32results about "Position/course control in three dimensions" patented technology

The invention discloses a multi-control end unmanned aerial vehicle as well as consoles and a control switching method thereof, belonging to the field of unmanned aerial vehicles. The unmanned aerial vehicle comprises a first transmitter, a first receiver, a flight control panel, at least two consoles and a communication monitor for detecting the communication state between the unmanned aerial vehicle and the consoles in real time, wherein the first receiver is electrically connected with the flight control panel and the communication monitor respectively; and the first receiver selectively receives a flight control instruction sent by the console meeting the preset condition according to the communication state and inputs the flight control instruction to the flight console. According to the invention, the flight control right of the unmanned aerial vehicle can be switched and transferred to another authorized console (such as an alternate console or a relay console) arranged in advance, so that even if the console coupled with the unmanned aerial vehicle currently has a fault, the control on the unmanned aerial vehicle can be effectively ensured; and on the other hand, the flight movement range of the unmanned aerial vehicle can also be enlarged through the relay control of the flight control right.

The invention provides a control algorithm of multi-unmanned aerial vehicle cooperation formation and obstacle avoidance. The control algorithm comprises steps of (1) when an unmanned aerial vehicle formation executes a flight task, detecting positions and speed information of the unmanned aerial vehicles and airspace obstacles through an airborne sensor, and abstracting obstacles in a flight space into ball bodies; (2) according to position information of each unmanned aerial vehicle, constructing an unmanned aerial vehicle formation communication topology, and using a distributed transmission method, achieving information interaction between neighborhood unmanned aerial vehicles in the formation; (3) constructing an unmanned aerial vehicle dynamics model; and (4) when detecting an obstacle, determining a safe distance of obstacle avoidance of the unmanned aerial vehicles, judging whether the distance between any unmanned aerial vehicle and the obstacle in the unmanned aerial vehicleformation meets requirements of the safe distance, and if not, adjusting the formation pattern and carrying out obstacle avoidance through a virtual force strategy. The control algorithm is operable and simple; cooperation formation of multiple unmanned aerial vehicles can be achieved; obstacles can be avoided quite flexibly; and the control algorithm is very important for multi-cooperative combats.

The invention relates to a multi-vehicle working air line planning method and system of plant protection unmanned aerial vehicles and a spraying working method and system of the plant protection unmanned aerial vehicles. The planning method comprises the steps that a snake-shaped air line of the plant protection unmanned aerial vehicles during farmland spraying working is planned according to farmland coordinate parameters; the unmanned aerial vehicles are ranked according to the take-off sequence, and the spaying cut-off points of the unmanned aerial vehicles in the snake-shaped air line are calculated according to the sequence and the spraying flow and flying speed of each unmanned aerial vehicle; the starting point and cut-off point of each unmanned aerial vehicle are sent to the corresponding unmanned aerial vehicle to set the flight line, and the spraying cut-off point of the former unmanned aerial vehicle serves as the spraying starting point of the next unmanned aerial vehicle entering the air line. The errors of the planned air line are small, the flight effect of the unmanned aerial vehicles is good, multi-vehicle collaborative working can be achieved, the intelligent degree of spraying working is high, and the working efficiency of the unmanned aerial vehicles is improved.

The invention provides an unmanned aerial vehicle route planning method based on an improved bat algorithm. According to the method, the optimization success rate is introduced to change the speed updating mode of the individual bats based on the conventional bat algorithm; meanwhile, the chaotic method is applied to initialize the distribution of the individual bats in the search space and the concept of the artificial potential field is utilized to simulate the gravitational field of the ending point and the repulsive field of the starting point and the obstacle so as to accelerate the speedof the individual bats to the optimal solution; and finally the improved bat algorithm based on the chaotic artificial potential field is proposed. Compared with the conventional bat algorithm, the track length is shortened for 36.56%, the planning time is shortened for 56.05% and the obstacle avoidance fitness value is reduced for 49.53% by the method; and compared with the differential evolutionary bat algorithm, the track length is shortened for 27.16%, the planning time is shortened for 27.30% and the obstacle avoidance fitness value is reduced for 42.46% by the method in the unmanned aerial vehicle route planning task so that the method is a route planning algorithm with practical significance.

The invention provides a ground station control system for a universal unmanned aerial vehicle. The ground station control system adopts a modular design and specifically comprises a navigation display module, a flight path managing and task planning module, au unmanned aerial vehicle instrument and state display module, a flying simulating module, a wireless monitoring and visual simulating module and human-computer interaction equipment. The ground station control system for the universal unmanned aerial vehicle, provided by the invention, has the characteristics of being complete in functions, simple to operate and convenient to carry and is wide in portability and universality.

