The embodiment of the invention provides a control method, device, equipment and unmanned aerial vehicle. The method includes the steps of: obtaining attitude parameters of a holder (13) of an unmanned aerial vehile (12); and adjusting the attitude parameters of the unmanned aerial vehicle (12) according to the attidue parameters of the holder (14). The attitude parameters of the unmanned aerial vehicle passively change as the attitude parameters of the holder (14) change, thereby enriching the control mode of the holer (14), improving the flexibility of the control mode of the holder (14), and enabling the attitude adjustment of the holder (14) not to lag compared with the attitude adjustment of a fuselage of the unmanned aerial vehicle (12); and the problem of overshoot of the holder (14) that is possible to occur under an inertia effect is also avoided, thus the holder (14) can rotate more stably and stop rotating, the stability of shooting equipment (15) on the holder is ensured, and the stability of shot pictures of the shooting equipment (15) is improved.

Control method, device, equipment and unmanned aerial vehicle

The invention relates to a small celestial body attachment detection descending trajectory optimization method, and belongs to the field of aviation and aerospace According to the method, an internal spherical harmonic gravitational field model is adopted for estimating gravitational acceleration near a target small celestial body, and a convex optimization algorithm is adopted for solving the optimal control problem By adopting the internal spherical harmonic gravitational field model for estimating the gravitational acceleration near the target small celestial body, the advantage of being high in computational efficiency is achieved By adopting the convex optimization algorithm for solving the optimal fuel control problem, the problems that derivation of a indirection method is complicated, and co-state variables are free of physical meaning and not likely to guess are avoided, the derivation step is simple, the computing time is saved, the estimation optimization method is rapid and high in precision, and the obtained result conforms to initial and end state constraint, dynamic constraint and control constraint

Small celestial body attachment detection descending trajectory optimization method

The invention provides a multifunctional remote debugging device. A technician can monitor the internal operation information of tested equipment provided with the module conveniently through terminal equipment, such as a laptop, a tablet PC, or a smartphone. The device comprises a main processor, a wireless communication module, an interface function module, a state monitoring module, a sound and light alarm module, an information recording module, and a hardware interface module. The main processor is the core of the debugging device. The wireless communication module is used for building wireless communication connection between the debugging device and a remote debugging terminal. The interface function module is used for the communication data protocol conversion between the main processor and a tested device. The state monitoring module is used for monitoring the physical operation state of a system. The information recording module is used for recording the debugging steps, debugging instructions, intermediate states or other information in a debugging process. The hardware interface module is a connection interface between the debugging device and the tested device, and is used for the physical connection between the debugging device and the tested device.

Multifunctional remote debugging device

The invention provides a life detection radar-based multiple-detection point target searching and locating method. According to the life detection radar-based multiple-detection point target searching and locating method, a life detection radar is adopted to perform detection on a plurality of detection points; the position of a live body is solved based on multiple-detection point criterions; the position of the live body is determined repeatedly through adopting the K-nearest neighbor principle; and therefore, the locating accuracy and detection probability of the spatial position of the live body can be improved. The life detection radar-based multiple-detection point target searching and locating method has the advantages of large detection area, low hardware cost and easiness in implementation in practical application.

Life detection radar-based multiple-detection point target searching and locating method

The invention discloses a decision tree behavior decision algorithm based on demonstration learning, and mainly solves the problems in the prior art that the present decision algorithm cannot simultaneously consider the integrated and complex scenes and the requirement of stability. The decision tree behavior decision algorithm based on demonstration learning comprises the steps that the state transfer law of demonstration trajectories is stored; a state transfer frequency matrix and a state transfer probability matrix are obtained; the reward is constructed; the decision tree assesses the motion to be generated; the transfer frequency matrix and the state transfer probability matrix are updated; and the process is repeated until assessment is passed. With application of the scheme, the objectives of the maximum rationality and safety of the driverless behavior decision can be achieved.

