CN105000186B - A kind of anti-drift unmanned vehicle of drop resistant - Google Patents
A kind of anti-drift unmanned vehicle of drop resistant Download PDFInfo
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- CN105000186B CN105000186B CN201510402303.0A CN201510402303A CN105000186B CN 105000186 B CN105000186 B CN 105000186B CN 201510402303 A CN201510402303 A CN 201510402303A CN 105000186 B CN105000186 B CN 105000186B
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Abstract
The present invention is a kind of anti-drift unmanned vehicle of drop resistant, including unmanned vehicle main body, unmanned vehicle main body is provided with least one rotor, unmanned vehicle main body is respectively arranged on the left side and the right side wing, an air bag is respectively equipped with each wing, the bottom of air bag has downwardly projecting projection, and two air bags are located in sustained height position, and two air bags are symmetrical arranged based on unmanned vehicle main body, air bag injects the gas for being lighter than air.The present invention is respectively equipped with air bag by two sides in unmanned vehicle main body, and when aircraft lands, air bag can serve as undercarriage；Aircraft fall machine, aircraft bombing it is born when can play buffering, the advantages of reducing the damage to unmanned vehicle main body；If aircraft falls on field or the water surface accidentally, aircraft can be made to bubble through the water column in the presence of air bag, it is to avoid aircraft submerged causes to damage, and improves the security performance of the present invention.In addition, the bottom of air bag has downwardly projecting projection, during spraying operation, projection can stop crosswind and reduce droplet drift, improve the utilization ratio of droplet.
Description
Technical field
The present invention relates to a kind of aircraft, and in particular to a kind of anti-drift unmanned vehicle of drop resistant.
Background technology
Agricultural aircraft aviation operating efficiency is high, such as in wheatland weed eradication operation, aviation is sprayed than ground machine efficiency high 5
~7 times, equivalent to 200~250 times of artificial spraying, and ability is assaulted by force, to burst, explosive pest and disease damage control effect
It is good；Do not limited by crop growing state, particularly plant growth is unintelligible to Feng Hanghou rows ridge, and aviation operation can solve plant growth
Later stage ground machine be difficult to go to the field operation the problem of.Compared with farm work, Aircraft idle job also has reduction operating cost, no
The characteristics of rut print can be left and crops etc. are damaged.
Currently used for agricultural aviation operation aircraft mainly include people driving large-scale fixed-wing agricultural aircraft, go straight up to
Aircraft, propeller-parachuting and many helighros of unpiloted fixed wing aircraft, single rotor helicopter, non co axial etc..
Manned aircraft operation efficiency high, but it is strict etc. in the presence of the special airport of needs, maintenance cost height, air traffic control
Problems.Unpiloted helicopter is due to without special airport, technical flight person, maintenance cost be low and aviation
The features such as control is few, and there is low flying height, operating efficiency and precision height, operation landform wide adaptability, it is more next
Extensive concern is more obtained in agricultural production.
But many helighros of unpiloted single rotor helicopter, non co axial are for the common personnel that are engaged in agriculture,
Price still seems expensive, and needs operating personnel to have certain science and culture basis, misoperation be easy to occur " falling machine ",
The air crash accident such as " aircraft bombing ", not only causes the heavy losses of aircraft in itself, and bring sternly to equipment and surface crops on machine
Damage again, while can also bring security threat to Ground Operation personnel, therefore, its safety issue used is that its is quick for restriction
One of key issue of development.Undercarriage is the important device of plant protection unmanned vehicle landing, is broken down air crash in aircraft
When can play certain cushioning effect, but current landing gear cushioning effect is very limited, currently needs exploitation badly a kind of new
Type landing gear, reduces the air crash loss of plant protection unmanned vehicle to greatest extent.
In addition, plant protection unmanned vehicle payload amount is small, therefore generally using high concentration low capacity during plant protection operation
Spraying operation mode, mist droplet particle size is smaller, and droplet is easily disturbed before crop canopies is entered by natural wind, is floated
Move, so that the drug effect to plant protection operation causes large effect.
The content of the invention
The present invention above-mentioned of the prior art not enough drifts about nobody there is provided a kind of drop resistant having a safety feature is anti-to overcome
Aircraft, can be greatly lowered the air crash loss of plant protection unmanned vehicle, and reduce the drift of droplet.
In order to achieve the above object, the technical scheme that the present invention takes：A kind of anti-drift unmanned vehicle of drop resistant, including nothing
People's aircraft body, two relative sides of the unmanned vehicle main body are respectively equipped with air bag, air bag and unmanned vehicle main body
Connection.
In such scheme, air bag is respectively equipped with by two sides in unmanned vehicle main body, when aircraft lands, gas
Capsule can serve as undercarriage；Aircraft fall machine, aircraft bombing it is born when can play buffering, reduce the damage to unmanned vehicle main body
Wound, if aircraft falls on the water surface accidentally, can make aircraft bubble through the water column in the presence of air bag, it is to avoid aircraft sinks
Enter and cause to damage in water, the security performance of the present invention is improved, in addition, air bag can stop crosswind and reduce droplet to a certain extent
Drift.
Further, above-mentioned unmanned plane main body is provided with least one rotor, and the profile of above-mentioned air bag is in dirigible shape.Using
Rotor driving can improve maneuverability, can also reduce the work accident odds such as the machine of falling, and improve the security of operation, fly
The air bag of ship shape can awing efficiently reduce the resistance of wind, lift endurance.
