CN104554724B - A kind of plant protection dedicated unmanned machine and driving method of low cost high capacity - Google Patents
A kind of plant protection dedicated unmanned machine and driving method of low cost high capacity Download PDFInfo
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- CN104554724B CN104554724B CN201410650156.4A CN201410650156A CN104554724B CN 104554724 B CN104554724 B CN 104554724B CN 201410650156 A CN201410650156 A CN 201410650156A CN 104554724 B CN104554724 B CN 104554724B
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Abstract
The present invention relates to a kind of plant protection dedicated unmanned machine and driving method of low cost high capacity, comprise rack-mounted aviation mechanism, attitude coutrol mechanism and spray medicine system. Described aviation mechanism is taking off of unmanned plane, and landing and adjustment flying height provide power output. Described attitude-adjusting system is course and the flight attitude of adjusting unmanned plane, guarantees that unmanned plane is on predetermined operation route. Described spray medicine system control plant protection unmanned plane sprays medicine system while arriving predetermined operating area and starts to spray medicine operation. The present invention adopts engine-driven cross-arranging type reversion bispin wing, and the lift of unmanned plane short transverse is provided, and has load capacity high, and the activity duration is long, operating efficiency is high; Adopt two pairs of electronic little rotors, the attitude adjustment of unmanned plane horizontal direction and the operation required thrust of flying is provided, making unmanned plane is full decoupled in three-dimensional driving, there is structure and control principle is simple, easy to maintenance, straighforward operation is simultaneously easy to learn, operation and maintenance low cost and other advantages.
Description
Technical field
The present invention relates to agricultural aviation plant protection field, relate in particular to the special low cost high capacity plant protection of a kind of agriculture and forestry plant protection unmannedMachine and driving method, in order to extend the activity duration, reduce the operation of unmanned plane simultaneously and control difficulty.
Background technology
If plant protection remotely pilotless owner carries out spray pesticide operation for grain or the industrial crops in extensive forest or farmland. ToolThe droplet that the high speed downwash flow that has High Rotation Speed rotor to produce can eject shower nozzle is realized secondary-atomizing, improves the folder to dropletBand ability, to improve the penetrability of liquid, to the plurality of advantages such as disease pest and weed prevention effect is good, and can long-distance remote controlOperation, makes straighforward operation personnel avoid being exposed in pesticide droplet, has improved dispenser security. Oneself becomes agriculture remotely pilotless machineOne of important development trend of forestry plant protection.
When the dispenser of plant protection unmanned plane, need be stabilized in apart from steady low-speed operations spray liquid on the high-altitude of crop 2-3 rice. At presentPlant protection unmanned plane adopts RC Goblin or many rotor wing unmanned aerial vehicles as job platform more.
Depopulated helicopter complex structure need to and highly constantly carry out the tune of flight attitude along with crop allocation in operation processWhole, and in the processes such as the lifting of helicopter, flight, rotation, have the coupled problem of lift and thrust to need to solve, add on the one handThe complexity of large helicopter machinery structure and control algolithm, also improves the complexity of its distant operation on the other hand, and it is right therefore to needNo-manned machine distant control person carries out professional training.
Many rotor wing unmanned aerial vehicles are as plant protection operation platform, little many of the relative helicopter of its load-carrying, main cause be adopted multiple littleSize rotor, efficiency is low, and because power supply can not be excessive, its continuous operation time is shorter. Therefore do at many rotor wing unmanned aerial vehiclesIn industry process, need repeatedly return dosing and change battery, inefficiency, has also caused the waste of the energy.
In sum, the working service of depopulated helicopter and many rotor wing unmanned aerial vehicles requirement is at present high, and input cost is also very high, like thisSeriously hinder the development of aviation plant protection, be therefore badly in need of a kind of low cost of invention, high capacity, simple in structure, agricultural plant protection operationSpecial unmanned plane and driving method.
