parameters.The parameter estimation method provided by the application has the advantages of high accuracy and fast calculation speed, and is suitable for thrust control and fault-tolerant control of the variable cycle engine.

The invention discloses a slurry balance pipe jacking construction method under complex working conditions. The slurry balance pipe jacking construction method comprises the steps that firstly, construction preparation and pipe joint treatment are conducted; 2, designing and implementing a precipitation system; thirdly, the pipe jacking machine is installed and debugged; 4, jacking construction and thrust control are carried out; step 5, preparing and pressure-injecting anti-drag slurry; 6, jacking completion and ending work is carried out; the paraffin is coated on the outer side of the pipe joint, so that the frictional resistance between the pipe joint and the surrounding soil body is obviously reduced, the load of jacking equipment is reduced, the energy consumption is reduced, the safety problems of pipe joint damage, ground subsidence and the like caused by overlarge frictional resistance are avoided, the construction efficiency and safety are improved, and the construction cost is reduced. In order to solve the problem of thrust attenuation in long-distance pipe jacking construction under complex working conditions, the thrust dynamic adjustment and multi-point thrust compensation technology is adopted, the area with the most serious thrust attenuation is determined by quantitatively analyzing the thrust attenuation rule, and relay chambers are arranged at the key positions.

The invention discloses a non-rotating-circle direct navigation thrust control method for AUV adsorption crawling. The method comprises the steps that the rotating speed and the corresponding power of a top turbine during AUV direct navigation and the distance between the gravity center of the AUV and the wall face are collected; calculating the frictional resistance of each top turbine based on the rotating speed and the power; calculating water resistance in the horizontal direction and horizontal frictional resistance caused by vertical force based on the near wall surface distance; carrying out mechanical analysis by combining the resistance, and establishing a stress balance equation and a moment balance equation of the direct navigation of the AUV; according to the equation set, reversely deducing the target thrust required by each tail propeller; finally, the rotating speed of each propeller is determined according to the thrust rotating speed relation and sent to an AUV control unit to be executed, and therefore stable and non-deflection direct navigation movement of the AUV is achieved. According to the method, through fusion of multi-source data and mechanical modeling, precise calculation and control over the thrust of the propeller are achieved, the steering trend in direct navigation is effectively restrained, and the motion stability and control precision of the AUV under the adsorption crawling working condition are improved.

The application discloses a kind of pedal systems for rail vehicles, it is related to rail transport technical field, including two groups of board main body being oppositely arranged, board main body both ends fixed guide slope, the installation slot is arranged along length direction in board main body top, multiple groups of boost assembly are assembled equidistantly in installation slot;Boost assembly includes unit board and the base shaft below it, and base shaft is rotatably connected to the inner wall of installation slot by torsional spring.The application is improved to the problems in prior art, such as wheelchair needs additional thrust to overcome slope resistance when going uphill, and wheelchair is prone to lateral slip risk when thrust control is insufficient, etc., because carriage floor is generally higher than platform ground, and pedal is laid in inclined state.The application has the advantages of forming acute angle slot dynamically by unit board to realize wheelchair bidirectional limiting anti-skid, while linkage hydraulic boost mechanism actively applies forward thrust, reduces the strength of manual pushing to enhance traffic safety, improves the efficiency of passenger getting on and off rail vehicle, etc.

The invention discloses a multi-rotor unmanned aerial vehicle fault-tolerant flight control method based on end-to-end direct thrust control, and the method comprises the steps: constructing a four-rotor unmanned aerial vehicle pure analysis micro simulation environment facing implicit feature observation and gradient back propagation, and embedding a continuous micro fault injection and execution mechanism mapping mechanism; a fourth-order Runge-Kutta method is adopted to carry out discretization iteration on the continuous operator; constructing an end-to-end control network based on spatial-temporal feature structured decoupling and hidden variable direct drive, and extracting and outputting a four-motor action instruction through double-current features; training an end-to-end control network in a micro-simulation environment, and optimizing control network parameters based on a micro-physical engine and time-based back propagation; and a self-adaptive composite loss function and a multi-order course learning mechanism are combined, so that the control network converges to an effective fault-tolerant control strategy. According to the method, self-adaptive control without an independent fault detection and diagnosis module under the single-motor fault can be realized, and a smooth transition mechanism from normal to single-motor failure is established.

