A method, device, and computer-readable storage medium for calibrating the drag coefficient of a multi-rotor aerial vehicle is disclosed. The method includes: conducting flight tests at multiple set airspeeds along a straight and level flight path in both windless and windy environments, and recording, by a flight control system, flight control logs based on a measurement sequence comprising airspeed, tilt angle, and acceleration during the flight tests; selecting corresponding measurement combinations for the acceleration, cruise, and deceleration phases in each flight control log; taking the least squares solution derived from a preset number of measurement combinations as the drag coefficient calibration result; and applying the drag coefficient calibration result to a preset real-time airspeed estimation algorithm to obtain the airspeed estimation result thereby verifying the accuracy of the drag coefficient calibration result and the estimation algorithm.
G01M 9/06 - Dispositions pour la mesure spécialement adaptées aux tests aérodynamiques
G06F 17/11 - Opérations mathématiques complexes pour la résolution d'équations
G06F 17/17 - Évaluation de fonctions par des procédés d'approximation, p. ex. par interpolation ou extrapolation, par lissage ou par le procédé des moindres carrés
2.
Multi-Rotor Airspeed Calculation Method, Airspeed Envelope Protection Method, Device, and Computer-Readable Storage Medium
HANG INTELLIGENT EQUIPMENT (GUANGZHOU) CO., LTD. (Chine)
Inventeur(s)
Hu, Huazhi
Xu, Shike
Wang, Zhenhua
Wen, Xianfu
Abrégé
A method, device, and computer-readable storage medium for multi-rotor airspeed calculation and airspeed envelope protection is disclosed. The airspeed calculation method includes: establishing an airspeed calculation mathematical model; defining a function ƒ(V) based on the airspeed calculation mathematical model for each calculation cycle, and combining real-time measurements of tilt angle θ and acceleration ax, using the Newton iteration algorithm to solve the root of the equation ƒ(V)=0 in real time as the real-time airspeed V to control flight of the multi-rotor. An airspeed calculation scheme is implemented based on dynamics principles, fully utilizing dynamics principles and combining the unique control methods of multi-rotors. Without adding hardware sensors, it uses known attitude measurements and acceleration measurements as algorithm inputs, and calculates airspeed data with sufficient accuracy through software algorithms, simplifying the hardware structure, reducing the risk of electrical failure, and saving manufacturing, debugging, and maintenance costs.
The provided is a connector and a method for connecting a motor and an arm of multi-rotor aircraft. The connector includes a base, a locking disc component, and a guiding positioning component; one side of the base is connected to the arm, the locking disc component includes a forward locking disc structure and a reverse locking disc structure; the guiding positioning component includes a forward guiding positioning structure and a reverse guiding positioning structure; the forward guiding positioning structure and the reverse guiding positioning structure are respectively embedded in the forward locking disc structure and the reverse locking disc structure, and one end of the forward locking disc structure is connected to a forward propeller motor, another end of the forward locking disc structure is inserted into a forward end of the base through the forward guiding positioning structure and connected to the forward end of the base.
An aircraft power battery, an aircraft, and an aircraft power battery integrated power supply method are provided. One battery box is accommodated in each separate compartment. The battery boxes in each row or column of separate compartments being connected in series and then being connected to a battery management system (BMS) module, forming a plurality of battery paths which are then connected in parallel, before supplying power to the aircraft. The method ensures power supply reliability and achieving the integrated arrangement of the limitation and integration of battery packs and battery management system, avoiding the occurrence of high working current and overheating of wire harness caused by scattered layout of each battery pack in the cabin, and is conducive to installation and maintenance. In addition, a cooling bottom plate is equipped for the power battery to ensure heat dissipation performance.
H01M 10/6568 - Liquides caractérisés par des circuits d'écoulement. p. ex. boucles, situés à l'extérieur des éléments ou des boîtiers des éléments
H01M 50/204 - Bâtis, modules ou blocs de multiples batteries ou de multiples cellules
H01M 50/229 - Matériau composite constitué d'un mélange de matériaux organiques et inorganiques
H01M 50/249 - MonturesBoîtiers secondaires ou cadresBâtis, modules ou blocsDispositifs de suspensionAmortisseursDispositifs de transport ou de manutentionSupports spécialement adaptés aux aéronefs ou aux véhicules, p. ex. aux automobiles ou aux trains
H01M 50/271 - Couvercles des boîtiers secondaires, des bâtis ou des blocs
H01M 50/289 - MonturesBoîtiers secondaires ou cadresBâtis, modules ou blocsDispositifs de suspensionAmortisseursDispositifs de transport ou de manutentionSupports caractérisés par des éléments d’espacement ou des moyens de positionnement dans les racks, les cadres ou les blocs
H01M 50/509 - Interconnecteurs pour connecter les bornes des batteries adjacentesInterconnecteurs pour connecter les cellules en dehors d'un boîtier de batterie caractérisées par le type de connexion, p. ex. connexions mixtes
5.
GAME SHARING METHOD AND DEVICE FOR AIRCRAFT FORMATION, AND COMPUTER-READABLE STORAGE MEDIUM
Disclosed in the present invention are a game sharing method and device for an aircraft formation, and a computer-readable storage medium. The method comprises: by means of a first aircraft in an aircraft formation, identifying a shared game terminal and a holder object of the shared game terminal (S1); by means of a second aircraft in the aircraft formation, acquiring a movement trajectory of the shared game terminal and a visual orientation of the holder object (S2); and adjusting an array orientation of the aircraft formation on the basis of the visual orientation, and adjusting and controlling an interactive lighting effect of a third aircraft in the aircraft formation on the basis of the movement trajectory (S3). Thus, a real-time game sharing operation solution based on an aircraft formation is realized, improving the degree of participation and the game sharing experience of a spectating user regarding control over an aircraft formation.
A63F 13/52 - Commande des signaux de sortie en fonction de la progression du jeu incluant des aspects de la scène de jeu affichée
A63F 13/573 - Simulations de propriétés, de comportement ou de déplacement d’objets dans le jeu, p. ex. calcul de l’effort supporté par un pneu dans un jeu de course automobile utilisant les trajectoires des objets du jeu, p. ex. d’une balle de golf en fonction du point d’impact
A63F 13/803 - Conduite de véhicules ou de moyens de transport, p. ex. voitures, avions, bateaux, robots ou tanks
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
G05D 1/222 - Dispositions de commande à distance actionnées par des humains
6.
SHOOTING INTERACTION METHOD AND DEVICE FOR AIRCRAFT FORMATION, AND COMPUTER-READABLE STORAGE MEDIUM
Disclosed in the present invention are a shooting interaction method and device for an aircraft formation, and a computer-readable storage medium. The method comprises: acquiring preview image data of an aircraft formation by means of a camera of a user terminal, and on the basis of the preview image data, performing identification so as to obtain shooting objects corresponding to aircrafts in the aircraft formation (S1); displaying a control area, an aiming area, the preview image data and the shooting objects in a shooting interface of the user terminal (S2); during a movement process of the user terminal and/or the aircraft formation, receiving a shooting instruction from the control area, and on the basis of the shooting instruction, acquiring a shooting object included in the aiming area (S3); and identifying an aircraft corresponding to the shooting object, and controlling the aircraft to display a preset hit lighting effect (S4). Thus, a shooting game interaction solution based on an aircraft formation and a brand-new shooting game experience are realized.
G06F 30/12 - CAO géométrique caractérisée par des moyens d’entrée spécialement adaptés à la CAO, p. ex. interfaces utilisateur graphiques [UIG] spécialement adaptées à la CAO
G06V 20/52 - Activités de surveillance ou de suivi, p. ex. pour la reconnaissance d’objets suspects
7.
SHARED FORMATION DYNAMIC CONFIGURATION METHOD AND DEVICE, AND COMPUTER READABLE STORAGE MEDIUM
A shared formation dynamic configuration method and device, and a computer readable storage medium. The method comprises: parsing, reviewing and sequencing received shared formation patterns of an aircraft formation to obtain display patterns, a display duration and a display order of the shared formation patterns (S1); and on the basis of the display patterns, the display duration and the display order, controlling the aircraft formation to perform shared display (S2). Thus, the degree of participation of spectators in an unmanned aerial vehicle formation scenario is effectively improved, and the safety of display configuration and the validity of the overall configuration strategy of the unmanned aerial vehicle formation are greatly enhanced.
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
Disclosed in the present invention are a flight formation full-time sharing method and device, and a computer-readable storage medium. The method comprises: when a configuration request of a user end in respect of an aircraft formation is received, acquiring an idle state of the current aircraft according to the current first presentation pattern of the aircraft formation (S1); when the idle state meets a configuration condition corresponding to the configuration request, sending to the user end idle aircraft data which meets the configuration condition (S2); and receiving a second presentation pattern which is drawn by the user end on the basis of the idle aircraft data (S3), which involves the user end performing an update according to the idle aircraft data, so as to obtain the current array of the aircraft formation, and drawing, on the basis of the current array, the second presentation pattern which is jointly presented with the first presentation pattern. In this way, the presentation efficiency of an aircraft formation is improved and the utilization rate of an aircraft array is increased, thereby shortening a user waiting time, and enhancing the sharing experience.
Disclosed in the present invention are a shared, real-time formation configuration method and device, and a computer readable storage medium. The method comprises: acquiring, within a first preset time period, a plurality of configuration patterns for the same aircraft formation (S1); on the basis of the number of formations and a switching duration of the aircraft formation, obtaining by calculation the pattern content combination of the plurality of configuration patterns being all displayed within a second preset time period, and the combined pattern time length of the pattern content combination (S2); and displaying, within the second preset time period, all the plurality of configuration patterns on the basis of the pattern content combination and the combined pattern time length (S3). Thus, the participation degree of audiences in an aircraft formation display or performance scene is increased; additionally, the display efficiency of the aircraft formation is improved, the waiting duration of users is shortened, and the sharing experience of the users is enhanced.
A multi-rotor aircraft blade breakage detection device, comprising electronic tags disposed in blades (20) and a reader/writer (40) disposed on an arm (10). Each electronic tag comprises a read/write coil (30) and a detection conductor (50), the detection conductor (50) is arranged in a direction from the root to the tip of the corresponding blade (20), both ends of the detection conductor (50) are electrically connected to the read/write coil (30), and the read/write coil (30) and the detection conductor (50) form a circuit loop. When a blade breaks, the detection conductor (50) is disconnected as the blade (20) breaks, causing the circuit loop to be disconnected, and the read/writer (40) on the arm (10) cannot read information by means of the read/write coil (30), so as to determine the occurrence of blade breakage.
fVθxf(V)VV (S2). According to the present invention, an airspeed solution scheme based on a principle of dynamics is achieved, the principle of dynamics is fully utilized, and a multi-rotor specific control mode is combined; when a hardware sensor is not added, known attitude measurement and acceleration measurement are used as algorithm inputs, and airspeed data having accuracy meeting the requirement is solved by means of a software algorithm, thereby simplifying the hardware structure, reducing the electrical failure risk, and saving manufacturing, debugging and maintenance costs.
Disclosed in the present invention are a multi-rotor airspeed envelope protection method and device, and a computer readable storage medium. The method comprises: establishing an airspeed mathematical model (S1); determining a corresponding relationship between the maximum inclination angle and the maximum steady-state airspeed according to the airspeed mathematical model, and according to the corresponding relationship, obtaining an inclination angle limiting parameter introduced into attitude control (S2); and calculating a transient airspeed according to the airspeed mathematical model, attitude measurement, and acceleration measurement, and executing a corresponding airspeed protection disposal procedure according to the measurement result of the transient airspeed (S3). Thus, the present invention achieves an airspeed envelope protection scheme that uses the dynamic principle and does not rely on traditional airspeed sensor observation, thereby effectively saving hardware and maintenance costs, and guaranteeing flight safety.