Summary of the invention
, continuous operation ability low for existing many rotor wing unmanned aerial vehicles load capacity, helicopter unmanned plane cost is high, complex structure,Control the large problem of difficulty, the invention provides a kind of plant protection unmanned plane and driving method that drives decoupling zero, there is load capacity high,Activity duration is long, operating efficiency is high, operation and maintenance low cost and other advantages.
The technical scheme that the plant protection dedicated unmanned machine of a kind of low cost high capacity of the present invention adopts: comprise rack-mounted flyingRow mechanism, attitude coutrol mechanism and spray medicine system. Described aviation mechanism is taking off of unmanned plane, landing and adjustment flying heightPower output is provided. Described attitude coutrol mechanism is to adjust course and the flight attitude of unmanned plane, guarantees that unmanned plane is predeterminedOn operation route. Described spray medicine system control plant protection unmanned plane sprays medicine system while arriving predetermined operating area and starts to spray medicine operation.
Described aviation mechanism comprises fuel tank, engine, power transmission shaft, power transmission shaft support box and the cross-arranging type bispin wing. Described sends outMotivation is fixed on unmanned plane upper rack, utilizes fuel that fuel tank provides to be converted to the power output of engine. Described power transmission shaftComprise transverse axis and the longitudinal axis, described transverse axis one end connects with engine is coaxial, and the other end is moving engine by Bevel Gear TransmissionPower turns to 90 degree to export the longitudinal axis to; One end of the described longitudinal axis passes to horizontal stroke by the Bevel Gear Transmission in power transmission shaft support box by powerThe left side rotor shaft of the row formula bispin wing, the other end of the longitudinal axis passes to horizontal stroke by the Bevel Gear Transmission in power transmission shaft support box by powerThe right side rotor shaft of the row formula bispin wing, drives the reversion of cross-arranging type bispin wing constant speed, taking off and highly controlling liter is provided for unmanned planePower. The described cross-arranging type bispin wing is that two identical rotors of size dimension also pass through respectively left side rotor bearing and right side rotor shaftHold the left and right portion that is fixed on unmanned plane frame. Described fuel tank is fixed on frame lower, is positioned on the vertical line of unmanned plane center of gravity.
Described attitude coutrol mechanism comprises battery and little rotor assemblies. Described battery has two, and symmetry is fixed on fuel tankBoth sides, for little rotor assemblies provides power supply. Described little rotor assemblies has two pairs, and wherein a pair of little rotor assemblies is arranged symmetrically withIn the unmanned plane left and right sides in order to control unmanned plane course and seesaw; Another is arranged symmetrically in unmanned plane to little rotor assembliesBoth sides, front and back are in order to control the left and right flight of unmanned plane. Described little rotor assemblies comprise little rotor support, motor, little rotor andRadome fairing. Described little rotor support is fixed in unmanned plane frame, is supporting respectively motor and radome fairing. Described little rotorWith coaxial connection of output shaft of motor, rotate along with the rotation of motor, for the attitude adjustment of unmanned plane provides power. DescribedRadome fairing is that the little rotor of protection and other objects bump against.
Described spray medicine system comprises medicine-chest, spray boom, electric diaphragm pump and the shower nozzle of large volume. Described large volume medicine-chest comprisesMedicine-chest casing and grid type liquid dividing plate. Grid type liquid dividing plate is vertically fixed on large volume medicine-chest inwall with at the bottom of large volume medicine-chest case,Large volume medicine-chest is divided into multiple grid type regions that are interconnected, to prevent excessive the unbalance of unmanned plane that cause of liquid fluctuation. InstituteThe large volume medicine-chest casing of stating is used for holding spray medicine operation liquid used. Described medicine-chest, spray boom and membrane pump are fixed under framePortion, described electric diaphragm pump passes through liquid with certain pressure liquid being pumped bottom large volume medicine-chest by drug liquid tubePipe is transported to spray boom. On described spray boom, be fixed with shower nozzle. Described shower nozzle sprays medical liquid atomizing.
