74results about How to "Guaranteed safe flight" patented technology

The invention provides a device and a method for quickly scanning underground mine goaf based on an unmanned aerial vehicle, and belong to the technical filed of mine measurement and safety. The method relates to an intelligent unmanned flight system, an airborne three-dimension laser scanning system, an LED (light-emitting diode) illuminating system, a bundled software, a terminal wireless transmission module and the like. According to the invention, an improved SLAM and a space coverage algorithm are adopted, the autonomous obstacle avoidance flight of the unmanned aerial vehicle and the autonomous planning of a scanning path can be realized through combining the sensor data and three-dimension laser screening data arranged in the unmanned aerial vehicle; the real-time generation and visualization of three-dimensional point-cloud model for the goaf is realized through connection of a wireless communication and a terminal. The method has the advantages that the scanning speed is quick, the accuracy is high, the automatic and intelligent scanning for the underground goaf can be realized by mutually matching sensors, laser screeners and the bundled software and is an ideal scanningmethod and direction for future development.

The invention relates to an unmanned aerial vehicle flight path planning method, device, computer equipment and a storage medium. The method comprises the following steps that the current pose information of a current node of an unmanned aerial vehicle and the position information of a corresponding target node are obtained, a current three-dimensional environment map is acquired, a standby planning path is determined according to the current three-dimensional environment map, the current pose information and the position information of the target node, and whether the standby planning path meets the safe flight condition or not is judged; a corresponding flight command is generated according to the standby planning path when the condition is met, and the flight command is executed so asto enable the unmanned aerial vehicle to fly to the target node according to the flight command. The three-dimensional environment map is generated in real time through images shot by shooting equipment on the unmanned aerial vehicle, the environment information around the unmanned aerial vehicle is determined according to the three-dimensional environment map generated in real time, the flight path is planned in real time according to the environment information and the positioning information of the unmanned aerial vehicle, and safe flight of the unmanned aerial vehicle can be guaranteed according to the safe flight conditions, so that the unmanned aerial vehicle can fly safely in an unknown environment.

The invention provides a fault tolerance flight control system based on control surface faults. The fault tolerance flight control system based on control surface faults comprises a sensor, a fault detection and insulation module, a monitor module, a controller module and a control distribution module, wherein the sensor is arranged at the corresponding part of an airplane body; the fault detection and insulation module transmits an airplane state parameter estimation value to the controller module, judges the health situation of control surfaces and the types of the generated faults, calculates the probability of the type of faults on each control surface, transmits the probability to the monitor module, detects the deviation angle of each control surface to obtain a deviation angle estimation value of each control surface, and transmits the deviation angle estimation value of each control surface to the monitor module; the monitor module determines the faults positions of the control surfaces, and provides a control distribution basis for the control distribution module; the controller module generates a virtual control command vector, and transmits the vector to the control distribution module as virtual control input; the control distribution module calculates the control surface deviation angle vector of each control surface deviation angle given value. When the control surface faults occur, based on fault detection and diagnosis results, the fault tolerance flight control system based on control surface faults provided by the invention compensates faults, thereby guaranteeing the continuous and safe flight of an airplane.

The invention provides a hypersonic aircraft elevator fault control method. The hypersonic aircraft elevator fault control method comprises the following steps: a model of jammed faults which happen to an elevator of a hypersonic aircraft is established first according to a longitudinal model of a cruise segment of the hypersonic aircraft; then, a state feedback control law is designed, and matching conditions needed for realizing fault-tolerant control under the condition that a fault mode, magnitude and occurrence time are known are established; then, the situation that an unknown fault happens to the elevator is considered, and an adaptive learning law of controller parameters is derived. According to the hypersonic aircraft elevator fault control method, control output of a normal redundancy elevator can be adjusted quickly and effectively in a self-adaptive mode, so that compensation for control efficacy lost by the elevator which has faults is realized, air safety of the hypersonic aircraft when a certain elevator has faults is guaranteed, and expected performance of the hypersonic aircraft is restored to the maximum extent.