A comparative dual-control strategy actuates forward and aft control devices simultaneously to significantly improve a missile's maneuverability/dynamic capability. A substantial, and measurable, operational effect of the inventive control strategy is a dramatic improvement in a missile's divert capability. To effect a maneuver in accordance with the inventive strategy, a missile's aft fins are initially deflected to generate a force OPPOSITE that conventionally used (pushing the missile's tail in the direction of the commanded maneuver) which simultaneously actuating forward thrusters to also push the missile's nose in the direction of the commanded maneuver but at a faster rate than the tail section. This causes the missile body to simultaneously rotate and translate in the direction of the commanded maneuver. Once a sufficient amount of aerodynamic force develops due to body rotation, the aft fins are deflected to generate a force that opposes the commanded maneuver to maintain a moment on the missile body and complete the commanded maneuver. An important benefit of cooperative dual-control strategy is that the missile begins to translate in the direction of the commanded maneuver immediately (conventional isolated aft control schemes do not accomplish this) and at a faster rate than is possible with either isolated forward control devices or an intuitive dual-control approach.

The invention discloses a cooperative obstacle dodging method and a device thereof. The method comprises the steps of when an obstacle is detected in a flight advancing direction, acquiring position of the obstacle and contour of the obstacle, uniformly distributing a plurality of point sources along the contour of the obstacle, thereby forming a uniform potential field, constructing a potential function of the uniform potential field so that a constructed obstacle expulsive force potential function accords with the outer surface of the obstacle, and transmitting an obstacle dodging control instruction according to the position of the obstacle and the potential function. Because the plurality of point sources distributed on the outer surface of the obstacle generate the expulsive potentialfield which accords with the contour of the obstacle, after the expulsive force potential function which is same with the contour of the obstacle is constructed, the obstacle dodging control instruction is transmitted according to the distance to the obstacle and the expulsive force potential function, an unmanned aerial vehicle set can be made to smoothly dodge the obstacle with random shape andrandom size in a short distance. The cooperative obstacle dodging method and the device thereof improve applicability of the cooperative obstacle dodging method.

The invention relates to a non-cable self-control underwater navigation body hovering and controlling method. The method includes the following steps: an underwater navigation body collects sensor information on the navigation body, enables collected depth values and collected trim angles to be used as a feedback signal after being filtered, a proportional plus integral plus derivative (PID) control way is used to achieve the control to the depth values and the trim angles and obtains control values; next, according to arrangement of a thruster, the control values are distributed and transmitted to vertical channel thrusts of a bow portion and a stern portion to achieve hovering control. By the adoption of the non-cable self-control underwater navigation body hovering and controlling method, the fact that a non-cable self-control underwater navigation body stably hovers in the set depth can be achieved, when the non-cable self-control underwater navigation body is in hovering, error of the depth of the underwater navigation body is less than +/-0.5 meters, variation ranges of the trim angles are less than +/- 10 degrees. The non-cable self-control underwater navigation body hovering and controlling method provides technical guarantee for the non-cable self-control underwater navigation body in completing smooth satellite positioning rectification under water.

The invention discloses a multi-machine distributed time sequence task allocation method based on a non-deadlock contract net algorithm, which belongs to the technical field of task allocation. The implementation method comprises the following steps that a time sequence task allocation model isestablished aiming at a time sequence constraint problem of multi-unmanned aerial vehicle cooperative task allocation, and a time sequence task deadlock criterion is proposed; in the task sorting process of a contract net algorithm, the influence of a coupling time sequence task is fully considered, a nearest neighbor task is preferentially selected, a task sorting scheme meeting deadlock constraints is generated in combination with deadlock criterion recursive backtracking used for eliminating an infeasible sorting scheme, a bid invitation unmanned aerial vehicle selection mechanism and algorithm convergence conditions are improved, a non-deadlock contract net (DF-CNP) algorithm based on a competition mechanism is further proposed, the non-deadlock contract net (DF-CNP) algorithm is parallel under a distributed architecture, and a multi-unmanned aerial vehicle non-deadlock time sequence task allocation result is efficiently output. The method is based on a competition mechanism, so that the method has the characteristic of high optimization efficiency.