A multi-rotor wind drag coefficient calibration method and device, and a computer-readable storage medium. The method comprises: executing multiple flight tests having set airspeeds according to a straight and level flight route in a windless environment and a windy environment, and recording flight control logs according to measurement sequences formed by the airspeeds, pitch angles and accelerations during the flight tests (S1); by means of each flight control log, respectively selecting corresponding measurement combinations according to stages corresponding to acceleration, cruising and deceleration (S2); using a least square solution obtained by means of a preset number of measurement combinations as a calibration result (S3); and applying the calibration result to a preset real-time airspeed estimation algorithm to obtain an estimation result (S4). Therefore, multi-rotor wind drag coefficient functions are efficiently and accurately solved, and the accuracy of calibration results and estimation algorithms is effectively verified.
Disclosed in the present invention are a ground difference detection method and system based on an unmanned aerial vehicle, and a storage medium. The method comprises: using an unmanned aerial vehicle to perform aerial photography on photography points in a target area to obtain aerial images (S1); and using an image processing algorithm to perform difference comparison on the aerial images and corresponding candidate images to obtain areas having differences in the aerial images and the corresponding candidate images, and finally taking all aerial image difference results as ground difference detection results of the target area (S2), thereby realizing automatic detection of difference areas of the ground area, and improving the detection working efficiency and the recognition rate.
The present invention relates to the technical field of cloud resource use. Disclosed are a cloud resource use method and a related device. The cloud resource use method comprises: after a user terminal device is powered on, automatically running a first application, and sending to a cloud server by means of the first application a request for acquiring cloud desktop data corresponding to the user terminal device (S101); and receiving the cloud desktop data corresponding to the user terminal device returned by the cloud server, and displaying a cloud desktop corresponding to the cloud desktop data (S102). By using the technical solution, after being powered on, the user terminal device automatically runs the first application, and acquires a cloud desktop from the cloud server and displays same. Therefore, the use of cloud resources is more convenient, and a smooth experience in using cloud resources is provided for users.
H04L 67/08 - Protocoles spécialement adaptés à l'émulation du terminal, p. ex. Telnet
H04L 67/60 - Ordonnancement ou organisation du service des demandes d'application, p. ex. demandes de transmission de données d'application en utilisant l'analyse et l'optimisation des ressources réseau requises
16.
METHOD AND APPARATUS FOR AUTOMATICALLY TRACKING TARGET BY UNMANNED AERIAL VEHICLE GIMBAL, DEVICE, AND STORAGE MEDIUM
A method and apparatus (400) for automatically tracking a target by an unmanned aerial vehicle gimbal, a device, and a storage medium. The method comprises: acquiring a selected target area, and determining a feature of the selected target area (S101); initializing a predetermined number of particles (S102); according to a state transition equation, obtaining a predicted particle for each particle, and calculating the similarity between the feature of the predicted particle at the position in an image and the feature of the selected target area (S103); determining the position of the target area in a current frame image (S104); and according to the position of the target area in the current frame image, calculating a gimbal rotation angle required for shifting the target area to the center of a lens picture, and according to the gimbal rotation angle, controlling a gimbal to correspondingly rotate (S105), thereby ensuring the stability of the gimbal in the adjustment process and the image quality of a camera.
An unmanned aerial vehicle permission management method and system, and a storage medium. The method comprises: based on task operation information, numbering unmanned aerial vehicles located in a target area so as to obtain fleet instruction code, extracting operation data information from task operation information, and inputting same into a preset task instruction database model to obtain instruction task data of the unmanned aerial vehicles; and in combination with the fleet instruction coding, obtaining task instructions and managing and scheduling the fleet; and according to the instruction task data and task state information obtained via the real-time monitoring of the unmanned aerial vehicles, performing synchronous fitting to obtain permission matching management; and thus combining the fleet instruction coding with the obtained instruction task data to obtain task instructions to manage fleet scheduling, and using the synchronous fitting of the task state information and the instruction task data to correct permission matching management.
Disclosed in the present invention are a linkage control method and system for a plurality of unmanned aerial vehicles, and a medium. The method comprises: acquiring flight task information of unmanned aerial vehicles; obtaining flight task point information of the unmanned aerial vehicles according to flight tasks of the unmanned aerial vehicles; numbering flight task points of the unmanned aerial vehicles according to a preset numbering rule, so as to obtain number information of the flight task points; matching numbers of the flight task points with preset numbers of the unmanned aerial vehicles, so as to obtain unmanned aerial vehicle information corresponding to the flight task points; and sending, according to the number information, the flight task points to the corresponding unmanned aerial vehicles for storage, and the unmanned aerial vehicles executing tasks according to the corresponding flight task points and a preset flight rule. In the present application, flight task points are matched with unmanned aerial vehicles, such that all the unmanned aerial vehicles are associated with each other, thereby facilitating linkage control over the unmanned aerial vehicles.
A management and allocation method and system for unmanned aircraft, and a readable storage medium. The method comprises: acquiring a request instruction of any management platform; on the basis of the request instruction, identifying a corresponding platform ownership and allocation priority; on the basis of the platform ownership, allocating a corresponding unmanned aircraft for response, each unmanned aircraft correspondingly belonging to one management platform; obtaining an allocation response result, and if the response succeeds, controlling, on the basis of the request instruction, the corresponding unmanned aircraft to operate; and if the response fails, performing, on the basis of the allocation priority, a second allocation to obtain a corresponding unmanned aircraft, so as to allow the unmanned aircraft obtained by the second allocation to operate on the basis of the request instruction. The method can realize rational allocation and coordinated use of unmanned aircraft by utilizing multiple platforms, thus ensuring the maximization of unmanned aircraft resource utilization, and meeting the demands of multiple platforms to the utmost extent.
Disclosed in the present invention are a Beidou short message communication method, a device, a system and a storage medium. The method comprises: acquiring state data of an aircraft, and compressing the state data into aircraft message data according to a preset private protocol and the message data length of a Beidou short message (S1); and loading the aircraft message data to a request data segment of the Beidou short message, and sending the loaded aircraft Beidou short message to a preset ground station, so that the ground station analyzes and obtains the request data in the aircraft Beidou short message according to the message protocol of the Beidou short message, and recovers the request data according to the private protocol to obtain the state data of the aircraft (S2). Therefore, the present invention achieves an ultrahigh ultra-long-distance continuous communication solution between aircrafts and ground stations, thereby providing stable communication guarantee for long-distance inter-provincial flights of unmanned aircrafts, and enhancing the flight safety.
H04L 69/04 - Protocoles de compression de données, p. ex. ROHC
H04B 10/118 - Dispositions spécifiques à la transmission en espace libre, c.-à-d. dans l’air ou le vide spécialement adaptées aux communications par satellite
21.
PROCESSING METHOD AND DEVICE FOR SENSOR DATA, AND COMPUTER-READABLE STORAGE MEDIUM
A processing method and device for sensor data, and a computer-readable storage medium. The processing method comprises: separately performing preset comparison, shaping and screening processing on first sensing data, which is acquired by means of a plurality of sensors of an aircraft, according to the categories of the sensors, so as to obtain second sensing data (S1); performing alignment processing on the second sensing data by means of a preset data buffer, and motion states represented by the sensors, so as to obtain third sensing data (S2); and performing data fusion processing on the third sensing data in a loose coupling manner, and performing calculation to obtain the current required motion information (S3). Therefore, a multi-sensing data processing and fusion solution is implemented, such that an aircraft can acquire motion information with higher accuracy and bandwidth and better stability and robustness.
Disclosed in the present invention are a multi-data link positioning method, system, and device, and a computer readable storage medium. The method comprises: when a flight control unit of an aircraft acquires position data, acquiring first positioning data by a first differential positioning module connected to the flight control unit (S1); receiving, by a first spread-spectrum communication module connected to the first differential positioning module, second positioning data sent by a second spread-spectrum communication module of a control station (S2); receiving, by a first cellular communication module connected to the flight control unit, third positioning data sent by a second cellular communication module of the control station (S3); and correcting the first positioning data by means of the second positioning data and/or the third positioning data, and taking a correction result as the position data (S4). In this way, a multi-data link remote positioning scheme is implemented, thereby greatly improving the accuracy, effectiveness, and realtime performance of aircraft positioning.
An image transmission-based fire extinguishing control system and a fire-fighting unmanned aerial vehicle using same. The image transmission-based fire extinguishing control system comprises an over-the-air control module (11), an on-site image acquisition module (12), a ground control module (13), an on-site image display module (14), a target fire source selection module (15), and a visual identification module (16) which are arranged in conjunction on a fire-fighting unmanned aerial vehicle and a ground station. The image transmission-based fire extinguishing control system can implement accurate indication and aiming of a target fire source, so that the fire-fighting unmanned aerial vehicle can efficiently and accurately execute a fire extinguishing operation.
An unmanned aerial vehicle course control method, an unmanned aerial vehicle and a storage medium. The unmanned aerial vehicle course control method comprises: acquiring target plane information by means of a sensing unit, and calculating the plane normal vector of a target plane corresponding to the target plane information (S100); according to the plane normal vector and the current course of an unmanned aerial vehicle, calculating a target course angle of the unmanned aerial vehicle (S200); and, according to the target course angle, controlling the unmanned aerial vehicle to fly towards the target plane (S300). The method detects, by means of the sensing unit, the target plane where a fire-fighting operation is required, calculates the target plane normal vector so as to obtain the target course angle and, according to the target course angle, controls the unmanned aerial vehicle to automatically fly towards the target plane without human participation, thereby reducing the control difficulty of the unmanned aerial vehicle and helping to apply and generalize the fire-fighting unmanned aerial vehicles.
The present application relates to the technical field of unmanned aerial vehicles, and discloses a motor controller control method, apparatus and device, and a storage medium. The method comprises: initializing hardware (S10); reading a parameter setting, enabling a motor control interrupt, and configuring a task list (S20); and entering a main task cycle entry of a motor controller, and sending state data to a flight control system in real time (S30). The motor controller is controlled by means of the task control logic of the motor controller, and the state data is sent to the flight control system and an upper computer in real time, thereby improving the real-time performance and stability of a motor control system, and improving user experience.
A power plant with variable thrust direction, the power plant comprising a fan (10), a housing (20) and an adjusting mechanism (30). The housing (20) is internally provided with an air intake duct (23), a first air output duct (21) and a second air output duct (22). The fan (10) is arranged in the air intake duct (23). The adjusting mechanism (30) is located at the junction of the air intake duct (23), the first air output duct (21) and the second air output duct (22); and the adjusting mechanism (30) is movably connected to the housing (20). The adjusting mechanism (30) is provided with an air guide duct (31); after the adjusting mechanism (30) moves relative to the housing (20), the air guide duct (31) causes the air intake duct (23) to be in communiation with the first air output duct (21) and/or the second air output duct (22).
B64D 33/02 - Aménagement sur les aéronefs des éléments ou des auxiliaires des ensembles fonctionnels de propulsion, non prévu ailleurs des entrées d'air de combustion
B64D 33/04 - Aménagement sur les aéronefs des éléments ou des auxiliaires des ensembles fonctionnels de propulsion, non prévu ailleurs des sorties d'échappement ou des tuyères
B64C 27/22 - Giravions complexes, c.-à-d. aéronefs utilisant en vol à la fois les caractéristiques de l'avion et celles du giravion
B64C 27/28 - Giravions complexes, c.-à-d. aéronefs utilisant en vol à la fois les caractéristiques de l'avion et celles du giravion avec hélices propulsives de déplacement pouvant pivoter pour agir comme rotors de sustentation
27.