The driving method of the plant protection dedicated unmanned machine of a kind of low cost high capacity of the present invention, is characterized in that:
1) change engine throttle size, can control the two gyroplane rotate speeds of cross-arranging type, thereby control the lift of unmanned plane at vertical directionSize, and then the working depth of change unmanned plane.
2) change the little gyroplane rotate speed of the unmanned plane left and right sides, can control the course of unmanned plane: when two little rotors are rotated in the forward and turnWhen speed is identical, the flight of unmanned plane forward direction; When two little rotor counter-rotatings and rotating speed are when identical, the backward flight of unmanned plane; When two littleWhen rotor switched in opposite, the rotation of unmanned plane original place. When two little rotor rotating Vortexes but rotating speed when different, unmanned plane changes unmanned planeCourse.
3) change the little gyroplane rotate speed of both sides before and after unmanned plane, can control unmanned plane horizontal flight: be rotated in the forward when two little rotors andWhen rotating speed is identical, the flight of unmanned plane left-hand; When two little rotor counter-rotatings and rotating speed are when identical, the flight of unmanned plane dextrad.
The operational method of the plant protection dedicated unmanned machine of a kind of low cost high capacity of the present invention, comprises the steps:
1) plant protection unmanned plane is transported to behind operation area to ato unit, the reverse rotation of cross-arranging type bispin wing constant speed, remote control throttleSize is accelerated gyroplane rotate speed, and unmanned plane steadily flies away from ground. Keep throttle size, make unmanned plane be stabilized in suitable plant protection operationHighly;
2) electric diaphragm pump is opened in remote control, implements the operation of spray medicine, according to the driving method of plant protection unmanned plane, changes the left and right sides littleTurning to and rotating speed of rotor, remotely pilotless machine flies along crop row course; Change the little rotor in both sides before and after unmanned plane turn to andRotating speed, remotely pilotless machine changes spray medicine navigation channel, starts another spray of course along crop row medicine, completes whole until control unmanned planeThe spray medicine operation of operation area.
3) after field rotating medicine operation completes, remote closing electric diaphragm pump, stops spraying medicine, and remotely pilotless machine slowly lands,Close unmanned vehicle engine, transport operation area.
The beneficial effect of the plant protection dedicated unmanned machine of a kind of low cost high capacity of the present invention is:
1) adopt engine-driven cross-arranging type bispin wing, the lift of unmanned plane is provided, by means of large scale rotor raising efficientlyThe load capacity of unmanned plane and flying power.
2) two pairs of electric drive small size rotors that adopt unmanned plane both sides and front and back to arrange respectively, provide unmanned plane forward-reverse and a left sideThe thrust that right translation is required, such thrust configuration matches with the demand of the low speed water plane motion of plant protection unmanned plane in farmland.
3) plant protection unmanned plane of the present invention is full decoupled in three-dimensional motion driving, and therefore its structure and control principle are simple,Reduced input and maintenance cost, easy to maintenance, straighforward operation is simultaneously easy to learn.
4) large scale cross-arranging type bispin wing structure makes unmanned plane increase on the one hand spraying fabric width. Large wide cut is sprayed at nobody and goes straight up toIn the constant situation of airborne amount of liquid medicine, improve dispenser speed, reduced the power consumption of depopulated helicopter. Large chi on the other handVery little cross-arranging type bispin wing structure has increased again the lateral dimension of plant protection unmanned plane generation downwash flow, has expanded droplet on spraying fabric widthThe effectively covering of secondary air.
5) unmanned aerial vehicle platform of high load capability can carry the spray tank of large volume, can carry out long continuous operation, jointEconomize the time that need to return to dosing due to liquid deficiency, the overall operating efficiency of raising.
Brief description of the drawings
Fig. 1 is the front view of plant protection dedicated unmanned machine of the present invention.
Fig. 2 is the right view of plant protection dedicated unmanned machine of the present invention.
