CN105966594B - Unmanned aerial vehicle body structure, groove auxiliary positioning platform and its landing localization method - Google Patents
Unmanned aerial vehicle body structure, groove auxiliary positioning platform and its landing localization method Download PDFInfo
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- CN105966594B CN105966594B CN201610304388.3A CN201610304388A CN105966594B CN 105966594 B CN105966594 B CN 105966594B CN 201610304388 A CN201610304388 A CN 201610304388A CN 105966594 B CN105966594 B CN 105966594B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
- B64D45/06—Landing aids; Safety measures to prevent collision with earth's surface mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C2001/0045—Fuselages characterised by special shapes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention discloses a kind of unmanned aerial vehicle body structure, groove auxiliary positioning platform and its landing localization method, unmanned aerial vehicle body uses the inverted cone-shaped structure with seamed edge to design, and it is equipped with the groove auxiliary positioning platform that setting has the groove side of seamed edge, under the guidance of groove side and the constraint of groove side seamed edge, unmanned plane is voluntarily adjusted the angle to groove floor along groove side and is slided, overall use carries out physics auxiliary positioning, control cost is greatly lowered, and positioning accuracy of landing significantly improves.
Description
Technical field
The present invention relates to air vehicle technique field, a kind of specifically disclosed unmanned aerial vehicle body structure, groove auxiliary positioning platform
And its landing localization method.
Background technique
Referred to as " unmanned plane ", english abbreviation is " UAV " to UAV, is using radio robot and to provide for oneself
The not manned aircraft of presetting apparatus manipulation.Unmanned plane takes off to be received extensive attention with the control technology of landing, especially
The accurate landing technology of unmanned plane has been attempted to introduce the technologies such as GPS positioning, sonar ranging, infrared distance measurement.
Patent CN105182994A discloses a kind of method of unmanned plane pinpoint landing, in conjunction with GPS and computer vision skill
The method of the high-precision pinpoint landing of art: being to calculate unmanned plane to make a return voyage hovering highly first；Second step is to upload hovering point of making a return voyage
GPS coordinate and instruction of making a return voyage, make unmanned plane start to make a return voyage；Third step accurately adjusts unmanned plane level side using intelligent algorithm
Position is located at unmanned plane right above target level point；Vertical landing instruction finally is assigned to unmanned plane, unmanned plane drop to ground
Face.Patent CN105197252A discloses a kind of small drone landing method and system, method includes the following steps: nobody
Machine using GPS/INS integrated navigation system enter pre- drop zone, when unmanned plane enter pre- drop zone after and ground landing stage
Between establish communication, while airborne vision system searches for landing stage mark, and sends instructions to ground landing stage, then facial vision
System searches airborne identification light using relativeness, if detection objective fuzzy, or can not detect, it just sends instructions to airborne
Control module, ground vision system again detects identification light, and then detects unmanned plane, is finally completed using respective algorithms
The accurate positioning and tracking of unmanned plane, control the landing of unmanned plane, to realize the accurate autonomous positioning of unmanned plane.
Patent CN103955227A discloses a kind of control method that unmanned plane precisely lands, and reaches for controlling unmanned plane
Scheduled level point, which comprises the following steps: step 1: a sound source is placed in level point, is put on unmanned plane
Positive tetrahedron microphone array is set, one signal amplification circuit and filter circuit are set in the signal output end of each microphone；
Step 2: the unmanned plane is controlled using GPS navigation and is reached within the scope of the level point 10m；Step 3: unmanned plane is used
On processor calculate sound-source signal reach second microphone, third microphone, the 4th microphone and sound-source signal arrival first
The time delay of microphone；Step 4: it is calculated using processor according to sound source and the space geometry relationship and time delay value of microphone array
The yaw angle and pitch angle of unmanned plane；Step 5: will be right above Navigation of Pilotless Aircraft to level point according to yaw angle and pitch angle；Step
Rapid six: so that unmanned plane is precisely dropped to level point using pressure-altitude sensor.Patent CN103226356A discloses a kind of base
In the unmanned plane exact position landing method of image procossing, comprise the steps that (1) GPS satellite navigation system makes unmanned plane
In ground airplane parking area overhead；(2) range finder module of ultrasonic radar is combined using the fixed high meter of air pressure, control unmanned plane landing is liftoff
Distance；(3) vision module identifies that coarse positioning identifies domain in real time, and aircraft gate is identified in conjunction with RGB mean value method using Hough transformation,
Handle out target level point coordinate；(4) when unmanned plane drop to the threshold condition for reaching coarse positioning identification domain, using step
(3) algorithm carries out accurate positioning processing to identification domain is accurately positioned；(5) it using the departure handled out as input quantity, adopts
It is allowed to accurately land with dual pid algorithm control unmanned plane.