MULTI-FLIGHT-CONTROL BACKUP SWITCHING METHOD AND DEVICE, AND COMPUTER-READABLE STORAGE MEDIUM
A multi-flight-control backup switching method and device, and a computer-readable storage medium. The method comprises: according to an operation mode and state information of an original main flight control before switching is performed, switching a backup flight control to be a new main flight control, and controlling the new main flight control to be in a preset backup mode (S1); and in the backup mode, if the state information is that the main flight control is in a locked state, controlling the new main flight control to maintain the locked state; if the state information is that the main flight control has been unlocked to a ground idling state, controlling the new main flight control to maintain the idling state; and if the state information is that the main flight control is unlocked to a flight state, adjusting, according to the operation mode, a controller output of the new main flight control for an aircraft (S2). Therefore, a main-backup flight control switching mechanism having wider applications is achieved, and the adverse effect of a switching process on normal operation of an aerocraft is effectively avoided, thereby greatly ensuring the flight safety and the system stability.
G05D 1/87 - Dispositions visant à réagir aux défaillances du système ou d’origine humaine ou à les prévenir utilisant des dispositions de commande redondantes
28.
MULTI-CHARGER COOPERATIVE CHARGING METHOD AND DEVICE, AND COMPUTER-READABLE STORAGE MEDIUM
Disclosed in the present application are a multi-charger cooperative charging method and device, and a computer-readable storage medium. The method comprises: before turning on a relay of a battery pack, a main charging control unit waiting to receive a first synchronization signal, which is sent by a slave charging control unit, so as to determine that the slave charging control unit completes a handshake with a charger corresponding to the slave charging control unit (S1); when turning on the relay of the battery pack, the main charging control unit sending a turn-on signal of the relay to the corresponding slave charging control unit, so that the slave charging control unit controls the battery pack to be charged (S2); and the main charging control unit allocating and adjusting charging currents of chargers according to a calculated total charging demand, and output parameters of the chargers corresponding to the respective slave charging control units, which parameters are sent by the respective slave charging control units (S3). A more efficient, more stable and safer multi-charger cooperative charging solution is thus realized.
H02J 7/00 - Circuits pour la charge ou la dépolarisation des batteries ou pour alimenter des charges par des batteries
B60L 53/00 - Procédés de chargement de batteries spécialement adaptées aux véhicules électriquesStations de charge ou équipements de charge embarqués pour ces batteriesÉchange d'éléments d’emmagasinage d'énergie dans les véhicules électriques
B60L 53/62 - Surveillance et commande des stations de charge en réponse à des paramètres de charge, p. ex. courant, tension ou charge électrique
29.
UNMANNED AIRCRAFT MANAGEMENT METHOD AND SYSTEM BASED ON BIG DATA IDENTIFICATION, AND MEDIUM
An unmanned aircraft management method and system based on big data identification, and a medium. The method comprises: obtaining feature identification information and flight data information of an unmanned aircraft; extracting feature identification data, and obtaining tracing source information and safety data, and a pre-stored flight data set; obtaining authorization level data, and displaying according to a warning threshold level on the basis of the authorization level data; generating a flight feature map according to the pre-stored flight data set, and predicting intended flight trajectory data; determining by means of the authorization level data and pre-stored flight data to obtain a flight permission correlation coefficient; and performing comparison on the basis of the coefficient and a preset authorization threshold, determining whether the unmanned aircraft is authorized to fly, and giving an alarm or interfering. Thus, feature information and flight data of an unmanned aircraft are subjected to flight authorization evaluation on the basis of big data identification technology, the technology of carrying out evaluation according to monitoring information data of the unmanned aircraft to obtain authorization parameters for authorization determining is implemented, and accurate identification of airspace safety management of the unmanned aircraft is improved.
An intelligent endurance management method and system for an unmanned aircraft, and a medium. The method comprises: acquiring performance state information of an unmanned aircraft and performing dynamic self-inspection to obtain dynamic self-inspection data; acquiring endurance deviation loss data according to an extracted endurance parameter, and storing same in endurance setting parameters, so as to update a flight dynamic database; according to the dynamic self-inspection data, extracting a navigation state and a voyage interference value of the unmanned aircraft, and obtaining endurance data in a navigation condition state; and according to the endurance data, performing task control and recall setting. In this way, on the basis of intelligent control technology, determination and task control are performed according to navigation information and endurance data of an unmanned aircraft, thereby realizing an intelligent management and control technique of assessing an endurance state by means of processing information parameters of the unmanned aircraft so as to perform task deployment, and thus improving the intelligence and precision of endurance safety management over the unmanned aircraft.
A flight obstacle avoidance method and system for an unmanned aerial vehicle, and a readable storage medium. The method comprises: acquiring flight path information, and on the basis of the flight path information, analyzing obstacle data in a route section which has not been traveled by an unmanned aerial vehicle (S102); on the basis of the obstacle data, performing fixed-point and fixed-section control over the unmanned aerial vehicle, so as to perform obstacle avoidance (S104); acquiring panoramic image data during a flight process of the unmanned aerial vehicle; and on the basis of head-on data, determining an avoidance angle of the unmanned aerial vehicle, and on the basis of the avoidance angle, controlling the unmanned aerial vehicle to perform obstacle avoidance (S108). During the flight process of the unmanned aerial vehicle, a set flight trajectory can be tracked in real time, and a flight path can be rationally optimized to avoid an obstacle; and an aerial obstacle can be found in a timely manner and avoided in an emergency during the flight process, such that the flight safety of the unmanned aerial vehicle can be ensured, thereby reducing the flight failure rate of the unmanned aerial vehicle.
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
32.
3D-MAP-BASED FLIGHT CONTROL METHOD AND SYSTEM FOR UNMANNED AIRCRAFT, AND MEDIUM
A 3D-map-based flight control method and system for an unmanned aircraft, and a medium. The method comprises: acquiring 3D map data and positioning data of an unmanned aircraft (S102); on the basis of several preset reference points in the 3D map data and in combination with the positioning data, performing identification to obtain location data of the unmanned aircraft in the 3D map data (S104); acquiring panoramic image data of the unmanned aircraft, and correcting a flight path of the unmanned aircraft on the basis of the panoramic image data and in combination with the reference points (S106); and acquiring spatial data of the unmanned aircraft during flight, and performing obstacle avoidance control for the flight of the unmanned aircraft in combination with the 3D map data (S108). By means of the present method and the system, positioning and flight path correction can be performed on an unmanned aircraft on the basis of 3D map data, and obstacle avoidance control can be performed during an automatic flight process of the unmanned aircraft, so as to reduce damage to the unmanned aircraft.
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
33.
UNMANNED AERIAL VEHICLE CONTROL METHOD AND SYSTEM BASED ON SIGNAL LOSS, AND MEDIUM
An unmanned aerial vehicle control method and system based on signal loss, and a medium. A distance between an unmanned aerial vehicle and a reference point and image information of the reference point are obtained by means of a distance measurement sensing device and a camera of the unmanned aerial vehicle; then by means of a preset three-dimensional map model of the unmanned aerial vehicle, the position of the unmanned aerial vehicle in the preset three-dimensional map model is obtained, and if the unmanned aerial vehicle is on a preset unmanned aerial vehicle flight path, the unmanned aerial vehicle continues to fly; and if the unmanned aerial vehicle is not on the preset unmanned aerial vehicle flight path, the unmanned aerial vehicle is adjusted to fly to the preset unmanned aerial vehicle flight path, and then continues to fly. The position of the unmanned aerial vehicle in the preset three-dimensional map model is determined by means of a capturing and positioning system of the unmanned aerial vehicle, thereby ensuring that the unmanned aerial vehicle safely arrives at a destination or safely lands when the unmanned aerial vehicle cannot contact the outside world due to signal loss.
The present invention discloses a rotary actuator integrated with a gear nonius encoder and a control method, which relates to the field of aircraft devices. The rotary actuator comprises a permanent magnet synchronous motor, a gear nonius encoder, a gearbox, a rudder arm and a control circuit module. The control circuit module comprises a circuit board. The gear nonius encoder comprises a main gear, a main gear magnet steel, a main gear magnet encoding chip, a nonius gear encoding chip, a nonius gear magnet steel and a nonius gear. The main gear is mounted at the bottom of a rotor shaft of the permanent magnet synchronous motor. The main gear is rotatably connected to the nonius gear through meshing. The main gear magnet steel is mounted on a surface of the main gear away from the rotor shaft. The nonius gear magnet steel is mounted at the bottom of the nonius gear. The main gear encoding chip is arranged between the main gear magnet steel and the circuit board. The nonius gear encoding chip is arranged between the nonius gear magnet steel and the circuit board. The rudder arm is rotatably connected to the top of the gearbox. The bottom of the gear box is connected to the permanent magnet synchronous motor through the top of the rotor shaft of the permanent magnet synchronous motor.
Disclosed in the present invention are a single-encoder actuator for an aircraft and a power-on self-test method therefor. By means of a vector control algorithm, a controller controls a servo motor to rotate, and by means of a harmonic reducer, the motor drives a rudder arm to rotate. On the basis of the feature that the harmonic reducer has no backlash, and by finding an original point every time an actuator is powered on for stroke self-test, the position of the rudder arm of an output shaft can be calculated according to the recorded number of turns of a rotor and by reading the position of the rotor. Therefore, the cost and installation difficulty are reduced while the high-performance requirement is met.
An aircraft towing apparatus, comprising a frame body (10), a driving mechanism and a connecting mechanism. The driving mechanism comprises first driving wheels (20) and second driving wheels (30) respectively rotatably connected to two sides of the frame body (10); the layout of the first driving wheels (20) and the second driving wheels (30) enables the frame body (10) to perform a spin turn on a reference axis; when the rotating speeds of the first driving wheels (20) and the second driving wheels (30) are the same and the rotating directions are opposite, the frame body rotates around the reference axis; the connecting mechanism comprises a connecting base (40) and a connecting component (50); the connecting component (50) is fixedly connected to the connecting base (40) and is configured to be detachably connected to a front landing gear of an aircraft; the connecting base is rotatably connected to the frame body, and a rotating axis between the connecting base and the frame body coincides with the reference axis, so that after the connecting mechanism is connected to the front landing gear, the turning radius of the towed aircraft is greatly reduced, and the towing precision is improved.
B64F 1/22 - Installations au sol ou installations pour ponts d'envol des porte-avions pour la manœuvre des aéronefs
B62D 7/14 - Timonerie de directionFusées ou leur montage pour roues pivotant individuellement, p. ex. sur pivot de fusée les axes de pivotement étant situés dans plus d'un plan perpendiculaire à l'axe longitudinal du véhicule, p. ex. toutes les roues étant directrices
37.
ADJUSTMENT DEVICE FOR AIRCRAFT ENTERING HANGAR AND HANGAR
An adjustment device for an aircraft entering a hangar, comprising sliding rails (10) and a conveying mechanism. The sliding rails (10) are connected to the ground. The conveying mechanism comprises a sliding base (20) and belt-type conveying assemblies (30) provided on the sliding base (20). The sliding base (20) is slidably connected to the sliding rails (10). Each belt-type conveying assembly (30) is provided with a conveyer belt (31), and the transmission direction of the conveyer belt (31) is perpendicular to the sliding rails (10). An aircraft only needs to be roughly parked on the conveyer belts (31), and simply by means of driving the conveyer belts (31) to move and the sliding base moving on the sliding rails (10), the position and orientation of the aircraft in the moving directions of the conveyer belts (31) and the extending direction of the sliding rails (10) can be finely adjusted, so that accurate parking of the aircraft in a parking space is achieved, thereby saving a large amount of labor.