Fig. 3 is the top view of plant protection dedicated unmanned machine of the present invention.
Fig. 4 is the axonometric drawing of plant protection dedicated unmanned machine of the present invention.
Fig. 5 and Fig. 6 are the large volume medicine-chest casing with grid type liquid dividing plate of the present invention.
In figure: 1, the cross-arranging type bispin wing 2, power transmission shaft support box 3, little rotor 4, radome fairing 5, base support 6,Shower nozzle 7, spray boom 8, power transmission shaft 9, engine 10, frame 11, battery 12, fuel tank 13, large volume medicineCase
Detailed description of the invention
Below in conjunction with accompanying drawing, patent of the present invention is described further. Fig. 1,2,3 is the low cost high capacity of agriculture and forestry plant protectionPlant protection unmanned plane frame for movement three-view diagram.
The technical scheme that the plant protection dedicated unmanned machine of a kind of low cost high capacity of the present invention adopts: comprise rack-mounted flyingRow mechanism, attitude coutrol mechanism and spray medicine system.
Described aviation mechanism is taking off of unmanned plane, and landing and adjustment flying height provide power output. Described attitude adjustmentMechanism is course and the flight attitude of adjusting unmanned plane, guarantees that unmanned plane is on predetermined operation route. Described spray medicine system controlPlant protection unmanned plane processed sprays medicine system while arriving predetermined operating area and starts to spray medicine operation.
Described aviation mechanism comprises fuel tank 12, engine 9, power transmission shaft 8, power transmission shaft support box 2 and the cross-arranging type bispin wing 1.Described engine 9 is fixed on unmanned plane frame 10 tops, and the fuel that utilizes fuel tank 12 to provide is converted to the power of engine 9Output. Described power transmission shaft 8 comprises transverse axis and the longitudinal axis, and described transverse axis one end connects with engine 9 is coaxial, and the other end passes throughBevel Gear Transmission exports the electronic-controlled power steering of engine 9 90 degree to the longitudinal axis; One end of the described longitudinal axis is by power transmission shaft support box 2Bevel Gear Transmission power is passed to the left side rotor shaft of the cross-arranging type bispin wing 1, the other end of the longitudinal axis is by power transmission shaft support boxBevel Gear Transmission in 2 passes to power the right side rotor shaft of the cross-arranging type bispin wing 1, drives the cross-arranging type bispin wing 1 constant speed anti-Turn taking off and highly controlling lift is provided for unmanned plane. The described cross-arranging type bispin wing 1 is two identical revolving of size dimensionThe wing is also fixed on respectively the left and right portion of unmanned plane frame by left side rotor bearing and right side rotor bearing. Described fuel tank 12 is fixingIn frame 10 bottoms, be positioned on the vertical line of unmanned plane center of gravity.
Described attitude-adjusting system comprises battery 11 and little rotor assemblies. Described battery 11 has two, symmetrical fixingIn the both sides of fuel tank 12, for little rotor assemblies provides power supply. Described little rotor assemblies has two pairs, wherein a pair of little rotor assembliesBe arranged symmetrically in the unmanned plane left and right sides in order to control the course of unmanned plane and to seesaw; Another is arranged symmetrically with little rotor assembliesBefore and after unmanned plane, both sides are in order to control the left and right flight of unmanned plane. Described little rotor assemblies comprise little rotor support, motor,Little rotor 3 and radome fairing. Described little rotor support is fixed in unmanned plane frame, is supporting respectively motor and radome fairing. InstituteThe coaxial connection of output shaft of the little rotor 3 of stating and motor, rotate along with the rotation of motor, for the attitude adjustment of unmanned plane providesPower. Described radome fairing 4 is that the little rotor 3 of protection bumps against with other objects.