Patent CN204223179U discloses a kind of three rotor wing unmanned aerial vehicles that the flexible hook accurate positioning intensity of band is high, including
Landing gear, controller, infrared inductor, telescopic cylinder, hook, connecting rod, connection reinforcing bar, motor and propeller, the spiral
Paddle is fixed in the shaft of motor, is connected between two adjacent motors by connecting rod, below each connecting rod
There is landing gear, the controller is connected by connection reinforcing bar with corresponding motor, and telescopic cylinder is arranged at the controller bottom, described
The end of the telescopic rod of telescopic cylinder is fixed with hook, and the controller bottom is fixed with infrared inductor, the infrared induction
Device is angularly around the center line of controller one week.
Above-mentioned unmanned plane landing location technology is all made of the GPS positioning of current mainstream and auxiliary has image recognition positioning, sound
Sound auxiliary positioning, ultrasonic wave added positioning, infrared auxiliary positioning etc., control technology is complicated, control mechanism is with high costs, and drops
Positioning accuracy is fallen still to be difficult to further increase.
Summary of the invention
The purpose of the present invention is to provide a kind of unmanned aerial vehicle body structures, and the inverted cone-shaped structure with seamed edge is used to set
Meter, convenient for realizing physics auxiliary positioning when unmanned plane landing, to realize that control is at low cost and positions unmanned plane drop with high accuracy
Fall location technology.
It is another object of the present invention to provide a kind of groove auxiliary positioning platforms, suitable for assisting when unmanned plane landing
Positioning uses the groove side with seamed edge to carry out physics auxiliary positioning, and landing positioning accuracy is high, control is low in cost.
Yet another object of the invention is that providing a kind of unmanned plane landing localization method, unmanned aerial vehicle body is designed as
Inverted cone-shaped structure with seamed edge, and using groove side face there is the groove auxiliary positioning platform of seamed edge to carry out physics auxiliary and determine
Position, landing positioning accuracy is high, control is low in cost.
The present invention provides a kind of unmanned aerial vehicle body structure, is suitable for multi-rotor unmanned aerial vehicle, and fuselage is integrally in that top is big, bottom
Small retraction structure, comprising:
Body bottom surface, unmanned plane stop rear body bottom surface and directly coincide with groove floor；
Fuselage top surface, positioned at the top of fuselage；And
Multiple fuselage sides are crossed to form between body bottom surface and fuselage top surface, and with body bottom surface, fuselage top surface
Straight flange or arc side, unmanned plane stop rear body side directly with groove side-anastomosis；
The multiple fuselage side is crossed to form seamed edge, the seamed edge and the straight flange or arc side is total to vertex；
The region that a plurality of straight flange or arc side that the fuselage top surface is intersected with the multiple fuselage side enclose, along machine
Area after the vertical projection of body bottom surface, a plurality of straight flange or arc intersected greater than the body bottom surface with the multiple fuselage side
While the area in the region enclosed.
Preferably, the body bottom surface is plane, multiple fuselage sides are plane or curved surface.
Preferably, the fuselage side is four planes, four planes are crossed to form four from fuselage top surface to fuselage bottom
The straight line seamed edge that face extends, the fuselage is integrally in back taper.
Preferably, the fuselage side is four curved surfaces, four surface intersections form four from fuselage top surface to fuselage bottom
The camber line seamed edge that face extends, the fuselage is integrally in back taper.