The invention discloses an ice preventing and removing device for helicopter rotors. The device comprises an icing detector, an icing speed solver, an atmospheric temperature sensor, an ice preventing and removing control panel, a digital type ice preventing and removing controller, a main rotor distributor, an empennage distributor, a main rotor ice removing component, an empennage ice removing component, an No.1 AC power supply and an No.2 AC power supply, wherein the icing detector and the icing speed solver transfer liquid water content signals and atmospheric temperature signals to the digital type ice preventing and removing controller respectively, the digital type ice preventing and removing controller carries out computation according to the ice preventing and removing control panel and the input signals to output the control signals of the main rotor distributor and the control signals of the empennage distributor, and the main rotor distributor and the empennage distributor control the main rotor ice removing component and the empennage ice removing component to remove ice. By the ice preventing and removing device, the helicopter can safely fly under server weather conditions, and the safety accidents due to the icing of the rotors and the bad influence of pneumatic configuration caused by too low ambient temperature or too high water content are avoided.

The invention provides a UAV real-time obstacle avoidance system based on binocular vision. The UAV real-time obstacle avoidance system comprises a binocular vision ranging unit, an obstacle avoidance system processing unit and a flight control unit. The binocular vision ranging unit is based on a parallax principle, obtains two images of an obstacle by utilizing difference of positions of a left camera and a right camera, calculating positional deviation between corresponding points of the images to obtain obvious depth perception, establishing correspondence between features, and corresponding a same space physical point to mapping points in the different images, so as to obtain three-dimensional information of the obstacle. The obstacle avoidance system processing unit is responsible for performing omnidirectional obstacle detection, and planning an optimal flight path which is capable of avoiding the obstacle to the flight control unit. The flight control unit is responsible for executing instructions of the obstacle avoidance system processing unit, so that a UAV performs autonomous obstacle avoidance along the planned path. The UAV real-time obstacle avoidance system and the UAV real-time obstacle avoidance method can guarantee the safe flight of the unmanned aerial vehicle.

The invention provides a heuristic optimization method and device for a communication topology of an unmanned-manned aerial vehicle formation. The method comprises the steps of S1, acquiring a formation communication graph according to a two-dimensional lasting formation shape into which the unmanned-manned aerial vehicle formation requires to form; S2, when the unmanned-manned aerial vehicle formation has a communication fault, building a first reconstructed formation communication graph according to the type of the communication fault; S3, acquiring a first optimal reconstructed communication topology corresponding to the first reconstructed formation communication graph according to a communication topology reconstruction algorithm; S4, acquiring a second optimal reconstructed communication topology according to the first optimal reconstructed communication topology, a plurality of location configurations of the unmanned-manned aerial vehicle formation and the communication topology reconstruction algorithm, wherein the second optimal reconstructed communication topology meets a preset condition that n>[abs(V)*(abs(V)-1)] / 2, and the second optimal reconstructed communication topology is a re-optimized communication topology of the unmanned-manned aerial vehicle. According to the invention, a large-scale unmanned-manned aerial vehicle formation can be ensured to avoid an airplane crash accident when a communication fault occurs and recover the formation shape, and the communication cost for keeping the formation is low at the same time.

The invention relates to a UAV (Unmanned Aerial Vehicle) railway line inspection device, system and method. The device comprises a UAV, a UAV operator, at least two sets of cameras, a controller and a display; the UAV operator is installed on the UAV; at least one set of cameras is installed on the UAV; at least one set of cameras is installed in a railway tunnel; the cameras are used for acquiring field image data of railway lines; the field image data comprises images and coordinates of the railway lines; the controller is connected with the cameras, and used for receiving, processing and monitoring the field image data acquired by the cameras; the controller is connected with the UAV operator, and used for controlling the UAV operator to set flight parameters of the UAV; and the display is used for displaying the image data output by the controller. By means of the UAV railway line inspection device, system and method disclosed by the invention, the railway lines inside and outside the tunnel can be inspected; furthermore, post processing and monitoring of the acquired image data can be carried out; and thus, failure points of the railway lines can be judged and located more accurately.

The invention discloses a method for determining the fatigue crack safe damage growth period of an airplane structure. The method for determining the fatigue crack safe damage growth period of the airplane structure is characterized by comprising the steps of (1) determining a crack growth mid-value period, (2) determining the fatigue crack growth dispersion coefficient, (3) determining the structure safe damage growth period based on the frequency of overhauling. According to the method for determining the fatigue crack safe damage growth period of the airplane structure, a theoretical method is provided for prolonging the service life of the airplane structure and guaranteeing safe flight of an airplane. Compared with an existing method for determining the fatigue crack safe damage growth period of the airplane structure, the method used for determining the fatigue crack safe damage growth period of the airplane structure and based on the frequency of overhauling has the advantages that information of structure overhauling is considered when the safe damage growth period is determined.