The invention discloses a forced diversion control method which includes first conducting diversion nominal track design according to a designated diversion period, conducting subsection planning on a motor-driven path based on error boundary and adopting a single pulse control method based on C-W guidance rate in each section to achieve track tracking of the subsection planning route to form a single side limit cycle. The method completely utilizes diversion largest error boundary, plans movement track in an error boundary and controlled diversion track moving tread, achieves quick diversion, saves fuel consumption and has strong engineering practicalness.

The invention relates to the technical field of path planning, and especially relates to a UUV navigation path planning method under a threat Internet. The invention aims at solving a problem that the safety probability, which should be kept, of a UUV cannot be set in advance in an environment of the threat Internet when there are an obstacle region and a threat region at the same time, and a problem that a navigation path is difficult to remain the shortest as much as possible. The method enables a safety probability calculation rule and an ant colony state transfer probability calculation method based on safety guarantee to be used in an ant algorithm. Different from a conventional ant colony algorithm which has a fixed target point in a planning process, the target points in the invention will change sequentially in a planning process according to a traversal sequence. A path obtained by each ant is a complete path from an arrangement point and all designated points to a recovery point. The planning is not planned in a segmented and jointed, but is completed at a time. The method can be used in a technical field of path planning.

The invention provides a method and device for determining the collision risk of an unmanned aerial vehicle, and the method comprises the steps: obtaining an unmanned aerial vehicle with the longitude and latitude and/or height information changing, and determining the unmanned aerial vehicle as a target unmanned aerial vehicle; determining a target geocode corresponding to the longitude and latitude, and determining a height code corresponding to the height information, the target geocode being used for uniquely identifying the plane area range of the target unmanned aerial vehicle, and the height code being used for uniquely identifying the height range of the target unmanned aerial vehicle; and determining whether the target unmanned aerial vehicle has a collision risk or not according to a target stereo code composed of the target geocode and the height code and/or the target geocode. By comparing the stereo code or the geocode of the unmanned aerial vehicle, the technical problems of large calculation amount and low efficiency of identifying whether the unmanned aerial vehicle has the collision risk are solved, and the technical effect of improving the efficiency of identifying whether the unmanned aerial vehicle has the collision risk is achieved.

Aiming at the problem that there is no standard for power equipment inspection in the prior art, the invention provides a middle tower inspection method based on unmanned aerial vehicle infrared detection, and the method comprises the steps: firstly detecting one side close to a take-off and landing point based on the take-off and landing point of an unmanned aerial vehicle; and during inspection,inspecting one side of the middle tower from bottom to top, then passing over the top of the middle tower and performing inspecting from top to bottom, and completing the inspection process. According to the shape of the middle tower, an inspection route of the unmanned aerial vehicle is set to take a take-off and landing point of the unmanned aerial vehicle as the standard, and one side close tothe take-off and landing point is detected; and during inspection, one side of the middle tower is inspected from bottom to top, then the top of the middle tower is passed over, and inspection is performed from top to bottom to finish the inspection process, so that the inspection steps are saved, and no omission is caused. In the inspection process, a multi-angle photographing mode is adopted for the inspection position, the possibility of missing photographing is reduced, and finally the accuracy of the inspection result is improved.

The invention relates to an insect disease monitoring system based on unmanned plane multispectral remote sensing, belongs to the unmanned plane, communication, electronic, computer, chemical and agronomy fields and solves problems of time consuming, labor consuming, low efficiency, high cost and poor timeliness existing in a traditional insect disease monitoring system. According to the system, the unmanned plane embarkation remote sensing equipment is employed to accomplish insect disease monitoring, and the whole system comprises subsystems of an unmanned plane system, a multispectral remote sensing system, a data link system, a ground control system and an application system, can accomplish rapid data acquisition and timely generates data analysis reports. Through the system, images reflecting the insect disease situation can not only be displayed in real time, but also species identification can be carried out according to spectrum characteristics of different insects and vegetations.