The present invention also provides a kind of groove auxiliary positioning platforms, are suitable for auxiliary positioning when unmanned plane landing, are arranged inside
One groove, the groove include:
Groove floor, for carrying unmanned aerial vehicle body, unmanned plane stops rear body bottom surface and directly coincide with groove floor；
Groove top surface takes shape in the top of groove auxiliary positioning platform；And
Multiple groove sides are crossed to form between groove floor and groove top surface, and with groove floor, groove top surface
Straight flange or arc side, unmanned plane stop rear body side directly with groove side-anastomosis；
The multiple groove side is crossed to form seamed edge, the seamed edge and the straight flange or arc side is total to vertex；
The region that a plurality of straight flange or arc side that the groove top surface is intersected with the multiple groove side enclose, along recessed
Area after the vertical projection of groove bottom, a plurality of straight flange or arc intersected greater than the groove floor with the multiple groove side
While the area in the region enclosed；
The groove is integrally in the retraction structure that top is big, bottom is small.
Preferably, the groove floor is plane, multiple groove sides are plane or curved surface.
Preferably, the groove side is four planes, four planes are crossed to form four from groove top surface to groove-bottom
The straight line seamed edge that face extends, the groove is integrally in back taper.
Preferably, the groove side is four curved surfaces, four surface intersections form four from groove top surface to groove-bottom
The camber line seamed edge that face extends, the groove is integrally in back taper.
When unmanned plane enters the top of back taper connected in star, using the guidance of groove back taper side, so that unmanned plane is quasi-
Specified position is really dropped to, the general insufficient defect of sensor positioning accuracy is made up, greatly improves unmanned plane pinpoint landing
Precision.
Groove structure has certain seamed edge, can make the voluntarily correction with certain angle during unmanned plane decline
Function, when unmanned plane back taper contact aside is to the groove side of groove auxiliary positioning platform, under the action of partical gravity
Unmanned plane can be driven to rotate certain low-angle automatically and accurately face position with groove side, fixed so that unmanned aerial vehicle body is directed toward
Direction is slid.
The present invention also provides a kind of unmanned plane landing localization methods, include the following steps:
Step 1: the unmanned plane with above-mentioned unmanned aerial vehicle body structure drop to the recessed of above-mentioned groove auxiliary positioning platform
Above slot；
Step 2: under the guidance of groove side and the constraint of groove side seamed edge, unmanned plane along groove side voluntarily
It adjusts the angle and is slided to groove floor；
Step 3: unmanned aerial vehicle body bottom surface is contacted with groove floor to coincide, i.e. the landing of completion precise positioning.
The beneficial effects of the present invention are as follows:
1, unmanned aerial vehicle body uses the inverted cone-shaped structure with seamed edge to design, and is equipped with the groove side that setting has seamed edge
Groove auxiliary positioning platform, overall using physics auxiliary positioning is carried out, control cost is greatly lowered, and the positioning accurate that lands
Degree significantly improves.
2, groove side face has certain seamed edge, so that the voluntarily correction function with certain angle during unmanned plane decline
Can, unmanned plane can be driven to rotate certain low-angle automatically under the action of partical gravity and accurately face position with groove side,
So that unmanned aerial vehicle body is directed toward fixed-direction and is slid.
3, groove side can preferably be reduced friction, be made unmanned plane using the planar structure on curved surface substitution cone inclined-plane
It more successfully slides into the groove of groove auxiliary positioning platform.
Below in conjunction with the drawings and specific embodiments, the present invention will be further described.
Detailed description of the invention
Fig. 1 is the unmanned plane of embodiment 1 and the schematic perspective view of groove auxiliary positioning platform.
Fig. 2 is the unmanned plane of embodiment 1 and the schematic cross-sectional view of groove auxiliary positioning platform.
Fig. 3 is the unmanned plane of embodiment 2 and the schematic perspective view of groove auxiliary positioning platform.
Fig. 4 is the unmanned plane of embodiment 2 and the schematic cross-sectional view of groove auxiliary positioning platform.
In figure, 1- fuselage, 2- groove, 11- body bottom surface, 13- fuselage side, 21- groove floor, 22- groove top surface,
23- groove side.