Disclosed in the present invention are an anti-ground effect disturbance control method and device, and a computer readable storage medium. The method comprises: enabling a preset anti-ground effect disturbance controller when a fixed-wing aircraft enters a landing pre-ballooning stage from a landing approach stage, otherwise, using a preset conventional controller (S1); using the anti-ground effect disturbance controller in a landing ballooning stage after the landing pre-ballooning stage, until the fixed-wing aircraft completes landing (S2); and enabling the conventional controller after the fixed-wing aircraft completes landing, until the flight is finished (S3). According to a full-automatic anti-ground effect disturbance control scheme, when the speed and height of the fixed-wing aircraft are reduced, the fixed-wing aircraft can be grounded more stably and smoothly by means of more efficient and accurate attitude correction, and the stability and safety of flight landing are improved to a great extent.
G05B 13/02 - Systèmes de commande adaptatifs, c.-à-d. systèmes se réglant eux-mêmes automatiquement pour obtenir un rendement optimal suivant un critère prédéterminé électriques
The present invention relates to the technical field of electric motors, and particularly relates to a brushless direct-current electric motor. The brushless direct-current electric motor comprises a brushless direct-current electric motor body (10), and a heat dissipation cover (20) arranged corresponding to a heat dissipation air outlet of the brushless direct-current electric motor body (10), wherein a plurality of air guide plates (21) are arranged at the end portion of the heat dissipation cover (20) that extends outwards in a radial direction; the air guide plates (21) are sequentially arranged at intervals in a circumferential direction; the air guide plates (21) are offset by an acute angle in the same direction in the radial direction of the heat dissipation cover; and an air guide port is formed by means of two adjacent air guide plates (21). In the present invention, the plurality of air guide plates are arranged at the end portion of the heat dissipation cover that extends outwards in the radial direction, the air guide plates are sequentially arranged at intervals in the circumferential direction and are offset by an acute angle in the same direction in the radial direction of the heat dissipation cover, and one air guide port is formed by means of two adjacent air guide plates, thereby greatly improving the heat dissipation efficiency, prolonging the service life of the brushless direct-current electric motor and improving the performance thereof.
H02K 5/20 - Enveloppes ou enceintes caractérisées par leur configuration, leur forme ou leur construction avec des canaux ou des conduits pour la circulation d'un agent de refroidissement
40.
LINEAR ACTUATOR INTEGRATED WITH GEAR NONIUS ENCODER AND CONTROL METHOD THEREFOR
A linear actuator integrated with a gear nonius encoder and a control method therefor. The linear actuator comprises a motor (9), a control circuit module, a gear nonius encoder, and a ball screw pair for pushing a push rod (15) to perform reciprocating motion. The gear nonius encoder comprises a synchronous belt (4), a nonius gear (2), nonius gear magnetic steel (6), a nonius gear magnetic encoding chip (8), a master gear magnetic encoding chip (7), master gear magnetic steel (5) and a master gear (3). The master gear (3) is assembled on a motor rotor shaft. The master gear (3) is rotatably connected to the nonius gear (2) by means of the synchronous belt (4). The master gear magnetic steel (5) and the nonius gear magnetic steel (6) are correspondingly mounted on the master gear (3) and the nonius gear (2), respectively. The master gear magnetic encoding chip (7) and the nonius gear magnetic encoding chip (8) are correspondingly placed below the master gear magnetic steel (5) and the nonius gear magnetic steel (6), respectively. The control circuit is electrically connected to the master gear magnetic encoding chip (7) and the nonius gear magnetic encoding chip (8) respectively, and reads single-turn angle values of the master gear (3) and the nonius gear (2) by means of the master gear magnetic encoding chip (7) and the nonius gear magnetic encoding chip (8) respectively. The nonius gear (2) is connected to the ball screw pair. The control circuit module is electrically connected to the motor (9).
Disclosed in the present invention are a dynamic collection method and device for a desktop image, and a computer-readable storage medium. The method comprises: acquiring a resolution relationship between the current desktop resolution and the current output resolution, and an instance state of the current image encoder (S1); according to the resolution relationship and the instance state, executing construction or reconstruction of the image encoder, and/or executing texture scaling of the desktop resolution, so as to obtain a collected image frame which is consistent with the output resolution (S2); and encoding the collected image frame by means of an encoding algorithm corresponding to the constructed or reconstructed or existing image encoder, so as obtain output desktop image data (S3). In the present invention, an adaptive dynamic collection solution for a desktop image is implemented, such that a cloud application can dynamically collect and process a desktop image, thereby significantly increasing a transmission bandwidth for transmitting the desktop image and improving the utilization efficiency of decoded resources.
Provided are an automatic cargo loading and unloading system, and a hangar comprising the automatic cargo loading and unloading system. The automatic cargo loading and unloading system comprises a cargo box (10), a first cargo conveying mechanism (20), a cargo supply assembly and a sorting mechanism (50). At least one lug (11) is arranged on an outer side wall of the cargo box (10); the first cargo conveying mechanism (20) comprises a first guide rail (21), a first sliding seat (22), and a first pickup device (23) having at least one first hook (231), wherein the first pickup device (23) is connected to the lug (11) by means of the first hook, such that the cargo box (10) can be made taller and more cargo can thus be accommodated in the limited space of an aircraft; the cargo supply assembly and the sorting mechanism (50) are both arranged adjacent to the first cargo conveying mechanism (20); the first pickup device (23) can rotate relative to the first sliding seat (22), so as to pick up the cargo box on the cargo supply assembly or place the cargo box on the sorting mechanism (50); and the first sliding seat (22) can slide on the first guide rail (21), such that the first pickup device (23) can also move to one side of the aircraft to pick up the cargo box (10) from the aircraft and place same thereon, thereby automatically loading and unloading cargo.
B64F 1/32 - Installations au sol ou installations pour ponts d'envol des porte-avions pour la manutention du fret
E04H 6/44 - Bâtiments pour garer des voitures, du matériel roulant, des avions, des bateaux ou d’autres véhicules, p. ex. garages pour garer des avions
43.
CONNECTOR AND METHOD FOR CONNECTING MOTOR AND ARM OF MULTI-ROTOR AIRCRAFT
A connector and method for connecting a motor and an arm of a multi-rotor aircraft. The connector comprises a base (1), a locking disk component (2), and a guided positioning component (3), wherein one side of the base (1) is connected to an arm; the locking disk component (2) comprises a forward locking disk structure (21) and a reverse locking disk structure (22), and the guided positioning component (3) comprises a forward guided positioning structure (31) and a reverse guided positioning structure (32); the forward guided positioning structure (31) and the reverse guided positioning structure (32) are respectively embedded in the forward locking disk structure (21) and the reverse locking disk structure (22); one end of the forward locking disk structure (21) is connected to a forward propeller motor, and the other end thereof is inserted into a forward end of the base (1) via the forward guided positioning structure (31), and is connected to the forward end of the base (1) by means of forward threads; and one end of the reverse locking disk structure (22) is connected to a reverse propeller motor, and the other end thereof is inserted into a reverse end of the base (1) via the reverse guided positioning structure (32), and is connected to the reverse end of the base (1) by means of reverse threads.
B64C 27/14 - Entraînement direct entre groupe propulseur et moyeu du rotor
B64C 27/24 - Giravions complexes, c.-à-d. aéronefs utilisant en vol à la fois les caractéristiques de l'avion et celles du giravion avec pales du rotor fixes en vol de façon à agir comme surfaces de sustentation
B64C 27/26 - Giravions complexes, c.-à-d. aéronefs utilisant en vol à la fois les caractéristiques de l'avion et celles du giravion caractérisé par le fait qu'il est doté d'ailes fixes
B64C 1/16 - FuselagesCaractéristiques structurales communes aux fuselages, voilures, surfaces stabilisatrices ou organes apparentés spécialement adaptés pour le montage du groupe propulseur
H02G 1/06 - Méthodes ou appareils spécialement adaptés à l'installation, entretien, réparation, ou démontage des câbles ou lignes électriques pour poser les câbles, p. ex. appareils de pose sur véhicule
44.
BATTERY MANAGEMENT SYSTEM HAVING A PLURALITY OF BACKUP COMMUNICATION MAIN UNITS, AND AIRCRAFT
The present invention relates to the technical field of unmanned aerial vehicles, and provides a battery management system having a plurality of backup communication main units, and an aircraft. In the battery management system provided by the present invention, a plurality of independent power battery assemblies are provided, and the design of using a plurality of backup communication main units is used; and considering the hardware failure probability and the redundancy margin, some of all battery management units are selected as backup communication main units, thereby improving the fault tolerance rate and reliability of aircraft communication, ensuring that the aircraft reliably acquires battery data required by safe flight, improving the reliability of aircraft power supply management, and guaranteeing the flight safety of the aircraft.
The present invention relates to the technical field of unmanned aerial vehicles, and provides a target tracking method and system for an unmanned aerial vehicle, an unmanned aerial vehicle gimbal, and an unmanned aerial vehicle. After a target image is acquired, two confidence coefficient thresholds are first introduced; taking into account the characteristics of a tracker based on a correlation filter algorithm and deformation thereof of having a high tracking frame rate but being prone to lose track of a target and the characteristics of a tracker based on deep learning of having a low tracking frame rate but being not prone to lose track of a target, the two trackers work in conjunction with each other; and finally, tracking result confidence coefficients of different trackers are compared with the two confidence coefficient thresholds, and a final target tracking result is determined on the basis of comparison results. While the tracking frame rate is ensured, the problems of target loss and wrong tracking caused by fast target movement, temporary shielding, and the like are effectively solved, the visual target tracking capability is enhanced, and the frame rate and the accuracy are both achieved.
An aircraft fault protection method and device, and a computer-readable storage medium. The aircraft fault protection method comprises: when a preset trigger condition is satisfied, generating an alarm prompt corresponding to the trigger condition (S1); when the alarm prompt is not at a preset alarm level, sending the alarm prompt to a ground station connected to an aircraft (S2); and when the alarm prompt is at the alarm level and there is an automatic processing mechanism corresponding to the alarm prompt, controlling, according to the priority of the alarm prompt, the aircraft to execute the automatic processing mechanism corresponding to the alarm prompt (S3). The aircraft fault protection method realizes a more efficient and better fault protection scheme, and improves the processing capability of an aircraft for fault scenarios such as an instruction abnormality, a control abnormality and a state abnormity occurring in a data link, thereby ensuring flight safety.
A lightning-protection and anti-static protection apparatus and an aircraft. The protection apparatus comprises a housing (10) and a conductive component. The housing (10) is provided with a head end and a tail end; the outer surface of the housing (10) is coated with a conductive paint layer (11); the conductive component comprises a connecting portion (20) and a conductive portion (30) which are both conductors and are both provided on the conductive paint layer (11); the connecting portion (20) is located at the head end of the housing (10); the connecting portion (20) is used for connecting a grounding structure of the aircraft; one end of the conductive portion (30) is fixedly connected to the connecting portion (20); the other end of the conductive portion (30) extends to the tail end of the housing (10); the conductive paint layer (11) on the surface of the housing (10) can prevent static electricity from interfering with an electrical device in the housing (10); and the conductive portion (30) provided on the conductive paint layer (11) can quickly transmit a lightning strike suffered outside the housing (10) to the grounding structure on the aircraft by means of the connecting portion (20), so as to release the lightning.