The invention discloses a system for quickly estimating and compensating a tilting IMU setting angle in a micro inertia strapdown navigation attitude system. In the system, a quick estimation and compensation system with multi coordinate conversion mode is adopted to process IMU information generated when the IMU is slantwise arranged; the tilting IMU information processing comprises a sensor information acquisition unit(1), a sensor noise reduction processing unit(2), a setting angle estimation unit(3) and a sensor setting angle compensation unit (4). The system utilizes the coordinate conversion principle among an IMU coordinate system, an aircraft axes and a navigation coordinate system, and adopts the three-shaft acceleration information f2 and the three-shaft spinning top information Omega 2 outputted by the IMU and initial magnetic course information Phi provided by a magnetic compass to realize the correct estimation of the tilting setting angle; by utilizing the estimated setting angle, the sensor information in flight is compensated in real time, thereby improving the navigation attitude precision of a micro inertia strapdown navigation attitude system.

The invention discloses a full-automatic unmanned aerial vehicle system. The full-automatic unmanned aerial vehicle system comprises an unmanned aerial vehicle, a base station and a dispatching center; a first battery, a first control module, a first communication module and a first positioning module are arranged in the unmanned aerial vehicle; a cover plate is arranged on the base station; a take-off and landing platform, an unmanned aerial vehicle fixing jaw, a second communication module, a second positioning module, a second control device and a second power supply are arranged in the base station; and the dispatching center is provided with a third control module, a display screen, a third power supply and a third communication module. By arranging the base station and the dispatching center, the unmanned aerial vehicle can automatically take off, fly and land, and can accurately fall back to the idle base station nearest to the unmanned aerial vehicle; the intelligent degree is high, an operator does not need to held a remote control device in hand to operate, and the labor cost is solved; and meanwhile, the personal safety of the operator is guaranteed, particularly in some severe environments.

The invention discloses an aerial radio monitoring intelligent robot. A receiving antenna, an electronic compass, a radio monitoring receiving unit, a central processing unit, a flight control module and a navigation module are all installed on a robot body. The central processing unit is connected with the flight control module, the electronic compass and the radio monitoring receiving unit. The navigation module is connected with the flight control module. The receiving antenna is connected with the radio monitoring receiving unit. The central processing unit firstly measures the direction of a radio signal source, then controls the robot body to fly through the flight control unit according to a direction measurement result and finally calculates the position of the radio signal source according to data further monitored on a flight track. According to the aerial radio monitoring intelligent robot, the navigation module is connected with the flight control module, and in-chip transmission is conducted on position information, so that pose correction instantaneity is improved, the error rate is reduced, influences of more modules are avoided, the safety of an aircraft is guaranteed, and the fault probability is reduced.

The invention discloses an early warning method and system for barriers. The method comprises the steps that barrier information on a flight route of an airplane is acquired; the barrier information comprises information of types of the barriers, the outlines of the barriers, the heights of the barriers and the positions of the barriers; dangerous space zones of the barriers are determined according to the barrier information; the flight states of the airplane is acquired; the flight states of the airplane comprise information of the speed of the airplane, the height of the airplane and the position of the airplane; the time needed for the airplane to enter the dangerous space zones of the barriers is calculated according to the flight states of the airplane and the dangerous space zones of the barriers, and endangered time is obtained; when the endangered time is smaller than a set threshold value, and an alarm signal is sent out. According to the method and the system, when the airplane gets close to the barriers, the alarm signal is sent out, a pilot or a control center is reminded to make reaction in time, and safe influences of the barriers on low-altitude flight of the airplane are avoided.