Specific embodiment
The present invention can further be well understood by the specific embodiment of invention now given below, but they are not
Limitation of the invention.Not having the part described in detail in specific embodiment is using the prior art, well-known technique means and row
What industry standard obtained.
Embodiment 1
Incorporated by reference to referring to attached Fig. 1 and 2, the airframe structure of unmanned plane is using following design in the present invention: fuselage 1 is whole in top
The retraction structure that portion is big, bottom is small, comprising:
Body bottom surface 11, unmanned plane stop rear body bottom surface and directly coincide with groove floor 21；
Fuselage top surface, positioned at the top of fuselage；And
Multiple fuselage sides 13, between body bottom surface 11 and fuselage top surface, and with body bottom surface 11, fuselage top surface phase
Friendship forms straight flange or arc side, and unmanned plane stops rear body side and directly coincide with groove side 23；
The multiple fuselage side 13 is crossed to form seamed edge, the seamed edge and the straight flange or arc side is total to vertex；
The region that a plurality of straight flange or arc side that the fuselage top surface is intersected with the multiple fuselage side enclose, along machine
Area after the vertical projection of body bottom surface, a plurality of straight flange or arc intersected greater than the body bottom surface with the multiple fuselage side
While the area in the region enclosed.
In the present embodiment, the body bottom surface is plane, and the fuselage side is four planes, and four planes are crossed to form
Four straight line seamed edges extended from fuselage top surface to body bottom surface, the fuselage is integrally in back taper.Certainly, for fuselage positioning
Convenient and fuselage beauty, general body bottom surface is typically designed as plane, but if necessary, can also be according to needing to design
For curved surface.It is without restriction for the quantity selection of fuselage side, but at least two, so that it at least forms a rib
Side positions and slides in groove when constraining unmanned plane landing, so that it can drive unmanned plane under the action of partical gravity
Automatically it rotates certain low-angle and accurately faces position with groove side.
Correspondingly, the groove structure design being arranged in the groove auxiliary positioning platform of the present embodiment is as follows, and the groove 2 wraps
It includes:
Groove floor 21, for carrying unmanned aerial vehicle body 1, unmanned plane stop rear body bottom surface 11 directly with groove floor 21
It coincide；
Groove top surface 22 takes shape in the top of groove auxiliary positioning platform；
Multiple groove sides 23, between groove floor 21 and groove top surface 22, and with groove floor 21, groove top surface
22 are crossed to form straight flange or arc side, and unmanned plane stops rear body side 13 and directly coincide with groove side 23；
The multiple groove side 23 is crossed to form seamed edge, the seamed edge and the straight flange or arc side is total to vertex；
The region that a plurality of straight flange or arc side that the groove top surface is intersected with the multiple groove side enclose, along recessed
Area after the vertical projection of groove bottom, a plurality of straight flange or arc intersected greater than the groove floor with the multiple groove side
While the area in the region enclosed；
The groove is integrally in the retraction structure that top is big, bottom is small.
In the present embodiment, the groove floor is plane, and the groove side is four planes, and four planes are crossed to form
Four straight line seamed edges extended from groove top surface to groove floor, the groove is integrally in back taper.
The unmanned plane of unmanned aerial vehicle body structure with the present embodiment drops on the groove auxiliary positioning platform of the present embodiment
Localization method is fallen, is included the following steps:
Step 1: the unmanned plane with above-mentioned unmanned aerial vehicle body structure drop to the recessed of above-mentioned groove auxiliary positioning platform
Above slot；
Step 2: under the guidance of groove side and the constraint of groove side seamed edge, unmanned plane along groove side voluntarily
It adjusts the angle and is slided to groove floor；
Step 3: unmanned aerial vehicle body bottom surface is contacted with groove floor to coincide, i.e. the landing of completion precise positioning.
And it has a characteristic that
When unmanned plane enters the top of back taper connected in star, using the guidance of groove back taper side, so that unmanned plane is quasi-
Specified position is really dropped to, the general insufficient defect of sensor positioning accuracy is made up, greatly improves unmanned plane pinpoint landing
Precision.