The invention discloses an unmanned aerial vehicle auxiliary system for tower crane construction. The unmanned aerial vehicle auxiliary system comprises an unmanned aerial vehicle, a lifting hook of a tower crane, a flight controller, an unmanned aerial vehicle gyroscope, an unmanned aerial vehicle communication module, a lifting hook gyroscope and a lifting hook communication module. The flight controller is arranged in the unmanned aerial vehicle, the unmanned aerial vehicle gyroscope and the unmanned aerial vehicle communication module are connected with the flight controller, and a camera is further connected onto the unmanned aerial vehicle communication module; the lifting hook gyroscope and the lifting hook communication module are arranged in the lifting hook, and the unmanned aerial vehicle communication module is connected with the lifting hook communication module. The unmanned aerial vehicle can carry out photographing along with the lifting hook, the corresponding gyroscope arranged on the lifting hook can be matched with the corresponding gyroscope in the unmanned aerial vehicle, accordingly, the unmanned aerial vehicle can move along with the lifting hook, and surrounding images of the lifting hook can be transmitted to the external in real time. According to the scheme, the unmanned aerial vehicle auxiliary system has the advantages that surrounding pictures of the lifting hook can be monitored by the unmanned aerial vehicle along with the lifting hook of the tower crane in real time, and accordingly the unmanned aerial vehicle auxiliary system is convenient to operate and high in safety; the unmanned aerial vehicle auxiliary system is provided with an independent operation end and an independent signal input module, and accordingly the unmanned aerial vehicle can be manually controlled.

The invention relates to the technical field of unmanned aerial vehicles, in particular to a light-load long-distance cruising unmanned aerial vehicle group system. The system comprises a ground control base station and at least one unmanned aerial vehicle group. The at least one unmanned aerial vehicle group comprises at least one main control unmanned aerial vehicle and N controlled unmanned aerial vehicles. AAT full-automatic tracking holders and wireless network bridges are carried on the ground control base station and the main control unmanned aerial vehicle. The AAT full-automatic tracking holders and the wireless network bridges are used for point-to-point transmission of control instructions between the ground control base station and the main control unmanned aerial vehicle. A router is carried on the main control unmanned aerial vehicle, wifi modules are carried on the N controlled unmanned aerial vehicles, and signal communication and instruction transmission are carried out between the main control unmanned aerial vehicle and the controlled unmanned aerial vehicles through wifi signals. According to the technology, the whole unmanned aerial vehicle group can fly farther and is higher in cruising ability, the adopted radio wave signals enable the unmanned aerial vehicle group to have the functions of investigation prevention and better concealment, and the unmannedaerial vehicle group can execute tasks in mountainous areas and seismic zones without 4G, 5G or other signals.

The invention discloses an energy-saving path planning method for a rotor unmanned aerial vehicle based on combination of a corner and a distance. According to the method, energy consumption of a rotor unmanned aerial vehicle flying over a winding path is estimated based on the corner and distance features of the winding path, so that an incomprehensive problem caused by only using the distance to estimate path energy consumption in energy-saving path planning of the rotor unmanned aerial vehicle is solved. A three-dimensional weight matrix is constructed and an energy-saving path is planned by combining a greedy strategy. Therefore, the endurance of the rotor unmanned aerial vehicle is enhanced; and the energy limitation in the application of the rotor unmanned aerial vehicle is improved. According to the energy-saving path planning method disclosed by the invention, with simultaneous consideration of the path corner and distance, the energy consumption of the rotor unmanned aerial vehicle flying over the path is evaluated. The method can be applied to UAV-assisted task point traversal, so that the flight energy consumption is reduced and the amount of task completion for single charging is increased.

The invention discloses a real-time monitoring unmanned aerial vehicle control panel, comprising a device body, the inner wall of the front end of the device body is provided with a built-in bin, and the built-in bin is embedded in the inner side of the device body, the front end of the built-in bin A buckle frame is fixed, and a storage compartment is welded on the upper left side of the device body. A lock card is installed on the front end of the storage compartment, and the lock card is embedded in the outer wall of the storage compartment. There is a control panel on the right side, and a smart display is used, and the smart display is closely attached to the storage compartment. By observing the information received on the smart display with the naked eye, it is convenient to get a close-up view of the landforms in the distance. Observation and mapping, clearly presenting the photos taken by the drone on the screen, improving the functionality and convenience of the smart display, and easy to operate, will have a wide range of application market demands in the future.

The embodiment of the invention discloses an unmanned ship return method and device based on a virtual navigation channel, equipment and a storage medium. The method comprises the following steps: establishing a virtual main navigation channel of an unmanned ship; judging effectiveness of the virtual main navigation channel; making the unmanned ship return according to a return instruction or a preset return condition; enabling the unmanned ship to sail to the virtual main navigation channel from a current position; calculating a shortest return route based on the virtual main navigation channel; and setting the shortest return route as a return route of the unmanned ship, wherein the unmanned ship autonomously sails to realize return. A user can conveniently set the virtual navigation channel of the unmanned ship by using terminal equipment, and can automatically calculate the required shortest return route according to the current position and the target return point through a dynamic planning algorithm during return so that the unmanned ship can realize autonomous planning of the return route, and a purpose of autonomous return from any position is achieved.