The invention discloses an unmanned plane risk-avoiding detection device and method based on ultrasonic waves and a binocular vision. The device comprises a power supply management system, a c and an interface system. The power supply management system comprises a power supply output management unit, a charging management unit and a lithium battery. The power supply management system comprises a vision unit, an ultrasonic unit, an information processing unit and an inertia unit. The interface unit comprises a display unit, an interface unit and a wireless unit. The method comprises the steps of: controlling the vision unit and the ultrasonic unit to collect visual information and ultrasonic, controlling the information processing unit to collect visual and ultrasonic information and inclination angle data, obtaining the distance of a front obstacle and inclination angle information of the system by means of data fusion, and displaying the generated data through the interface system or uploading the generated data to other equipment. According to the invention, precise distance measurement and obstacle identification are realized for equipment, and the distance measurement precision and the reliability of successful obstacle avoidance are improved to the largest degree.

The invention relates to a method for avoiding bird to impact turbine injection plane, wherein it fixes anti-impact metal frame at the front air inlet of plane; the metal frame has not lower parameters than the plane; its appearance is taper; when landing and starting, the blades of turbine engine rotate in high speed, the metal frame can confirm enough airflow and avoid bird into engine. The invention has taper shape to reduce the air resistance.

The invention relates to a highway patrolling system of an unmanned machine, which comprises a central processor, a picture processing module, a navigation positioning module, a failure alarm module,a memory, a voice display module, a wireless communication module, a photovoltaic power supply module. The unmanned machine is applied to the highway patrolling field; the highway condition can be monitored in real time through the picture processing module; the photovoltaic power supply module is applied to supply power to the whole system, thereby prolonging the duration time of the unmanned machine; the application of the unmanned machine can realize the patrolling for 24 hours in the whole day, thus the personnel input of highway policeman is lightened; meanwhile, the patrolling scale is enlarged through mounting the unmanned machine.

The invention provides an aircraft. The aircraft comprises an aircraft main body provided with a first main body part with a first weight and a second main body part with a second weight and further comprises a spherical protective cover provided with a three-axis gyroscopic structure and capable of containing the aircraft main body. On the position adjacent to the geometric center of the spherical protective cover, the first main body part is supported on the three-axis gyroscopic structure; and the second main body part is mounted below the first main body part in a suspending mode, and the first weight and the second weight are designed to achieve the effect that the gravity center of the aircraft is located under the geometric center of the spherical protective cover. According to the aircraft, the effect that the aircraft horizontally rolls forwards, backwards, leftwards and rightwards in the horizontal plane and even makes upward wall-climbing movement can be achieved, the aircraft main body can keep a basic horizontal state all the time, and stability of the aircraft is ensured.

The invention provides a sampling device. The device comprises a mounting platform hung on an unmanned aerial vehicle. The mounting platform comprises a plurality of first hooks arranged on an edge ofa bottom of the unmanned aerial vehicle, a quick release plate, and a connecting mechanism arranged in the center of the bottom surface of the quick release plate. Flanges corresponding to the firsthooks are arranged on the edge of the quick release plate, each flange is hung to the corresponding first hook, and the connecting mechanism is provided with a first electric contact electrically connected with the unmanned aerial vehicle; and a top surface of a shell is provided with a fixed seat, the fixed seat is detachably connected with the connecting mechanism, the fixed seat further comprises a second electric contact electrically connected with the sampling device, and when the fixed seat is connected with the quick release plate, the first electric contact and the second electric contact correspond to each other in position and are in contact with each other so as to establish electric connection between the sampling device and the unmanned aerial vehicle. Through the mounting platform, the unmanned aerial vehicle can mount more devices, a mechanical connection structure and an electric connection structure are combined, and dismounting and mounting steps can be simplified.

The invention discloses a fault-tolerant control method for a hypersonic aircraft elevator with state limitation. For the longitudinal model of a hypersonic aircraft, an adaptive fault-tolerant controller is proposed to realize state constraint under consideration of the internal coupling of a system. The complexity caused by aerodynamic uncertainty, external disturbances and elastic modes is considered throughout the controller design process. The method comprises the steps that a sliding mode control method is introduced in the first step of a backstepping process to handle the coupling of the system; the obstacle Lyapunov function is applied to the subsequent backstepping process to ensure that the angle of attack and pitch rate are limited; moreover, due to the introduction of the dynamic surface method, the problem of differential explosion is avoided; and finally, the fault-tolerant controller structure is designed for the unknown fault of the elevator. According to the invention, the coupling problem and the state limitation problem of the system can be simultaneously handled, and the accuracy of the control system is improved.