Described spray medicine system comprises medicine-chest 13, spray boom 7, electric diaphragm pump and the shower nozzle 6 of large volume. Described large volume medicineCase 13 comprises medicine-chest casing and grid type liquid dividing plate. Grid type liquid dividing plate is vertically fixed on large volume with at the bottom of large volume medicine-chest caseMedicine-chest inwall, is divided into multiple grid type regions that are interconnected by large volume medicine-chest 13, causes nobody to prevent that liquid fluctuation is excessiveMachine unbalance. Described large volume medicine-chest casing is used for holding spray medicine operation liquid used. Described medicine-chest 13, spray boom 7 and everyMembrane pump is fixed on frame lower, described electric diaphragm pump by drug liquid tube by liquid from pump large volume medicine-chest 13 bottoms, withCertain pressure is transported to spray boom 7 by drug liquid tube. On described spray boom, be fixed with shower nozzle 6. Described shower nozzle 6 is by medical liquid atomizingEjection.
The driving method of the plant protection dedicated unmanned machine of a kind of low cost high capacity of the present invention, is characterized in that:
1) change engine 9 throttle sizes, can control the cross-arranging type reversion bispin wing 1 rotating speed, thereby control unmanned plane vertical sideTo lift size, and then change the working depth of unmanned plane.
2) change little rotor 3 rotating speeds of the unmanned plane left and right sides, can control the course of unmanned plane: when two little rotors 3 are rotated in the forwardAnd when rotating speed is identical, the flight of unmanned plane forward direction; When two little rotor 3 counter-rotatings and rotating speed are when identical, the backward flight of unmanned plane;In the time of two little rotor 3 switched in opposite, the rotation of unmanned plane original place. When two little rotor 3 rotating Vortexes but rotating speed when different, unmanned planeChange unmanned plane course.
3) little rotor 3 rotating speeds of both sides before and after change unmanned plane, can control unmanned plane horizontal flight: when two little rotor 3 forwards revolveTurn and when rotating speed is identical the flight of unmanned plane left-hand; When two little rotor 3 counter-rotatings and rotating speed are when identical, the flight of unmanned plane dextrad.
The operational method of the plant protection dedicated unmanned machine of a kind of low cost high capacity of the present invention, comprises the steps:
1) plant protection unmanned plane is transported to behind operation area to ato unit 9, the 1 constant speed reverse rotation of the cross-arranging type bispin wing, remote controlThrottle size is accelerated gyroplane rotate speed, and unmanned plane steadily flies away from ground. Keep throttle size, make unmanned plane be stabilized in suitable plant protectionOperation height;
2) electric diaphragm pump is opened in remote control, implements the operation of spray medicine, according to the driving method of plant protection unmanned plane, changes the left and right sides littleTurning to and rotating speed of rotor 3, remotely pilotless machine flies along crop row course; Change turning of the unmanned plane front and back little rotor 3 in both sidesTo and rotating speed, remotely pilotless machine changes spray medicine navigation channel, starts another course along crop row spray medicine, completes until control unmanned planeThe spray medicine operation of whole operation area.
3) after field rotating medicine operation completes, remote closing electric diaphragm pump, stops spraying medicine, and remotely pilotless machine slowly lands,Close unmanned vehicle engine 9, transport operation area.