This application discloses an active throttle thrust control method and system, including determining the thrust reduction level of a soft takeoff position, wherein the thrust reduction level is one of multiple thrust reduction levels, each of which is associated with a different rated thrust reduction; and determining a first thrust curve for the first segment of the active throttle travel and a second thrust curve for the second segment of the travel based on the rated thrust reduction associated with the thrust reduction level. The embodiments of this application can adapt to takeoff / go-around conditions under various environments and can implement different thrust control strategies in different scenarios.

The application relates to the field of intelligent operation unmanned planes, and discloses a plant protection unmanned plane cooperative operation spraying area control method, which constructs a multi-unmanned plane cooperative hanging type spraying system; a Lagrange method is used to establish an underactuated dynamics model of a single plane hanging load system, and mutual constraints among the multi-unmanned planes are considered under the multi-unmanned plane framework; a barrier Lyapunov function (BLF) is designed, and full-range constraints are applied to single plane load displacement and relative distances among the multi-unmanned planes; RBF neural network is used to compensate system nonlinearity and external disturbance on line; an adaptive thrust control law of multi-plane coordination is designed, high-precision trajectory tracking of each unmanned plane, strict constraints of load displacement, and collision-free guarantee among the medicine boxes are realized; the application can effectively eliminate the collision risks among the unmanned planes and among the medicine boxes by pre-planning reasonable trajectories, and can avoid medicine waste caused by repeated spraying.

The invention relates to the technical field of whole steam turbine devices, and particularly discloses a dynamic control method for a gas turbine. According to the method, a multi-target task vector is constructed based on a current flight task instruction, thrust channel configuration is generated in combination with a historical state, and a task mismatch degree index is calculated by comparing operation parameters of a gas turbine, an electric propulsion system, a battery pack and the like so as to evaluate the deviation between a current structure state and expected configuration. And triggering micro-reconstruction operation of the propulsion structure, outputting a structure switching sequence for multi-cycle topology recombination, and establishing a thrust channel aggregation mechanism to realize dynamic adjustment of the channel number, the redundancy level and the task mapping rule. And generating structure boundary configuration according to system response constraint and thermal limitation, and forming hierarchical control paths of a top layer, a middle layer and a bottom layer for realizing thrust distribution, energy scheduling and dynamic setting of a response window. According to the method, the adaptability, reliability and thrust control precision of the gas turbine driven by complex tasks are improved.

This invention provides an automatic tracking control method for tunnel boring machine (TBM) trajectory based on model predictive control. It employs a state-space model based on the TBM tunneling dynamics model as the prediction model and uses the thrust of the TBM propulsion system cylinders as the control variable. At the current sampling moment, the prediction model is used to predict the TBM's pose state at each sampling moment within the prediction time domain. Based on the predicted TBM pose state, the optimal control sequence is calculated to minimize the error between the predicted TBM pose state and the reference TBM pose state based on the tunnel design axis. This optimal control sequence must satisfy all control conditions. Finally, the first component of the sequence is applied to the TBM propulsion system as the optimal input cylinder thrust control variable at the current moment. This method overcomes the shortcomings of existing pose control technologies, enabling precise and intelligent control of the TBM pose and ensuring accurate automatic tracking of the TBM's tunneling trajectory to the tunnel design axis during tunneling.

The application discloses a kind of shunt thrust control coaxial double-paddle aircraft and flight control mode, it is related to aircraft technical field.The application includes: coaxial double-paddle unit and thrust control unit, thrust control unit, the thrust control unit includes thrust chamber and multiple groups of flow regulating mechanism, the thrust chamber is placed below the lower rotor and is connected with the mounting frame, it is circumferentially spaced apart and is provided with multiple through-flow cavities along the axial direction of the upper rotor, multiple groups of flow regulating mechanism are correspondingly installed in multiple the through-flow cavities, to adjust the flight attitude of aircraft by changing the flow area corresponding to the through-flow cavity to adjust the resistance size when airflow passes through each the through-flow cavity to adjust the thrust distribution in thrust chamber.The application combines the advantages of coaxial double-paddle aircraft and multicopter, so that the aircraft can obtain larger paddle radius and lift action area, and has good controllability, maneuverability and stability.