The invention discloses an airplane yawing judgment method and device based on computer flight plan CFP data and a storage medium. The method comprises the following steps of: receiving real-time dataof an airplane; acquiring a computer flight plan CFP of a flight to which the airplane belongs from a flight operation control FOC system; judging a first route point determined to pass; judging a route segment; judging whether yawing occurs or not according to the yawing distance; and processing under the condition of data missing. When the airplane yaws, an alarm can be given according to the CFP data-based airplane yawing judgment method, so that the safe flight of the airplane is ensured.

The invention discloses a self-adaptive compensation control method for an aircraft control system under multi-azimuth turbulent wind disturbance. The method comprises steps that 1, according to transverse and longitudinal motion models of an aircraft control system in the prior art, on the basis that the dominant wind direction of turbulence disturbance is determined, and a disturbance model corresponding to an aircraft when the aircraft encounters turbulence disturbance of different dominant wind directions is established and used for representing transverse and longitudinal motion models ofthe aircraft at the moment; 2, a general input-output system model is adopted to represent transverse, lateral and longitudinal motion models of the aircraft when turbulence disturbance of differentprevailing wind directions occurs; 3, based on an index function used for establishing a piecewise function, an input-output system model is established based on time slicing; 4, that the existing aircraft control system parameters and turbulence disturbance parameters are known are assumed, a nominal controller is established according to the known conditions; 5, that existing aircraft control system parameters and turbulence disturbance parameters are unknown are assumed, and a self-adaptive controller is established according to the known conditions. The method is advantaged in that the aircraft control system can be effectively ensured to realize expected closed-loop stability and output tracking performance when encountering the turbulence disturbance alternate influence of a plurality of predominant wind directions so that the safe flight of the aircraft is realized.

The invention relates to an unmanned aerial vehicle. The unmanned aerial vehicle comprises a battery module. The battery module comprises an inner shell and an outer shell. The inner shell defines a battery cell installation space. A heat-conducting component is arranged between the inner shell and the outer shell. The heat-conducting component comprises a component absorbing or releasing heat. The component comprises a phase change material. The inner shell is connected with a heating element and a temperature sensor. The heating element is used for heating the inner shell. The temperature sensor is used for detecting temperature of the inner shell and thereby generating a temperature signal. The temperature sensor and the heating element are connected with a control part. The control part controls the heating element according to the temperature signal generated by the temperature sensor. The temperature of the inner shell is detected by the temperature sensor. When the temperature is low, the control part controls the heating element to heat the inner shell. The heat-conducting component comprises the phase change material, and can improve the heating performance of the inner shell; when the temperature of the inner shell is relatively high, the control part controls the heating element to stop heating the inner shell and conducts heat outwards through the phase change material of the heat-conducting component to ensure the safety of a battery.

The invention relates to an infrared camera and an unmanned aerial vehicle carrying out natural gas line patrolling based on the infrared camera. The unmanned aerial vehicle comprises the infrared camera, a body, a vertical tail, a horizontal tail, ailerons, rotor wings, main wings, a compass and a GPS; a front pull motor is arranged at the front part of the body; the main wings are located on thetwo sides of the upper part of the body; the ailerons are correspondingly located on the outer sides of the rear edges of wingtips of the main wings; the rotor wings are located on the two sides of the body and the front side and the rear side of the main wings correspondingly; and the rotor wings are connected with the main wings through connecting rods correspondingly. When the unmanned aerialvehicle takes off, the rotor wings are unlocked first, the unmanned aerial vehicle vertically takes off and flies to a specified altitude, and then the main wings produce lifting force for flying; andwhen the unmanned aerial vehicle enters into a descending state, the unmanned aerial vehicle descends in a rotor wing mode. The measured natural gas content and recorded latitudes and longitudes, heights, and unmanned aerial vehicle attitude information by the scheme can be transmitted to a ground monitoring station in real time, so that the leakage situation of a natural gas line is observed inreal time conveniently.

The invention provides an auxiliary obstacle avoidance method, apparatus and system for an aircraft, and belongs to the technical field of aircraft obstacle avoidance. According to the auxiliary obstacle avoidance method, apparatus and system for the aircraft, provided by embodiments of the invention, through image collection apparatuses mounted in all directions of the aircraft, a 360-degree panoramic image around the aircraft can be obtained; and meanwhile, through distance sensors mounted in all the directions of the aircraft, multi-directional obstacle distance information is provided andfused in the panoramic image, so that intuitive and comprehensive obstacle avoidance reference information can be provided for operators, and the aircraft can be prevented from hitting against an obstacle in a flight process to ensure safety flight of the aircraft.