Decision tree behavior decision algorithm based on demonstration learning

The invention relates to a mobile robot control system based on a smart phone. According to the control system, one smart phone, i.e. an onboard smart phone, is used as a core controller; the onboard smart phone is a server side and is fixed on a machine body of a mobile robot; interaction with the onboard smart phone is carried out by a wireless communication module, a control instruction is received and transmitted, and other applications are associated and called to achieve control on the mobile robot; the other smart phone, i.e. a remote control smart phone, is used as a remote controller; and the remote control smart phone is a client, interacts with the onboard smart phone by a wireless communication module, and sends the control instruction to the server side after selecting a control mode. The mobile robot control system enables the mobile robot to be more convenient and rapid to debug, does not need to be connected with a PC (Personal Computer) machine each time to burn a program, becomes an ideal platform of verifying various control algorithms, and enables the mobile robot to have more powerful functions and become more intelligent; and the diversity of the remote control operation enables a human-computer interaction experience friendly degree to be greatly improved.

Mobile robot control system based on smart phone

The invention discloses a small-size aircraft system based on a cradle head, comprising a rack, a sensor box, a cradle head rolling rudder, a cradle head pitching rudder, a cradle head outer framework, a cradle head inner framework, an upper airscrew, a lower airscrew, an upper airscrew drive motor, a lower airscrew drive motor, a control unit, a telescopic rod and a pod. The aircraft system can realize complete control on the pose of an aircraft by pose adjustment on the cradle head and control on the revolving speed of the airscrews; the yaw angle of an aircraft body is controlled by reaction torque which is generated by the differential rotation of the upper and lower airscrews; the pitching angle and the rolling angle of the airscrews are realized by the rudders driving the cradle head to rotate; control on a spatial position is realized by the airscrew drive motors and pose adjustment on the cradle head. The small-size aircraft system is simple and reliable in design, and clear and explicit in structure; while expanding the existing rotor-type flight structure and control schemes, the small-size aircraft system is also a superior space carrier vehicle, and has considerable practical value.

Small-size aircraft system based on cradle head

The invention discloses a landing dynamic simulation system of a small celestial body probe. The system comprises a probe parameter editor, a small celestial body gravity computing engine, a dynamic computing engine and an API binding layer; the small celestial body gravity computing engine completes the computation of current gravitational acceleration of the probe according to a three-position polyhedron model or spherical harmonic coefficient parameters of the target celestial body; the dynamic computing engine generates a 3-freedom-degree/6-freedom-degree dynamic model of the probe according to the current parameter configuration, completes the motion and posture computation of the probe together with the small celestial body gravity computing engine according to the related data of an engine controlling quantity, an ephemeris database and a celestial body parameter database input via the API interface binding layer, and returns to a client program via the API interface binding layer, and at last the landing dynamic simulation of the small celestial body probe is completed, thus the client can call the simulation system via different language interfaces to transmit the related data.

Landing dynamic simulation system of small celestial body probe

The invention discloses a construction method of an environmental topological map. The method comprises the following steps: an indoor mobile robot saunters in the room to traverse the whole indoor environment, and acquires position coordinates of the robot every certain sampling time in the sauntering process, thereby obtaining the assembly of position coordinate points; the SOM (self-organizing map) is trained by using the position coordinate points to obtain a topological graph capable of primarily characterizing the environment; and neurons in the impediments and line segments for passing through the impediments are detected on the basis of the topological graph, and the points and line segments in the topological graph are removed, thereby obtaining the complete topological map capable of characterizing the environment. The constructed environmental topological map can be used for path planning for robot navigation, and can implement quick and efficient path planning.

Construction method of environmental topological map

The invention relates to the field of mobile robot track tracing, in particular to a robot track tracing method based on a Skinner operant conditioning automata. According to the robot track tracing method, firstly, an operation and state set of a robot is established, a possibility set from corresponding states to operations is established, and the sets are uniformly distributed; secondly, one operation is selected randomly, the corresponding position change is calculated, an orientation function is calculated according to a distance from a target track, action possibility distribution is adjusted based on an operant conditioning theory according to the orientation function, and a system entropy is calculated; thirdly, when the system entropy is close to a minimum value, studying is finished. At the moment, a possibility matrix is optimal. According to the robot track tracing method, operant conditioning behaviors of humans and animals can be well simulated, the intelligent level of robots can be improved to endow the robots with relatively strong abilities of self-learning, self-organization and self-adaption, self-control on condition parameters can be realized, and track tracing can be successfully carried out.

Robot track tracing method based on Skinner operant conditioning automata

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