Claims (3)
1. a low cost high capacity plant protection unmanned plane for agriculture and forestry plant protection, it is characterized in that comprising rack-mounted aviation mechanism,Attitude coutrol mechanism and spray medicine system; Described aviation mechanism is taking off of unmanned plane, and landing and adjustment flying height provide power output;Described attitude coutrol mechanism is course and the flight attitude of adjusting unmanned plane, guarantees that unmanned plane is on predetermined operation route; DescribedSpray medicine system control plant protection unmanned plane sprays medicine system while arriving predetermined operating area and starts to spray medicine operation;
Described aviation mechanism comprises fuel tank, engine, power transmission shaft, power transmission shaft support box and the cross-arranging type bispin wing; Described engineBe fixed on unmanned plane upper rack, utilize fuel that fuel tank provides to be converted to the power output of engine; Described power transmission shaft comprises transverse axisAnd the longitudinal axis, described transverse axis one end connects with engine is coaxial, and the other end is spent defeated by Bevel Gear Transmission by the electronic-controlled power steering of engine 90Go out to the longitudinal axis; One end of the described longitudinal axis passes to power by the Bevel Gear Transmission in power transmission shaft support box the left side of the cross-arranging type bispin wingRotor shaft, the other end of the longitudinal axis passes to power by the Bevel Gear Transmission in power transmission shaft support box the right side rotor of the cross-arranging type bispin wingAxle, drives the reversion of cross-arranging type bispin wing constant speed, taking off and highly controlling lift is provided for unmanned plane; The described cross-arranging type bispin wing isTwo identical rotors of size dimension are also fixed on respectively the left and right portion of unmanned plane frame by left side rotor bearing and right side rotor bearing;Described fuel tank is fixed on frame lower, is positioned on the vertical line of unmanned plane center of gravity;
Described attitude coutrol mechanism comprises battery and little rotor assemblies; Described battery has two, and symmetry is fixed on two of fuel tankSide, for little rotor assemblies provides power supply; Described little rotor assemblies has two pairs, and wherein a pair of little rotor assemblies is arranged symmetrically in unmanned planeThe left and right sides is in order to control the course of unmanned plane and to seesaw; Another to little rotor assemblies be arranged symmetrically in before and after unmanned plane both sides in order toControl the left and right flight of unmanned plane; Described little rotor assemblies comprises little rotor support, motor, little rotor and radome fairing; Described is littleRotor support is fixed in unmanned plane frame, is supporting respectively motor and radome fairing; Described little rotor and the output shaft of motor are coaxialConnect, rotate along with the rotation of motor, for the attitude adjustment of unmanned plane provides power; Described radome fairing is protection little rotor and otherObject bumps against;
Described spray medicine system comprises medicine-chest, spray boom, electric diaphragm pump and the shower nozzle of large volume; Described large volume medicine-chest comprises medicine-chestCasing and grid type liquid dividing plate; Grid type liquid dividing plate is vertically fixed on large volume medicine-chest inwall with at the bottom of large volume medicine-chest case, by great RongLong-pending medicine-chest is divided into multiple grid type regions that are interconnected, to prevent excessive the unbalance of unmanned plane that cause of liquid fluctuation; Described large volumeMedicine-chest casing is used for holding spray medicine operation liquid used; Described medicine-chest, spray boom and membrane pump are fixed on frame lower, and described is electronicMembrane pump is transported to spray boom with certain pressure by drug liquid tube liquid being pumped bottom large volume medicine-chest by drug liquid tube; DescribedSpray boom on be fixed with shower nozzle; Described shower nozzle sprays medical liquid atomizing.
2. a kind of driving method of low cost high capacity plant protection unmanned plane of agriculture and forestry plant protection as claimed in claim 1, is characterized in that:
1) change engine throttle size, control the two gyroplane rotate speeds of cross-arranging type, thereby control the lift size of unmanned plane at vertical direction,And then the working depth of change unmanned plane;
2) the little gyroplane rotate speed of the change unmanned plane left and right sides, the course of control unmanned plane: when two little rotors are rotated in the forward and rotating speed phaseMeanwhile, unmanned plane forward direction flight; When two little rotor counter-rotatings and rotating speed are when identical, the backward flight of unmanned plane; When two little rotors turn toWhen contrary, the rotation of unmanned plane original place; When two little rotor rotating Vortexes but rotating speed when different, unmanned plane changes unmanned plane course;
3) the little gyroplane rotate speed of both sides before and after change unmanned plane, controls unmanned plane horizontal flight: when two little rotors are rotated in the forward and rotating speedWhen identical, the flight of unmanned plane left-hand; When two little rotor counter-rotatings and rotating speed are when identical, the flight of unmanned plane dextrad.