The invention discloses a flight track determination method and system for a networked UAV (unmanned aerial vehicle). The method comprises steps as follows: initialization is performed: a starting point, an end point and a base station position between the starting point and the end point are input, and the starting point and the end point are not located in the coverage area of the same base station; the optimal solution of switching positions among base stations under one flight track is obtained according to a connection state of the UAV with a triangle inequality iterative algorithm; the optimal flight track of the UAV is determined according to the optimal solution of the switching positions among the base stations under each flight track. According to the method and the system, the flight track of the networked UAV is enabled to be minimized, the optimal switching position of the UAV among multiple base stations is found rapidly, and flight time can be shortest on the premise that safe flight of the UAV is guaranteed.

The invention discloses a self-adaptive compensation control method for continuous intermittent faults of an actuator in a non-minimum phase air vehicle control system. The method includes the following steps that 1, based on an existing aircraft control system model, an aircraft control system model is reconstructed equivalently when the actuator has the continuous intermittent faults; 2, based on a time-varying input-output model, a parameterized aircraft control system model is constructed; 3, an LQ optimal control framework based on control separation is established; 4, a state space modelof a virtual parametric error control system is constructed; 5. a nominal LQ optimal controller is established; 6, a robust self-adaptive parameter updating law is designed and an error control system based on parameter estimation is established; 7, a robust self-adaptive LQ controller based on control separation is designed. When the actuator has the continuous intermittent faults, the flight control system effectively ensure the desired closed-loop stability and output tracking performance to achieve the safe flight of an aircraft.

The invention discloses a power consumption controllable unmanned aerial vehicle flight control system. The power consumption controllable unmanned aerial vehicle flight control system comprises a system module. The starting control end of the system module is connected with a control receiving end of a hardware drive module. The driving end of the hardware drive module is connected with the signal receiving end of a driver module. The control end of the driver module is connected with the starting end of a posture resolving module and a posture stabilizing module. The signal input end of the posture resolving module and the signal input end of the posture stabilizing module are connected with the collecting signal output end of a sensor module. The signal output end of the posture resolving module and the signal output end of the posture stabilizing module are connected with the signal input end of a controller module. The signal output end of the controller module is connected with the signal input end of a flight point module and the signal input end of a guidance module. The signal output end of the controller module is further connected with a load module, and a power module is used for supplying power to the whole system.

The invention discloses an aircraft. The aircraft includes an aircraft body and a spherical shield which houses the aircraft body, the aircraft body includes a first body portion and a second body portion, the first body portion has a first weight, the second body portion has a second weight, the spherical shield is provided with a three-axis gyro structure, at a position adjacent to a geometric center of the spherical shield, the first body portion is supported on the three-axis gyro structure, the second body portion is suspended below the first body portion, and the first weight and the second weight are designed to make the center of gravity of the aircraft body be located directly below the geometric center of the spherical shield. The aircraft can achieve the horizontal rolling in front, back, left and right directions of the aircraft in the horizontal plane and the upward wall climbing movement, the aircraft body can always maintain a basic horizontal state, and the stability ofthe aircraft is ensured.

The invention discloses device and method for calculating the signal coverage of civil aviation telecommunication equipment. The device comprises a civil aviation telecommunication equipment signal coverage calculating module, a multiple-coverage calculating module, a controlled area telecommunication equipment signal coverage calculating module, an airway communication equipment signal coverage calculation module and a signal coverage display module, wherein the civil aviation telecommunication equipment signal coverage calculating module is used for analyzing and calculating the coverage oftelecommunication equipment signals, the multiple-coverage calculating module is used for analyzing and calculating the overlapping of the coverages of multiple adjacent equipment signals, the controlled area telecommunication equipment signal coverage calculating module is used for analyzing the distribution of the telecommunication equipment in a controlled area and calculating the single or multiple overlapping of the equipment signals, and the signal coverage display module is used for displaying the effect of station coverage in various modes. The device and the method can be used for completely mastering communication equipment signal coverage situation, reducing the communication blind, improving aviation communication systems and ensuring the flight safety.