The present invention provides an aircraft grounding device, comprising a conductive core (10), a wire (20) and a hollow insulating housing (30). The insulating housing (30) has a head end (31) and a tail end (32). The conductive core (20) is arranged in the insulating housing (30), one end of the conductive core (10) is exposed out of the head end (31) of the insulating housing (30), and the portion of the conductive core (10) exposed out of the insulating housing (30) is conical. One end of the wire (20) is detachably connected to the tail end (32) of the insulating housing, the wire (20) is connected to the conductive core (10), and the other end of the wire (20) is provided with a connecting clip (21). The connecting clip (21) transfers the electrostatic/leakage current on an aircraft to the conductive core (10) by means of the wire (20). Aircraft crew can insert the conductive core into the ground by means of the insulating housing, in order to conduct the electrostatic/leakage current to the ground, so that the aircraft can land and stop in an area having no grounding structure.
Disclosed in the present invention are a device power source system of an aircraft, and an aircraft. The system comprises: a first power manage unit (PMU), a second PMU, a third PMU and a power control unit (PCU), which are connected to a controller local area network bus, wherein the second PMU and the PCU form a first power distribution unit (PDU); the third PMU and the PCU form a second PDU; the first PMU is used for supplying power to a center control unit; the first PDU is used for supplying power to a gimbal, a radar altimeter, an airborne router, a bus recorder and a cockpit display unit; the first PDU and the second PDU jointly supply power to a plurality of power battery assemblies, a plurality of flight control units and a compass and barometer unit; and the controller local area network bus is used for reporting present current information, voltage information and state information. Therefore, a safe device power source is provided for the aircraft.
H02J 4/00 - Circuits pour réseaux principaux ou de distribution, la nature alternative ou continue du courant n'étant pas précisée
H02J 7/00 - Circuits pour la charge ou la dépolarisation des batteries ou pour alimenter des charges par des batteries
H02J 9/00 - Circuits pour alimentation de puissance de secours ou de réserve, p. ex. pour éclairage de secours
H02J 9/06 - Circuits pour alimentation de puissance de secours ou de réserve, p. ex. pour éclairage de secours dans lesquels le système de distribution est déconnecté de la source normale et connecté à une source de réserve avec commutation automatique
B64D 27/24 - Aéronefs caractérisés par le type ou la position des groupes moteurs utilisant la vapeur ou l'énergie de ressorts
The present invention relates to the technical field of unmanned aerial vehicles. Disclosed are an environmental control system based on an unmanned aerial vehicle and an unmanned aerial vehicle. The system comprises a light and device controller, a light driver, lamp components, a fan and a signal input interface. The light and device controller is used for receiving instructions sent by external systems, controlling the light driver, the lamp components and the fan according to the instructions, obtaining state information of components in the system by means of the signal input interface, and feeding back the state information to the corresponding external systems; and the light driver increases or decreases the voltage of a power supply provided by the light and the device controller, and then drives the lamp components by using a constant current. Operating modes of the lamp components are controlled by the light and device controller, and state information of the components in different operating modes is collected, so that the interactivity of the system is improved, the safety of night flight of the aerial vehicle is ensured, and user experience is improved.
Disclosed in the present invention are a control guidance method and device for an aerial vehicle, and a computer readable storage medium. The method comprises: calculating a horizontal acceleration target and a vertical acceleration target according to a three-dimensional speed target, a three-dimensional speed feedforward instruction and three-dimensional speed observation data (S1); calculating a horizontal attitude target according to the horizontal acceleration target and horizontal acceleration observation data, and calculating an average rotation speed according to the vertical acceleration target, vertical acceleration observation data and angle observation data (S2); and calculating a three-axis rotation speed difference according to the horizontal attitude target, the angle observation data, a yaw angle target and angular velocity observation data, and calculating a rotation speed instruction of each motor of an aerial vehicle according to the average rotation speed and the three-axis rotation speed difference (S3). Stable flight of the aerial vehicle and execution of a guidance instruction can be effectively achieved, thereby greatly improving the accuracy, stability and safety of aerial vehicle flight control.
The present invention relates to the technical field of aircrafts. Disclosed are an aircraft state indication method, an aircraft, and a storage medium. The aircraft state indication method comprises: when a preset condition is satisfied, detecting a working state of an aircraft (S100); and if the working state is an anomaly state, reporting anomaly state information to a ground station, the anomaly state information comprising positioning information used for indicating the position of the aircraft in a formation and the anomaly state. The staff of the ground station can quickly determine the position of a faulty aircraft in the formation according to the positioning information indicating the position of the aircraft in the formation, so as to quickly locate the faulty aircraft and complete the maintenance or replacement of the faulty aircraft, thereby improving the working efficiency of the staff of the ground station.
The present invention relates to the technical field of unmanned aerial vehicle show control. Provided are an aircraft light show control method, an electronic apparatus, and a computer readable storage medium. The method comprises: first inserting an aircraft light key frame at a selected time point; then switching on a light parameter panel corresponding to the key frame, and editing light parameters; previewing and confirming in a three-dimensional preview window the light effect of an aircraft having light parameters already edited, so as to simulate the light effect in advance and ensure the actual light shape, color, flicker and other effects; generating a light control script having key frame time information; continuously acquiring the system time of a local control end when a light control script program is run; and finally, according to the system time, the local control end sending to the aircraft a light control instruction according to the light control script, and sending the control instruction strictly according to the designed time point. The present invention ensures the effect of the light show of the unmanned aerial vehicle.
H04Q 9/00 - Dispositions dans les systèmes de commande à distance ou de télémétrie pour appeler sélectivement une sous-station à partir d'une station principale, sous-station dans laquelle un appareil recherché est choisi pour appliquer un signal de commande ou pour obtenir des valeurs mesurées
G05D 1/10 - Commande de la position ou du cap dans les trois dimensions simultanément
54.
INSTRUMENT DIGITAL DISPLAY METHOD, APPARATUS AND DEVICE, AND COMPUTER-READABLE STORAGE MEDIUM
The present invention belongs to the technical field of instrument digital display. Provided are an instrument digital display method, apparatus and device, and a computer-readable storage medium. The method comprises: setting digits required for instrument digital display (S101); fixedly configuring each digit with five text elements in which the numbers are ranked from large to small and in decreasing order from top to bottom (S102); calculating a pixel height of each text element (S103); calculating an offset coefficient on each digit, wherein the offset coefficient of the current digit is the number on the digit that is one place lower than the current digit (S104); calculating an overall offset pixel of the five text elements on the current digit according to the offset coefficient and the pixel height of each text element (S105); and according to the distance of the overall offset pixel on the current digit, controlling the degree of transparency at which the text elements on the digit are displayed (S106). In this way, the speed of instrument digital display is relatively fast.
Disclosed in the present invention are a target tracking method and device, and a computer-readable storage medium. The method comprises: executing target object identification and confidence degree determination on the current input image by means of a preset target detection model, and generating, in the input image, a candidate box which includes a target object, the confidence degree of which meets a preset condition (S1); executing object marking and object tracking on the target object by means of a preset multi-target tracking model, so as to obtain the number and trajectory of the candidate box to which the target object belongs (S2); and when any number or trajectory specified by a user is acquired, tracking, by means of a preset tracker, the candidate box having the specified number or trajectory, and when no number or trajectory specified by the user is acquired, updating the input image for the target detection model (S3). The present invention effectively simplifies the process of using a target tracking function, and greatly improves the use efficiency and operation stability of the function.
The present invention relates to the technical field of unmanned aerial vehicles, and provides an unmanned aerial vehicle video transmission method and system, and a computer readable storage medium. The method comprises: an unmanned aerial vehicle camera collecting picture video data information, and encoding same into first video data information in a specific format to be transmitted to a communication module (S101); the communication module receiving the first video data information and encapsulating same according to a streaming media protocol to obtain second video data information (S102); transmitting the second video data information to a server according to received different data transmission instructions (S103); the server receiving the second video data information, transcoding the second video data information as required, and transmitting the transcoded second video data information to an flv video storage module and/or a client request sending module (S104); a client initiating a request to the server as required, and acquiring and playing back a transmitted video of the unmanned aerial vehicle (S105). Thus, the delay is low while ensuring the smoothness of picture video data.
Disclosed are an onboard visual computing apparatus and an aircraft. The apparatus comprises a bottom plate module (10) in the aircraft, a flight control gimbal module (20) outside the aircraft, an external communication module (30), and an external onboard camera module (40). The bottom plate module (10) comprises a power supply input connector (11), a bus connector (12), a core computing module (13), a first Ethernet connector (14), and a second Ethernet connector (15). The present invention realizes the organic integration of visual computing and aircraft equipment, reduces the design difficulty of the whole machine while ensuring the operation capability of visual computing, and effectively improves the design universality and adaptation flexibility of a visual computing module.
A ground slope measurement method and device, and a computer-readable storage medium. The method comprises: during a landing process of an aircraft, according to three-dimensional attitude data of the aircraft and distance data from at least three look-down range finders provided on the aircraft, performing calculation to obtain the unique plane of at least three look-down range-finding points in a body coordinate system of the aircraft (S1); performing calculation by means of the three-dimensional attitude data, so as to obtain a rotation matrix from the body coordinate system to a geodetic coordinate system, and calculating, according to the rotation matrix, a first unit normal vector of the unique plane in the geodetic coordinate system (S2); and calculating the included angle between a second unit normal vector of a geodetic horizontal plane in the geodetic coordinate system and the first unit normal vector, and when the included angle is greater than or equal to a preset threshold, generating a warning signal indicating that a ground slope is excessively large (S3). The method reduces the system hardware costs for slope measurement and the difficulty in maintenance and usage regarding slope measurement, thereby effectively guaranteeing the safe landing of an aircraft.
An inertial measurement apparatus for a three-axis mechanical gimbal, comprising a mounting plate (100), an inertial measurement module (200), a control module (300), and a heating module (400). The inertial measurement module (200), the control module (300), and the heating module (400) are all arranged on the mounting plate (100). The control module (300) is connected to the heating module (400). The control module (300) is configured to control the heating module (400) to work. The inertial measurement module (200) is provided with a temperature measurement unit (210). The temperature measurement unit (210) is communicationally connected to the control module (300). When the temperature of the inertial measurement module (200) is lower than a target temperature value, the control module (300) controls the heating module (400) to be turned on, so that the inertial measurement module (200) is heated. When the temperature of the inertial measurement module (200) is higher than the target temperature value, the control module (300) controls the heating module (400) to be turned off, so that the inertial measurement module (200) dissipates heat and cools. Therefore, the inertial measurement module (200) works in a relatively stable temperature state, thereby implementing the constant temperature control function of the inertial measurement module (200), preventing a zero-offset change of the inertial measurement module (200) due to the influence of the temperature, and ensuring the photographing effect of a three-axis mechanical gimbal camera.
G01C 21/16 - NavigationInstruments de navigation non prévus dans les groupes en utilisant des mesures de la vitesse ou de l'accélération exécutées à bord de l'objet navigantNavigation à l'estime en intégrant l'accélération ou la vitesse, c.-à-d. navigation par inertie
G01K 13/00 - Thermomètres spécialement adaptés à des fins spécifiques
60.