The invention provides a non-hovering unmanned aerial vehicle inspection system and method, the system comprises an unmanned aerial vehicle body, the unmanned aerial vehicle body is provided with a holder, and the holder is provided with an image acquisition module for acquiring image information; the unmanned aerial vehicle body is further provided with a positioning module used for obtaining three-dimensional coordinate information of the unmanned aerial vehicle body. The processing module is used for fitting flight control data of the unmanned aerial vehicle, issuing a flight control command to control flight of the unmanned aerial vehicle in combination with information of the positioning module and information of the image acquisition module, controlling the holder to adjust a shooting angle and a focal length of the image acquisition module, locking a tower inspection point and photographing; and when the pole and tower inspection point is not located in the set area of the image acquired by the image acquisition module, the holder is controlled to rotate based on a visual movement tracking mode, and the rotation direction of the holder is determined according to the position of the pole and tower inspection point in the image. According to the invention, hovering-free autonomous inspection and image information acquisition are realized, manual participation is not needed, and the electric quantity of the unmanned aerial vehicle is saved.

The invention belongs to the technical field of aviation navigation and flight verification, and particularly relates to a multi-task route design method, which comprises the following steps of: recording basic information of verification facilities and verification equipment through a verification equipment module, and recording a flight method of each verification item specified by a flight verification standard through a flight standard module; according to the method, equipment needing to be verified and verification items are determined through a verification item selection module, so that a flight task route required by each verification item is generated in a task route set module, and an optimal route is calculated by processing a task route set and taking the shortest total length of the flight route as a standard. The flight route planned by the invention not only can meet the flight requirements of each verification item, but also can save the flight cost and time of the unmanned aerial vehicle.

The embodiment of the invention provides an unmanned distribution vehicle, an article distribution method and an article distribution system. The unmanned distribution vehicle comprises a flight device, a conveying device and a control device; the flight device is used for realizing the vertical take-off and landing and hovering of the unmanned distribution vehicle; the conveying device is used for conveying a target article into the containing device of a target floor corresponding to the target article; and the control device is connected with the flight device and the conveying device and is used for controlling the flight device to enable the unmanned distribution vehicle to vertically fly to the height of the target floor, controlling the unmanned distribution vehicle to suspend at the height of the target floor and controlling the conveying device to convey target article into the containing device of the target floor. By means of the technical schemes of the invention, the advantages of the automatic driving of the unmanned vehicle are utilized, the waiting time of the unmanned distribution vehicle can be shortened, and the distribution efficiency of the unmanned distribution vehicle is improved.

The invention relates to a system and method for controlling trajectory of an aircraft. The control system (1) includes a position determination module to determine a safety position (PS) corresponding to a position in which a follower aircraft (AC2) is not subject to effects of the right-hand and left-hand vortices (V1, V2) generated by a leader aircraft (AC1) while remaining in formation flight(F), a protection module to convey and to maintain the follower aircraft to/in the safety position when the follower aircraft comprises a wing tip located in a position that has a right-hand vortex signature that is less than or equal to a first predetermined signature or that has a left-hand vortex signature that is greater than or equal to the first predetermined signature or that has a right-hand vortex signature that is greater than or equal to a second predetermined signature or that has a left-hand vortex signature that is less than or equal to the second predetermined signature.

The embodiment of the invention provides a spacecraft long-term management stage orbit parameter automatic adjustment method and system. The method comprises an orbit parameter optimization adjustment step of carrying out the optimization adjustment of orbit parameters based on the current target start and stop time of the orbit parameters in a spacecraft long-term management stage, the target orbit periodic change rate at a starting moment, a threshold parameter group, and an extrapolation time amount, generating a corresponding set parameter sequence and an injection orbit parameter of the spacecraft, carrying out difference calculation on the prediction result calculated by the ground control center after the injection orbit parameter is extrapolated by the analogue simulation spacecraft, determining an orbit parameter evaluation sequence used for representing the data characteristics of the multi-dimensional deviation value, and if the evaluation sequence meets the threshold requirement, further optimizing and adjusting the target starting and ending time and the target orbit periodic change rate, and returning to execute the orbit parameter optimization and adjustment step. The method can automatically adjust the orbit parameters of the spacecraft in the long-term management stage, so as to guarantee the stability of the flight attitude of the spacecraft.