3. the operational method of the low cost high capacity plant protection unmanned plane of a kind of agriculture and forestry plant protection as claimed in claim 1, is characterized in thatComprise the steps:
1) plant protection unmanned plane is transported to behind operation area, ato unit, the reverse rotation of cross-arranging type bispin wing constant speed, remote control throttle is largeLittle acceleration gyroplane rotate speed, unmanned plane steadily flies away from ground; Keep throttle size, make unmanned plane be stabilized in suitable plant protection operation height;
2) electric diaphragm pump is opened in remote control, implements spray medicine operation, according to the driving method of plant protection unmanned plane, changes that the left and right sides is little revolvesTurning to and rotating speed of the wing, remotely pilotless machine flies along crop row course; Change turning to and rotating speed of the little rotor in unmanned plane both sides, front and back,Remotely pilotless machine changes spray medicine navigation channel, starts another spray of course along crop row medicine, completes the spray of whole operation area until control unmanned planeMedicine operation;
3) after field rotating medicine operation completes, remote closing electric diaphragm pump, stops spraying medicine, and remotely pilotless machine slowly lands, and closesClose unmanned vehicle engine, transport operation area.
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Families Citing this family (10)
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| CN106275446B (en) * | 2015-06-01 | 2020-05-05 | 深圳市大疆创新科技有限公司 | Fixed knot constructs and uses this fixed knot to construct flight equipment |
| CN107614121B (en) * | 2015-06-01 | 2019-10-25 | 深圳市大疆创新科技有限公司 | The sprinkling system of feedback with fluid flow and revolving speed |
| CN105831053A (en) * | 2016-03-21 | 2016-08-10 | 王钧丰 | Plant protection machine and control system therefor |
| CN106794897B (en) * | 2016-05-18 | 2019-12-13 | 深圳市创客工场科技有限公司 | Multi-rotor unmanned aerial vehicle |
| CN106155088B (en) * | 2016-08-17 | 2024-02-23 | 浙江经济职业技术学院 | Main and auxiliary medicine box combined gravity center stabilizing device and method and unmanned aerial vehicle |
| CN115176783A (en) * | 2017-01-13 | 2022-10-14 | 芜湖长捷航空动力科技有限责任公司 | Pesticide spraying system is spouted in unmanned helicopter of agricultural plant protection mechanical pressurization |
| JP6707761B2 (en) * | 2017-09-27 | 2020-06-10 | 株式会社石川エナジーリサーチ | Self-contained flight device with engine |
| CN108557076B (en) * | 2018-01-17 | 2021-10-29 | 安徽赛安安全设备有限责任公司 | Unmanned aerial vehicle based on full protection skeleton |
| CN110834725B (en) * | 2019-11-22 | 2024-01-09 | 深圳市飞盒科技有限公司 | Device and method for high-load omnibearing longitudinal axis two-rotor unmanned helicopter |
| CN113441455A (en) * | 2021-07-12 | 2021-09-28 | 中国科学技术大学 | High-voltage electrified water washing device and method based on dual-rotor unmanned aerial vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2002166893A (en) * | 2000-12-01 | 2002-06-11 | Yamaha Motor Co Ltd | Liquid tank loading structure for pilotless helicopter |
| CN203528819U (en) * | 2013-11-08 | 2014-04-09 | 珠海羽人飞行器有限公司 | Agricultural unmanned aircraft |
| CN203913106U (en) * | 2014-05-29 | 2014-11-05 | 河北鲲化航空科技有限公司 | A kind of agricultural aircraft hangs uses medicine liquid spray case |
| CN203865003U (en) * | 2014-06-04 | 2014-10-08 | 黄河科技学院 | Flight-type pesticide spraying equipment |
| CN203876984U (en) * | 2014-06-05 | 2014-10-15 | 长沙威航农业科技有限公司 | Novel remote control pesticide spraying helicopter |
| CN204236771U (en) * | 2014-11-14 | 2015-04-01 | 山东农业大学 | A kind of agricultural plant protection dedicated unmanned machine |
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