METHOD AND DEVICE FOR COLLABORATIVE CHARGING OF BATTERY PACKS, AND COMPUTER-READABLE STORAGE MEDIUM
Disclosed are a method and device for collaborative charging of battery packs, and a computer-readable storage medium. The method comprises: when battery packs are connected to a charger, calculating charging requirements of the battery packs by means of state data of the battery packs collected by a charging control module, and obtaining parameter data of the battery packs (S1); when the battery packs are in a normal working state, detecting whether specification data of the battery packs matches the parameter data, and if yes, controlling charging switches of the battery packs to be switched on according to relationships between voltages of the battery packs (S2); and detecting and adjusting total charging current of all the battery packs and charging current of each battery pack according to summarized current requirements calculated (S3). The present invention effectively improves charging efficiency of collaborative charging of a plurality of battery packs while ensuring charging safety.
H01M 10/48 - Accumulateurs combinés à des dispositions pour mesurer, tester ou indiquer l'état des éléments, p. ex. le niveau ou la densité de l'électrolyte
H02J 7/00 - Circuits pour la charge ou la dépolarisation des batteries ou pour alimenter des charges par des batteries
61.
MULTI-NETWORK CARD FUSION COMMUNICATION METHOD AND COMMUNICATION SYSTEM
Disclosed in the present invention are a multi-network card fusion communication method and communication system. The method comprises the following steps: obtaining a first data packet sent by a client; packaging the data packet separately according to a preset number of network cards to obtain second data packets; and sending the second data packets to a server at the same time by respectively using preset network cards, and the server receiving the second data packets and performing fusion processing. According to the present invention, the data packet is separately packaged according to the preset number of the network cards, and then the packaged data packets are sent at the same time by respectively using the preset network cards, so that the defect of low communication quality reliability due to dependence on a single communication link in the traditional point-to-point communication is overcome, and the communication reliability is improved; moreover, according to the present invention, the data is processed on the basis of a transmission layer, and the data is not processed in an application layer, thereby ensuring no intrusion into applications on the client and the server.
H04L 47/43 - Assemblage ou désassemblage de paquets, p. ex. par segmentation et réassemblage [SAR]
H04L 69/165 - Utilisation combinée des protocoles TCP et UDPImplémentation ou adaptation du protocole Internet [IP], du protocole de contrôle de transmission [TCP] ou du protocole datagramme utilisateur [UDP] critères de sélection à cet effet
62.
AIRCRAFT POWER BATTERY, AIRCRAFT, AND AIRCRAFT POWER BATTERY INTEGRATED POWER SUPPLY METHOD
The present invention sets forth an aircraft power battery, an aircraft, and an aircraft power battery integrated power supply method, related to the technical field of unmanned aerial vehicles. Each partition compartment containing a battery box, the battery boxes in each row or column of partition compartments being connected in series and then being connected to a battery management system BMS module, forming a plurality of battery paths which are then connected in parallel before supplying power to the aircraft. The invention ensures power supply reliability, achieves a position-limited integrated arrangement of battery packs and battery management system, avoids a wiring harness getting hot as a result of high operating current caused by battery packs being distributed throughout the inside of the aircraft cabin, facilitates installation and maintenance, and additionally provides a cooling bottom plate for the power battery, ensuring heat dissipation performance.
An aircraft landing guiding apparatus and method, and an aircraft landing control method and system. The apparatus comprises: a light-emitting array (101), provided in a target landing area of the aircraft, and comprising at least one light-emitting unit (10) located at a target landing point and a plurality of light-emitting units (10) arranged around the at least one light-emitting unit (10); and a light-emitting control unit (102), electrically connected to the light-emitting array (101) and configured to control the light-emitting array (101) to emit light according to a preset light-emitting time sequence. The apparatus can significantly improve the precision of fixed-point landing of the aircraft, and effectively eliminate the influence of external conditions on the fixed-point landing of the aircraft, and has low requirements on system hardware.
A ducted fan (2), an aircraft and an attitude control method and system therefor, and a related apparatus. The ducted fan (2) comprises: a first ducted fan unit (201) comprising a first fan assembly (21) and a first duct (22), which is arranged on the periphery of the first fan assembly (21); and a second ducted fan unit (202) comprising one or more second ducts (24) extending outwards from the first duct (22) in a tangential direction and communicating with the first duct (22), and a second fan assembly (23), which is arranged in each second duct (24). By means of the ducted fan (2), the propulsion efficiency can be greatly improved, the size is reduced, a speed regulation characteristic is improved, and not only can a propulsion force be generated, but the effect of directly generating an attitude control force for an aircraft can be achieved as long as the thrust speed of each ducted fan (2) is independently controlled.
Disclosed are an operator network switching method for an aircraft, a device, and a computer-readable storage medium. The method comprises: acquiring evaluation scores of a plurality of operator networks, and selecting an operator network having an evaluation score which meets a first preset condition as a current operator network (S1); and when the evaluation score of the current operator network meets a second preset condition, re-acquiring evaluation scores of the plurality of operator networks, and updating the current operator network (S2). Therefore, an efficient operator network switching scheme for aircrafts is achieved, so that aircraft equipment may be automatically switched to other suitable operator networks when learning that the current network quality is poor, thus greatly improving the communication network stability and network environment adaptability of the aircraft equipment.
A drone aerial formation graffitiing system, comprising drones (3), a server (2), and a control terminal (1). Multiple drones (3) are provided, lamps are mounted on the drones (3), the drones (3) can form an aerial formation in the sky by means of formation flying, and the drones (3) are connected to the server (2) by means of wireless signaling; graffitiing software is installed in the control terminal (1), and the control terminal (1) is connected to the server (2) by means of signaling; the control terminal (1) sends graffiti information to the server (2) in real time, and the server (2) controls the lamps of the drones (3) according to the graffiti information. A group of drones hover in the sky in an array form to form an aerial formation, and the server (2) is set up to connect the group of drones to the control terminal (1) such as a mobile phone in the hand of a user, so that the user can transmit graffiti on the mobile phone to the group of drones in real time, and the graffiti can be displayed in the sky by means of light elements carried on the drones (3), thereby improving the degree of participation of the user.
The present disclosure provides an outer rotor motor, comprising a motor driver cooling apparatus, a liquid cooling system, and a stator having a cavity in a shaft portion. A motor driver is at least partially arranged in the cavity, and the motor driver is arranged on the motor driver cooling apparatus. The liquid cooling system is arranged on the stator and/or the motor driver cooling apparatus, the liquid cooling system is used for cooling the stator and/or the motor driver, and the liquid cooling system at least partially extends to the outside of the motor. A beneficial effect of the present disclosure is that the liquid cooling system is arranged on an iron core of the stator and the motor driver cooling apparatus to cool the iron core of the stator and the motor driver, taking away heat generated by coil copper loss of the stator and heat generated by silicon steel sheet iron loss of the stator, and also taking away heat generated by power components of the motor driver, ensuring that the power components of the motor driver run in a mounting-controllable temperature range, thereby improving heat dissipation efficiency of the motor.
H02K 11/33 - Circuits d’entraînement, p. ex. circuits électroniques de puissance
H02K 9/19 - Dispositions de refroidissement ou de ventilation pour machines avec enveloppe fermée et circuit fermé de refroidissement utilisant un agent de refroidissement liquide, p. ex. de l'huile
68.
ELECTRICALLY CONTROLLED VARIABLE PITCH PROPELLER, AND MULTIROTOR AND CONTROL METHOD THEREFOR
An electrically controlled variable pitch propeller, and a multirotor and a control method therefor. The electrically controlled variable pitch propeller comprises a main shaft (10), a variable pitch blade (20) and a brake module (30), wherein the main shaft (10) comprises a vertical rod (11) and a cross rod (12) which are arranged perpendicularly; the brake module (30) comprises an excitation coil (31), a brake vortex disk (32) and a brake gear (33) which are arranged coaxially, and the brake vortex disk (32) and the brake gear (33) are mounted on the vertical rod (11); and the variable pitch blade (20) comprises a variable pitch bevel gear (21) and a blade mounting clamp (25) connected to the variable pitch bevel gear (21), and the variable pitch bevel gear (21) is connected to the cross rod (12) and meshes with the brake gear (33).
B64C 27/68 - Transmissions, p. ex. en liaison avec les moyens déclenchant ou agissant sur les pales utilisant l'énergie électrique, p. ex. avec un amplificateur de puissance électrique
69.
NAVIGATION LIGHT SYSTEM, ROTARY WING AIRCRAFT, AND NAVIGATION LIGHT CONTROL SYSTEM
A navigation light system, a rotary wing aircraft and a navigation light control system. The navigation light system comprises a left navigation light assembly and a right navigation light assembly, which is opposite the left navigation light assembly, wherein in a direction from a nose (3) to a tail (4) of the rotary wing aircraft, the left navigation light assembly and the right navigation light assembly each comprises a plurality of navigation lights; when the rotary wing aircraft is in a first state, a center line (10) from the nose (3) to the tail (4) of the rotary wing aircraft forms an included angle with a navigation line (2) of the rotary wing aircraft; and in a direction perpendicular to the navigation line (2), there is a space between the left navigation light assembly and the right navigation light assembly, and two first navigation lights (1), which are located at the positions where the spacing is largest, are turned on.
Disclosed in the present disclosure are a data acquisition method, a pattern processing method and apparatus, a system, a terminal and a storage medium. In response to flight performance information, the rule information matched with the flight performance information is found from a mapping relation between flight performance information and rule information; when the flight performance information is an aircraft performance pattern and the rule information is policy information, the matched policy information is sent to a ground control end, the ground control end being used for controlling aircrafts according to the policy information; feedback data is received and the feedback data is sent to a user terminal, the feedback data being data fed back by the aircrafts after execution according to the policy information; when the flight performance information is a performance pattern of an aircraft formation and the rule information is an execution solution, the execution solution is sent to an application server; data fed back by the application server on the basis of the execution solution is received; and the data fed back on the basis of the execution solution is sent to the user terminal. By presenting a result interface conforming to user behavior habits, viscosity of users during an aircraft formation performance can be increased.
A numbering method and system, and a storage medium and a device. By means of the numbering method, a positional deviation s1 between a number one object and another object at a preset placement position is obtained, a positional deviation s2 between the number one object and another object during real placement is obtained, whether s2 is within a difference range of s1 is compared, and if so, a serial number of the preset placement position is assigned to an object at a real placement position. Even if objects have a positional deviation when being placed, the objects can obtain serial numbers and the serial numbers of the objects are independent of each other. Even if some objects do not obtain serial numbers, it can be guaranteed that the serial numbers of other objects that have obtained the serial numbers are correct. Therefore, the method has high accuracy, and can prevent the problem of collision after activation.
A cargo transportation scheduling method and scheduling apparatus, a storage medium, and a cargo transportation system. The method comprises: a cargo transportation scheduling apparatus (20) controls, by means of unified scheduling of an aerial logistics robot (10) and a ground automated guided vehicle (30), cargo transfer and cargo transportation between the aerial logistics robot (10) and the ground automated guided vehicle (30). Therefore, by means of unified connection of the cargo transportation scheduling apparatus (20) and the ground automated guided vehicle (30), automated cargo transfer with the ground automated guided vehicle (30) is realized, thereby solving the problem at present that aerial logistics robots (10) cannot automatically transfer goods with ground automated guided vehicles (30) during aerial transportation for logistics.