This invention proposes a power distribution method for unmanned surface vessels (USVs). It involves observing the interference values ​​of the USV's motors using an extended observer, and then distributing power to the motors according to preset rules based on these interference values ​​to obtain the target thrust. Water flow velocity parameters are acquired using a water flow velocity sensor, and the current thrust of the motors is calculated based on these parameters. The thrust loop of the motors is controlled based on the target thrust and the current thrust. Interference is compensated for by a tracking differentiator and the target motor speed. Compared to existing technologies, this invention uses the observed interference values ​​of the motors as reference parameters for power distribution. This not only enables motor speed control but also serves as a factor influencing both the motor speed controller and power distribution, preventing significant speed changes in the motors under strong interference. This results in more accurate thrust control and superior performance for the USV.

The invention relates to the technical field of test systems, in particular to an electric control clutch test system and method.The electric control clutch to be detected is assembled on a clutch detection tool, and the electric control clutch test system comprises a test bed, a control panel, the clutch detection tool, an electronic pump tool, an electromagnetic valve tool and an air source; the test bed provides supporting and mounting bases for other mechanisms and is provided with an air pressure sensor, a displacement sensor and a weighing sensor, and when the system is used, the electric control clutch is connected with the air pressure sensor, the displacement sensor and the weighing sensor; the electronic pump tool is controlled by the control panel to simulate the action of a pedal, and the control panel receives a signal, controls the electromagnetic valve tool to open an air source to supply air to the clutch detection tool, and outputs thrust to control the clutch to be separated or combined. An air pressure sensor, a displacement sensor and a weighing sensor on the test bench detect displacement parameters, output force and sealing performance in the whole process.

This invention discloses a programmable standard dynamic thrust measurement and control system, belonging to the field of aero-engine testing, which solves the technical problem that existing technologies cannot obtain the dynamic thrust response characteristics of a test bench under variable loads. It includes a cylinder support, a pushrod cylinder, a hydraulic cylinder, and a controller. A bearing plate is mounted on the top surface of the moving frame, and a first baffle and a second baffle are spaced apart on the bottom surface. When the pushrod cylinder drives the loading plate to transmit the initial force value to the bearing plate, the hydraulic pressure from the hydraulic station to the hydraulic cylinder is adjusted based on feedback data from the working sensor and the preload sensor to prevent zero-point drift of the moving frame and ensure the accuracy of real-time measurement of the dynamic force change pattern of the moving frame.

The application relates to the field of water rescue, and particularly discloses a monitoring type lifesaving and rescuing unmanned plane capable of floating on water and waiting and a lifesaving and rescuing method thereof, which comprises a waterproof central machine body, four foldable machine arms symmetrically hinged to the periphery of the machine body in a cross shape, a brushless motor and a propeller installed at the tail end of the machine arm, a flexible solar photovoltaic panel covering the top of the machine body and the upper surfaces of the machine arms, and an electromagnetic hook type life buoy throwing mechanism arranged at the bottom of the machine body. The application realizes long-term unattended monitoring through floating on water and solar power supply, realizes active anti-drifting on the water surface and rapid aerial response through the machine arm winding and unwinding bimodal structure and propeller thrust control, improves search accuracy by predicting the position of a fallen person through an LSTM neural network combined with real-time hydrological data, ensures the reliability of the rescue by landing on the water surface after throwing the life buoy and performing audio and video safety confirmation, integrates the functions of hydrological monitoring and emergency rescue, and effectively shortens the rescue response time.

The invention belongs to the technical field of ship experiments, and discloses a ship propeller blocking effect testing device and a testing method.The ship propeller blocking effect testing device is used for testing the propeller blocking effect of a propeller, and a plurality of connecting assemblies are slidably connected to a test bed in the vertical direction; one connecting assembly is detachably connected to a bow deck, another connecting assembly is detachably connected to a stern deck, at least one connecting assembly is detachably connected to a midship deck and avoids a bow line and a stern line of a ship model, and the foreign matter dynamic detection unit is used for tracking and reconstructing a three-dimensional motion trail of a foreign matter in real time. The flow field detection unit is used for taking a cavitation photo and a flow field photo of the propeller, the power detection unit is used for detecting the rotating speed, torque and thrust of the propeller, and the controller analyzes and evaluates the blocking effect of the propeller. According to the method for testing the blocking effect of the ship propeller, the blocking effect of the foreign matter on the ship and the propeller is truly represented by applying the testing device and considering the coupling effect of the ship, the propeller and the foreign matter.