Groove structure has certain seamed edge, can make the voluntarily correction with certain angle during unmanned plane decline
Function, when unmanned plane back taper contact aside is to the groove side of groove auxiliary positioning platform, under the action of partical gravity
Unmanned plane can be driven to rotate certain low-angle automatically and accurately face position with groove side, fixed so that unmanned aerial vehicle body is directed toward
Direction is slid.
Embodiment 2
Incorporated by reference to referring to attached drawing 3 and 4, the unmanned aerial vehicle body structure design of the present embodiment, groove auxiliary positioning platform it is recessed
Groove structure design and landing localization method are substantially the same manner as Example 1, but use in unmanned aerial vehicle body side, groove side
Curved design, correspondingly the straight line seamed edge variation in embodiment 1 is camber line seamed edge.Fuselage side, groove side are replaced using curved surface
For the planar structure on cone inclined-plane, friction can be preferably reduced, so that unmanned plane is more successfully slid into groove auxiliary positioning flat
In the groove of platform.
Certainly, although also being designed using the structure of four curved surface composition fuselage sides, groove side in the present embodiment,
The quantity of its curved surface is simultaneously without restriction, it is only necessary to meet the condition of " at least two ", allow for its at least shape in this way
At a seamed edge, positions and slide in groove when constraining unmanned plane landing, so that it can drive under the action of partical gravity
Unmanned plane is set to rotate certain low-angle automatically and accurately face position with groove side.It similarly, can also be by fuselage side, recessed
A part of slot side is designed as plane, and another part is designed as curved surface, it is only necessary to fuselage side, the corresponding position in groove side
It sets to be mutually matched and coincide.
The above disclosure is only a preferred embodiment of the invention, cannot limit the right of the present invention with this certainly
Range, therefore according to equivalent variations made by scope of the present invention patent, it is still within the scope of the present invention.
Claims (9)
1. a kind of unmanned aerial vehicle body structure, it is suitable for multi-rotor unmanned aerial vehicle, it is characterised in that: fuselage is integrally in that top is big, bottom
Small retraction structure, comprising:
Body bottom surface, unmanned plane stop rear body bottom surface and directly coincide with groove floor；
Fuselage top surface, positioned at the top of fuselage；And
Multiple fuselage sides are crossed to form straight flange between body bottom surface and fuselage top surface, and with body bottom surface, fuselage top surface
Or arc side, unmanned plane stop rear body side directly with groove side-anastomosis；
The multiple fuselage side is crossed to form seamed edge, the seamed edge and the straight flange or arc side is total to vertex；
The region that a plurality of straight flange or arc side that the fuselage top surface is intersected with the multiple fuselage side enclose, along fuselage bottom
Area after the vertical projection in face, a plurality of straight flange or arc side intersected greater than the body bottom surface with the multiple fuselage side enclose
The area in the region of synthesis；
Wherein, the quantity at least two of fuselage side, so that it at least forms a seamed edge, when constraining unmanned plane landing
Position and slide in groove so that its can be driven under the action of partical gravity unmanned plane rotate certain low-angle automatically and
Accurately position is faced with groove side.
2. unmanned aerial vehicle body structure according to claim 1, it is characterised in that: the body bottom surface is plane, Duo Geji
Body side is plane or curved surface.
3. unmanned aerial vehicle body structure according to claim 2, it is characterised in that: the fuselage side be four planes, four
A plane is crossed to form four straight line seamed edges extended from fuselage top surface to body bottom surface, and the fuselage is integrally in back taper.
4. unmanned aerial vehicle body structure according to claim 2, it is characterised in that: the fuselage side be four curved surfaces, four
A surface intersection forms four camber line seamed edges extended from fuselage top surface to body bottom surface, and the fuselage is integrally in back taper.