B65G 1/137 - Dispositifs d'emmagasinage mécaniques avec des aménagements ou des moyens de commande automatique pour choisir les objets qui doivent être enlevés
B65G 37/00 - Combinaisons de transporteurs mécaniques de même type ou de types différents sauf en ce qui concerne leur application dans des machines particulières ou leur emploi dans des procédés particuliers de fabrication
B65G 47/71 - Dispositifs pour transférer objets ou matériaux entre transporteurs, p. ex. pour décharger ou alimenter adaptés pour recevoir les objets arrivant d'un transporteur en une couche et pour les transférer en couches individuelles à plus d'un transporteur, ou vice versa, p. ex. en combinant l'écoulement des objets transportés par plus d'un transporteur les objets étant déchargés sur plusieurs transporteurs
The present invention relates to the technical field of flight, and provides a propeller, a power assembly, and an aircraft, used for solving the technical problems of high noise and an increase in resistance caused by the fact that blade tips of the propeller are easy to generate vortexes and cavitation bubbles. The propeller comprises a central column and at least two blades; blade roots of each blade are provided on the central column; each blade has two blade sections and a blade tip transition section; a blade root of each blade section is connected to the central column; each blade section has a windward first leading edge and a first trailing edge opposite to the first leading edge; the blade tip transition section is a curved transition section; the blade tip transition section has a second leading edge and a second trailing edge opposite to the second leading edge; the first leading edges of the two blade sections are in transition connection by means of the second leading edge; the first trailing edges of the two blade sections are in transition connection by means of the second trailing edge; and the second leading edge and the second trailing edge are both arc-shaped edges. The propeller provided by the present invention is used in an aircraft.
The present application falls within the technical field of unmanned aerial vehicles, and relates to a quick release structure for mounting on an unmanned aerial vehicle. The quick release structure comprises a quick release module and a quick release base which cooperate with each other, wherein a left outer side face and a right outer side face of the quick release module are each provided with a sliding rail (1), the top of the quick release module is provided with a vertically retractable lock tongue (2), a left inner side face and a right inner side face of the quick release base are each provided with a sliding groove (7), an inner side face of the top of the quick release base is provided with a slot (6), the sliding rail (1) can be inserted into the sliding groove (7) and can slide forward and backward in the sliding groove (7), and the lock tongue (2) can be snap-fitted into the slot (6) to connect the quick release module and the quick release base together. The quick release structure can achieve quick installation and removal for the mounting of an unmanned aerial vehicle, has a simple structure, and is convenient to use.
Disclosed in the present invention are a binocular camera-based visual SLAM method for unmanned aerial vehicles, an unmanned aerial vehicle, and a storage medium. The method comprises the steps of: obtaining depth images of at least two different locations by means of a binocular camera; obtaining camera pose information by means of a visual odometer according to the obtained depth images of the at least two different locations; performing nonlinear optimization, appearance-based loopback detection and loopback verification on the camera pose information to obtain optimized camera pose information; and performing binocular dense mapping according to the optimized camera pose information to obtain a global map. According to the present invention, depth images of different locations are obtained by means of a binocular camera, and a global map is obtained by performing binocular dense mapping upon the use of a visual odometer, nonlinear optimization, loopback detection and loopback verification. On one hand, the problem of interference caused by the use of RGB-D cameras can be resolved, and on the other hand, more precise localization can be achieved, and a more precise map can be built.
Disclosed by the present invention are a flight route control method and device, and a computer readable medium, the flight route control method comprising the following steps: upon receiving a new flying delivery order, planning a planned flight route from a starting point to a destination; according the planned flight route, searching all of the flight routes for a relevant flight route having an overlapping route; upon obtaining the relevant flight route having the overlapping route, allocating an unoccupied flight altitude for the planned flight route according to the flight altitude of the obtained relevant flight route; controlling an unmanned aerial vehicle to fly according to the planned flight route. The present invention achieves the effects of improving meal delivery efficiency and safety.
Disclosed in the present invention are an order delivery method, an apparatus, and a computer-readable storage medium, wherein order delivery comprises the following steps: when order information of a user is received, displaying the order information in a non-accepted order status bar; when an order acceptance operation of a merchant is received, reporting order acceptance information, and adjusting the order information to be in a non-delivered status bar; and when an operation of loading being complete for take-off is received from the merchant, reporting information of loading being complete for take-off, and using the same to notify an unmanned aerial vehicle to take off for delivery. The present invention provides the effects of increasing the efficiency of order delivery, and improving user experience.
Disclosed by the present invention are an order delivery method and an apparatus thereof, the order delivery method comprising the following steps: receiving in real time order information and flight information of an unmanned aerial vehicle, the order information comprising an order number, a delivery location and a landing location, while the flight information of the unmanned aerial vehicle comprises the flight status and a flight route of the unmanned aerial vehicle; displaying order delivery status according to the order information and the flight information of the unmanned aerial vehicle, order delivery status comprising the four statuses of undelivered, machine delivery, human delivery and complete; changing the order delivery status from machine delivery to human delivery after receiving landing information from the unmanned aerial vehicle; changing the order delivery status from human delivery to complete after receiving confirmation of a customer signature request in the order information.
An order delivery method, device and system, said order delivery method comprising the following steps: upon receipt of order information from a user, sending a new order notification to a corresponding merchant (S101); if the merchant accepts the order, upon receipt of information from the merchant indicating that goods loading has been completed and an unmanned aerial vehicle is ready to take off, controlling the unmanned aerial vehicle to fly along a preset route to a corresponding landing position (S102); and upon receipt of information indicating that the unmanned aerial vehicle has arrived at the landing position and information indicating that the goods have been unloaded and the unmanned aerial vehicle is ready to return to the merchant, controlling the unmanned aerial vehicle to return along a preset route to the merchant (S103). The order delivery method, device and system improve order delivery efficiency and improve user experience.
A method and device for detecting the posture of a ball head. The method comprises: acquiring data of inertia measurement unit of a ball head, the data of the inertia measurement unit comprising angular speed data of a gyroscope and data of an accelerometer (S10); performing a quaternion integral operation with respect to the data of the inertia measurement unit (S20); converting the data of the inertia measurement unit from a quaternion expression to a rotation matrix expression (S30); and converting the data of the inertia measurement unit from the rotation matrix expression into an Euler angle expression (S40), where the quaternion integral operation performed with respect to the data of the inertia measurement unit comprises: with the rotation matrix expression serving as a feedback, performing feedback correction with respect to the quaternion expression (S21). By acquiring the posture data of the ball head via a posture heading system, employing different algorithm for ball head posture expression, and compensating and correcting the posture of the ball head, the accuracy of ball head posture detection is increased.
G01C 21/16 - NavigationInstruments de navigation non prévus dans les groupes en utilisant des mesures de la vitesse ou de l'accélération exécutées à bord de l'objet navigantNavigation à l'estime en intégrant l'accélération ou la vitesse, c.-à-d. navigation par inertie
81.
ULTRASONIC DISTANCE MEASUREMENT DEVICE AND METHOD AND RELATED UNMANNED AERIAL VEHICLE
An ultrasonic distance measurement device and method and a related unmanned aerial vehicle. The ultrasonic distance measurement device comprises: an ultrasonic processing chip; a drive amplification circuit connected with the ultrasonic processing chip; an ultrasonic probe connected with the drive amplification circuit; and a filter circuit connected with the ultrasonic probe. The ultrasonic processing chip is used for transmitting a drive signal, recording the time and calculating the distance; the drive amplification circuit is used for carrying out amplification processing on the drive signal transmitted by the ultrasonic processing chip; the ultrasonic probe is used for converting the drive signal obtained after amplification processing into ultrasonic waves, transmitting the ultrasonic waves and receiving the reflected ultrasonic waves; and the filter circuit is used for carrying out preliminary filtration on the reflected ultrasonic waves and transmitting the filtered signal to the ultrasonic processing chip. The device can improve the distance measurement accuracy of the unmanned aerial vehicle.
The present application relates to a device and method for performing long-distance information interaction with an unmanned aerial vehicle by means of a 4G network. The device comprises: a 4G communication module provided on the unmanned aerial vehicle, the 4G communication module having various different interfaces and performing data reception and transmission with a sensor module on the unmanned aerial vehicle by means of the various different interfaces; an intelligent mobile terminal supporting the 4G network, the intelligent mobile terminal performing long-distance information interaction with the unmanned aerial vehicle by means of the 4G network and the 4G communication module and being used for transmitting related instruction data to the unmanned aerial vehicle and collecting image transmission information and flight state information returned by the unmanned aerial vehicle in real time; and a cloud side. Pictures, videos and other data shot by the unmanned aerial vehicle in the flight process are transmitted into the cloud side by means of the 4G communication module. By means of the present application, long-distance information interaction with the unmanned aerial vehicle can be realized; furthermore, the flight of the unmanned aerial vehicle is safer and more efficient; moreover, networking of the unmanned aerial vehicle can be realized; and thus, sharing of related information of the unmanned aerial vehicle and monitoring of the state of the unmanned aerial vehicle are conveniently carried out.
The present application relates to a device and method for performing long-distance communication with an unmanned aerial vehicle by means of a mobile network. The device comprises a mobile communication module provided on the unmanned aerial vehicle, the mobile communication module having various different interfaces and performing data reception and transmission with other parts on the unmanned aerial vehicle by means of the various different interfaces; and a command and dispatch center operating in a mobile network, the command and dispatch center performing long-distance communication with the unmanned aerial vehicle by means of the mobile network and the mobile communication module and being used for transmitting related instruction data to all unmanned aerial vehicles on the mobile network and collecting information returned by the unmanned aerial vehicles in real time. By means of the present application long-distance communication with the unmanned aerial vehicle can be realized; furthermore, the transmission data bandwidth is not limited; and moreover, sharing of the task information of the unmanned aerial vehicle and monitoring of the state of the unmanned aerial vehicle can be conveniently carried out.
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
G05D 1/10 - Commande de la position ou du cap dans les trois dimensions simultanément
The present application relates to a device and method for sharing control over an unmanned aerial vehicle by means of a mobile network. The device comprises: a mobile communication module provided on the unmanned aerial vehicle, the mobile communication module having various different interfaces and performing data reception and transmission with a sensor module on the unmanned aerial vehicle by means of the various different interfaces; a master control unit operating on a mobile network, the master control unit performing long-distance communication with the unmanned aerial vehicle by means of the mobile network and the mobile communication module and being used for transmitting related instruction data to the unmanned aerial vehicle on the mobile network and collecting information returned by the unmanned aerial vehicle in real time; a plurality of slave control units located in the same network as the master control unit, each slave control unit transmitting the related instruction data to the unmanned aerial vehicle and checking the flight state information and task information of the unmanned aerial vehicle in the case of obtaining authorization of the master control unit. By means of the present application, multi-player sharing of the control over the unmanned aerial vehicle can be realized; and furthermore, remote control of the unmanned aerial vehicle can be realized.
A battery management system comprises a battery cell module, a battery management chip, a main control chip and a charging/discharging MOS. The battery management chip is for monitoring current, voltage and temperature data of the battery cell module, calculates electricity amount, capacity and health information of the battery cell module according to the current, voltage and temperature data, and controls turning on and turning off of the charging/discharging MOS according to the current, voltage and temperature data, the electricity amount, capacity and health information, and configured parameters. The main control chip reads the current, voltage and temperature data, the electricity amount, capacity and health information, and an on/off status of the charging/discharging MOS, reports the same to an aircraft or a charger, at the same time receives an instruction from the aircraft or the charger, and controls the chip management chip according to the received instruction. The determination of whether the battery cell module is to be charged or discharged can be controlled through the on/off status of the charging/discharging MOS. The system assists a flight control system to control and optimize a power supply according to the status of the power supply, thus realizing battery management.
An unmanned aerial vehicle: arm assemblies (12, 13, 14, 15) of the unmanned aerial vehicle may be folded and unfolded relative to a casing so as to facilitate transportation and storage of the unmanned aerial vehicle. At the same time, the unmanned aerial vehicle may use communication modes such as WiFi and 4G to ensure the communication stability and reliability of the unmanned aerial vehicle.
A calibration method for a magnetic encoder and a system, which relate to the technical field of motor control, the method comprising: driving a motor (30) by means of an electric adjusting board (20) to rotate step-wise by using a preset electric angle; acquiring encoder data of each step point; performing linearization calibration on the encoder data by using a linear interpolation method to obtain linearized data of a mechanical angle, which may improve the calibration efficiency and accuracy of the magnetic encoder.
An aircraft and a control method therefor, the method comprising the following steps: acquiring an image by means of a binocular camera (10); carrying out depth processing on the image acquired by the binocular camera to acquire a depth image (20); controlling the safe distance between an aircraft and a person according to the depth image and parameters of the binocular camera (30); recognizing a gesture of the person in the depth image, and acquiring a control instruction of the aircraft according to the recognized gesture of the person (40); and controlling the aircraft within the safe distance according to the control instruction of the aircraft (50). With the aircraft and the control method therefor, it is possible to control the aircraft by means of human gestures, thereby facilitating use by a user, reducing the purchase cost of the user, increasing the amusement in controlling the aircraft and enhancing the interaction between the user and the aircraft.
An aerial photography method, device, and unmanned aerial vehicle. The method comprises the following steps: acquiring images using two cameras; stitching the two images acquired by the two cameras into one 3D image; and transmitting the 3D image. As a result, the unmanned aerial vehicle can provide the 3D image during an aerial photography process, creating real-time lively 3D images for a user to view and bringing immersive experience for the user, significantly enhancing user experience in aerial photography. Moreover, the embodiment can further comprise: detecting a depth using the 3D image while transmitting the 3D image in real time for a user to view. By employs only a set of binocular vision cameras (the two cameras), the unmanned aerial vehicle can implement a plurality of functions such as 3D aerial photography, obstacle avoidance, tracking, and distance detection, without employing two sets of binocular vision cameras (four cameras) for separately implementing 3D aerial photography and depth detection, thereby implementing the plurality of functions at lower cost.
A flight vehicle and a control method thereof. The method comprises: detecting a current tilt angle and observation information of a flight vehicle, wherein the observation information comprises a location and a speed in a vertical direction; acquiring target information in the vertical direction; computing, according to the tilt angle, the observation information and the target information, an adjustment angle of the current tilt angle, and a lift force provided by a propeller (340) of the flight vehicle; and controlling, according to the lift force provided by the propeller (340) and the adjustment angle, the flight vehicle to fly to the target location. In one aspect, the flight vehicle and the control method thereof can be utilized to reduce reliance of the flight vehicle on the propeller, reducing workload of the propeller, significantly reducing power consumption of a motor, and achieving a longer operational duration of the flight vehicle using a same battery and power system configuration. In another aspect, the embodiment introduces control over the vertical direction, improving a conventional flight control method.
A high-precision unmanned aerial vehicle tracking method and system. The system comprises an unmanned aerial vehicle (10) and VR glasses (20). The method comprises: the VR glasses (20) transmitting to the unmanned aerial vehicle (10) an initial information location comprising an initial latitude, an initial longitude, and an initial elevation (S11); the unmanned aerial vehicle (10) acquiring start information location thereof comprising a start latitude, a start longitude, and a start elevation, and computing a relative location relationship between the start location information and the initial location information and comprising a latitude difference, a longitude difference, and an elevation difference (S12); the VR glasses (20) transmitting, in real time and to the unmanned aerial vehicle (10), current location information comprising a current latitude, a current longitude, and a current elevation (S13); and the unmanned aerial vehicle (10) computing target location information and arriving a location corresponding to the target location information (S14), wherein the target location information and the current location information satisfy the relative location relationship, thereby maintaining the relative location relationship between the unmanned aerial vehicle (10) and the VR glasses (20) during a flight process. The VR glass (20) is introduced to implement high-precision tracking of the unmanned aerial vehicle (10), and produces an immersive aerial view from a first perspective.
The invention relates to the field of unmanned aerial vehicles, and specifically, to a cloud-based flight data management method and device. The method comprises: installing, on a mobile terminal, an application corresponding to an unmanned aerial vehicle, and selecting, from the application, a human-machine interface corresponding to a cloud server; establishing network connections between the mobile terminal, the unmanned aerial vehicle, and the cloud server; transmitting, in real time, via the mobile terminal and to the cloud server, application data and flight data of the unmanned aerial vehicle, and monitoring, in real time, the unmanned aerial vehicle; and performing, by the cloud server, a computation process on the application data and the flight data. The invention can be utilized to upload, via a mobile terminal and to a cloud server, flight data of an unmanned aerial vehicle, and perform real-time monitoring on the unmanned aerial vehicle.
A control method and device for an intelligent terminal, applied to a mobile terminal. The method comprises: sensing a hand gesture operation, the hand gesture operation being made by a user touching a screen of the mobile terminal (S110); recognizing the hand gesture operation and retrieving a hand gesture order from a preset database in the mobile terminal, the database comprising a plurality of the hand gesture orders, the hand gesture order corresponding to the hand gesture operation (S120); and sending the hand gesture order to the intelligent terminal that is worn on a head of a user and has a screen for displaying an image, and the intelligent terminal controlling, on the basis of the hand gesture order, the image displayed on the screen of the intelligent terminal to change (S130). The control of the intelligent terminal is achieved by using hand gestures. When a user is wearing the intelligent terminal, the user can still accurately perceive the location of the mobile terminal and thereby can perform accurate hand gesture operations on the mobile terminal, so as to correspondingly complete, on the basis of the hand gesture operations on the mobile terminal, the control of the image displayed on the screen of the intelligent terminal.
G06F 3/0488 - Techniques d’interaction fondées sur les interfaces utilisateur graphiques [GUI] utilisant des caractéristiques spécifiques fournies par le périphérique d’entrée, p. ex. des fonctions commandées par la rotation d’une souris à deux capteurs, ou par la nature du périphérique d’entrée, p. ex. des gestes en fonction de la pression exercée enregistrée par une tablette numérique utilisant un écran tactile ou une tablette numérique, p. ex. entrée de commandes par des tracés gestuels
94.
OPTICAL FLOW PHOTOGRAPHING DEVICE AND METHOD, AND AERIAL VEHICLE
Disclosed in the present application is an optical flow photographing device. The optical flow photographing device comprises: a photographing element, used for obtaining an optical flow image of a target; an image signal processor, used for detecting the frame rate of the optical flow image, and comparing the detected frame rate of the optical flow image with a preset frame rate threshold range to obtain the comparison result; one or more light sources, used for providing an exposure to the photographing element; and a light source turnon control unit, used for sending a startup signal to the light source if the detected frame rate is lower than the preset frame rate threshold range, so as to turn on the light source. Also disclosed in the present application are a corresponding optical flow photographing method and an aerial vehicle. By means of the present application, god image quality can be ensured, and optical flow positioning can still be normally performed when the brightness of an environment is low.
Disclosed in embodiments of the present application are a firmware upgrade method, device and system. The method comprises: respectively obtaining a first upgrade firmware used for a control terminal, a second upgrade firmware used for an aerial vehicle control portion, and a third upgrade firmware used for a cradle head control unit; packaging the first upgrade firmware, the second upgrade firmware and the third upgrade firmware into a firmware upgrade package; after an upgrade request sent by the control terminal is received, sending the firmware upgrade package to the control terminal; and after the control terminal receives the firmware upgrade package, establishing a data connection with an aerial vehicle, sending the second upgrade firmware and the third upgrade firmware to the aerial vehicle, and respectively upgrading firmware of the aerial vehicle control portion and firmware of a cradle head control unit. By executing the present application, the firmware of the aerial vehicle can be conveniently, rapidly and stably upgraded; and the compatibility and the security between a firmware version of the aerial vehicle and a firmware version of the control terminal can be ensured.
A composite flight control method and system, a smart control terminal (200), and an aircraft (100), the method comprise: after receiving a flight plan input by a user, a smart control terminal (200) controls at least one aircraft (100) to fly at the same time or at different times according to flight plans and corresponding flight control parameters (S110), wherein the flight control parameters at least comprise a flight path; the aircraft (100) collects flight data during the flight and sends the collected flight data to at least one smart control terminal (200) (S120), wherein the flight data comprises at least the flight path; the smart control terminal (200) optimizes and adjusts preset flight control parameters according to the flight data of one or more aircrafts (100) (S130). Manipulation complexity of the aircraft is thus reduced, thereby giving the user a greater control efficiency and a better operating experience.
od and device for flight control for an unmanned aerial vehicle, applicable in a mobile terminal. The method comprises: sensing a gesture operation, the gesture operation being formed by a user touching a screen of a mobile terminal (S110); identifying the gesture operation, calling a gesture instruction from a database preset in the mobile terminal, where the database comprises multiple gesture instructions, and the gesture instructions correspond to gesture operations (S120); and transmitting the gesture instruction to an unmanned aerial vehicle, thus allowing the unmanned aerial vehicle to execute a corresponding action on the basis of the gesture instruction (S130). The method implements quick operation of preset commands with respect to the unmanned aerial vehicle via gesture movements.
The present invention relates to the technical field of unmanned aerial vehicles. Provided are a method and device for obstacle detection for an unmanned aerial vehicle, applicable in a short baseline stereoscopic camera. The stereoscopic camera comprises a left-eye camera; a left-eye image of a specific location is acquired via the left-eye camera. The method comprises: performing a texture detection with respect to a left-eye image; marking a textured area in the left-eye image on the basis of the result of the texture detection; determining whether obstacle pixels are present in the textured area; and if yes, then the specific location for the left-eye camera is an obstacle area. The method and device provided in the present invention for obstacle detection for the unmanned aerial vehicle increase accuracy and system efficiency without affecting system effectiveness.
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
A method and system for ball head posture control, related to the technical field of unmanned aerial vehicles. The method for ball head posture control comprises: a motor control board (10) collects mechanical angle data of a motor and transmits the mechanical angle data to a main control board (20) (S10); the main control board (20) calculates a current expectation on the basis of posture data and of the mechanical angle data and transmits the current expectation to the motor control board (10) (S20); and the motor control board (10) performs closed-loop current control on the basis of the current expectation (S30), thus allowing the acquisition of the current expectation by means of decoupling, and implementing closed-loop current control with respect to ball head posture.
An unmanned aerial vehicle control method and control device. The control method comprises: acquiring the number of controls over an unmanned aerial vehicle in multiple control modes to generate statistical data based on the number of controls corresponding to the control modes (S11); when the statistical data of a preset control mode reaches a preset threshold, unlocking the control mode corresponding to the threshold (S12). The number of controls over the unmanned aerial vehicle in each control mode are counted to generate statistical data based on the number of controls corresponding to each control mode; a control mode of the unmanned aerial vehicle is unlocked according to the statistical data and a preset threshold; control guidance on the unmanned aerial vehicle is displayed at a control terminal; on the basis of statistics of the operation behaviors of a user, targeted stage guidance for the user to control the unmanned aerial vehicle is achieved, so that the user can take full control of the unmanned aerial vehicle after getting a comprehensive understanding of flight control, thereby ensuring flight safety in controlling the unmanned aerial vehicle; and the operational guidance has good interactivity.
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
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