5. a kind of groove auxiliary positioning platform is suitable for auxiliary positioning when unmanned plane landing, it is characterised in that: it is recessed to be arranged inside one
Slot, the groove include:
Groove floor, for carrying unmanned aerial vehicle body, unmanned plane stops rear body bottom surface and directly coincide with groove floor；
Groove top surface takes shape in the top of groove auxiliary positioning platform；And
Multiple groove sides are crossed to form straight flange between groove floor and groove top surface, and with groove floor, groove top surface
Or arc side, unmanned plane stop rear body side directly with groove side-anastomosis；
The multiple groove side is crossed to form seamed edge, the seamed edge and the straight flange or arc side is total to vertex；
The region that a plurality of straight flange or arc side that the groove top surface is intersected with the multiple groove side enclose, along groove-bottom
Area after the vertical projection in face, a plurality of straight flange or arc side intersected greater than the groove floor with the multiple groove side enclose
The area in the region of synthesis；
The groove is integrally in the retraction structure that top is big, bottom is small；
Groove structure has certain seamed edge, can make the voluntarily correction function with certain angle during unmanned plane decline
Can, when unmanned plane back taper contact aside is to the groove side of groove auxiliary positioning platform, energy under the action of partical gravity
It drives unmanned plane to rotate certain low-angle automatically and accurately faces position with groove side, so that unmanned aerial vehicle body is directed toward fixation side
To being slid.
6. groove auxiliary positioning platform according to claim 5, it is characterised in that: the groove floor is plane, multiple
Groove side is plane or curved surface.
7. groove auxiliary positioning platform according to claim 6, it is characterised in that: the groove side is four planes,
Four planes are crossed to form four straight line seamed edges extended from groove top surface to groove floor, and the groove is integrally in back taper.
8. groove auxiliary positioning platform according to claim 6, it is characterised in that: the groove side is four curved surfaces,
Four surface intersections form four camber line seamed edges extended from groove top surface to groove floor, and the groove is integrally in back taper.
The localization method 9. a kind of unmanned plane lands, characterized by the following steps:
Step 1: the unmanned plane with unmanned aerial vehicle body structure according to any one of claim 1 to 4 drop to basis
Above the groove of groove auxiliary positioning platform described in any one of claim 5 to 8；
Step 2: under the guidance of groove side and the constraint of groove side seamed edge, unmanned plane is voluntarily adjusted along groove side
Angle is slided to groove floor；
Step 3: unmanned aerial vehicle body bottom surface is contacted with groove floor to coincide, i.e. the landing of completion precise positioning.
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| CN108016608B (en) * | 2016-10-31 | 2020-05-22 | 比亚迪股份有限公司 | Unmanned aerial vehicle undercarriage and unmanned aerial vehicle |
| CN106864763B (en) * | 2017-03-16 | 2019-09-13 | 山东大学 | A kind of accurate positioning that auxiliary unmanned plane lands and fixed device |
| CN107161345B (en) * | 2017-05-16 | 2023-09-12 | 深圳市阿拉丁无人机有限公司 | Bird nest type full-automatic unmanned aerial vehicle system of hiding |
| CN107600324A (en) * | 2017-09-12 | 2018-01-19 | 无锡宝宏船舶机械有限公司 | Possess and carry the clean-out cover peculiar to vessel that unmanned plane takes off |
| CN111516895B (en) * | 2020-04-29 | 2022-02-25 | 北京华力创通科技股份有限公司 | Accurate take-off and landing equipment for mooring unmanned aerial vehicle |
| CN113110536B (en) * | 2021-03-24 | 2021-10-01 | 南京晓庄学院 | Unmanned aerial vehicle auxiliary landing platform based on machine vision and landing method thereof |
| RU2770506C1 (en) * | 2021-04-30 | 2022-04-18 | Автономная некоммерческая организация высшего образования «Университет Иннополис» | Landing pad for multi-rotor vtol uav (options) |
| CN113401359A (en) * | 2021-05-28 | 2021-09-17 | 苏州臻迪智能科技有限公司 | Unmanned aerial vehicle stop device and unmanned aerial vehicle hangar |
| CN114237280B (en) * | 2021-11-24 | 2024-03-26 | 中飞赛维智能科技股份有限公司 | Method for accurately landing aircraft nest platform of unmanned aerial vehicle |
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| CN205574253U (en) * | 2016-05-10 | 2016-09-14 | 傲飞创新科技（深圳）有限公司 | Unmanned aerial vehicle fuselage structure and recess assistance -localization real -time platform |
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