Further, the bottom of above-mentioned air bag has downwardly projecting projection.During spraying operation, during flight,
If experience crosswind is blown, projection can more preferably stop crosswind and reduce droplet drift, improve the utilization ratio of droplet.
Further, above-mentioned air bag injection is lighter than the gas of air.The buoyancy that air bag is produced can partially or completely be offset
The weight loaded in the deadweight of aircraft and operation gondola, so as to increase the payload amount of aircraft, improves operation
Efficiency.
Further, the relative both sides of above-mentioned unmanned vehicle main body are respectively equipped with wing, and air bag is fixed on wing.Fly
In row, wing can also provide certain lift, increase the payload amount of aircraft.
Further, above-mentioned unmanned vehicle main body is connected with wing by the first tie-beam and the second tie-beam.Pass through
Twin beams is connected, and can limit the wing free degree.
Further, for rocking of reducing that aircraft awing produces, above-mentioned first tie-beam passes through unmanned flight
The both sides of device bottom part body, the wing of unmanned vehicle main body both sides is separately fixed at positioned at unmanned vehicle main body both sides
On one tie-beam, unmanned vehicle main body can be rotated around the first tie-beam, the relative both sides in the bottom of unmanned vehicle main body
Neck is respectively equipped with, one end that the second tie-beam is connected with unmanned vehicle main body is stuck in neck, and the second tie-beam can be
Moved in neck.By controlling the second tie-beam to move in neck, it can be achieved to press from both sides between unmanned vehicle main body and wing
The change at angle, to adapt to the manipulation needs that aircraft flight process medium velocity and posture change, reduces aircraft and awing produces
Raw unstability.
Further, provided with multiple ribs arranged in same direction inside above-mentioned wing, rib outside is coated by moccasin,
Each rib is respectively equipped with the first through hole that can coordinate with the first tie-beam and the second through hole that can coordinate with the second tie-beam, the
One tie-beam passes through the first through hole of each rib, and the second tie-beam passes through the second through hole of each rib.The rib of arrangement can
To share the pressure that wing is subject to jointly, the shape of wing is kept.
Further, in order to ensure the shape stability of air bag, it is ensured that air bag will not be extruded in the air, roll and translation,
Ensure stability during aerial work, improve aviation homework precision, the inside of above-mentioned air bag is provided with outside support frame, support frame
Side is coated by moccasin, and the first tie-beam and the second tie-beam pass through air bag, and the first tie-beam and the second tie-beam with support
Skeleton is connected.
Further, in order to ensure the first tie-beam install reliability, above-mentioned unmanned vehicle bottom part body provided with card
Buckle assembly, the first tie-beam is fixed on unmanned vehicle bottom part body by snap component.Can make unmanned vehicle main body with
Wing, air bag connect into an entirety, prevent from coming off, and fast quick-detach can be conveniently realized again.
Beneficial effects of the present invention are as follows：
1st, the present invention is respectively equipped with air bag by two sides in unmanned vehicle main body, when aircraft lands, air bag
Undercarriage can be served as；Aircraft fall machine, aircraft bombing it is born when can play buffering, reduce the damage to unmanned vehicle main body
Wound, if aircraft falls on field or the water surface accidentally, can make aircraft bubble through the water column in the presence of air bag, it is to avoid fly
Row device submerged causes to damage, and improves the security performance of the present invention.
2nd, by the way of many air bags, rotor, fixed-wing are combined, conventional dirigible, helicopter, fixed-wing is combined and is flown
The advantage of machine.The profile of air bag is in dirigible shape, can awing efficiently reduce the resistance of wind, lifts endurance；
Full of the gas for being lighter than air in air bag, the buoyancy that air bag is produced can partially or completely offset the deadweight and operation of aircraft
The weight loaded in gondola, so as to increase the payload amount of aircraft, improves operating efficiency；Driven using heligyro
It is dynamic to improve maneuverability；Air bag is fixed on wing, in-flight, and wing can also provide certain lift, increase flight
The payload amount of device.
3rd, the bottom of air bag has downwardly projecting projection, during spraying operation, during flight, if meeting with crosswind
When blowing, projection can stop crosswind and reduce droplet drift, improve the utilization ratio of droplet.
4th, the bottom of unmanned vehicle main body is provided with neck and snap component, and wing can be realized relative to unmanned vehicle
The change of angle between main body, to adapt to the manipulation needs that aircraft flight process medium velocity and posture change, can make nobody again
Aircraft body connects into an entirety with wing, air bag, prevents from coming off, and can conveniently realize fast quick-detach.
Brief description of the drawings
Fig. 1 is the structural representation of the anti-drift unmanned vehicle of drop resistant of the embodiment of the present invention.
Fig. 2 is the underside structures schematic diagram of the unmanned vehicle main body of the embodiment of the present invention（Bottom plate is removed）.
Fig. 3 is A portions enlarged drawing in Fig. 2.
Fig. 4 is the turnable buckle structure schematic diagram of the embodiment of the present invention.
Fig. 5 is the schematic cross-sectional view of the air bag of the embodiment of the present invention.
Fig. 6 is the partial schematic diagram of the wing of the embodiment of the present invention.
Fig. 7 is the unmanned vehicle main body of the embodiment of the present invention and the assembling schematic diagram of tie-beam.
Embodiment
The present invention will be further described below in conjunction with the accompanying drawings, but embodiments of the present invention are not limited to this.
Embodiment
The structure of the anti-drift unmanned vehicle of drop resistant of the present embodiment is as shown in Fig. 1 to 7, including unmanned vehicle main body 1,
The anterior left and right sides of unmanned vehicle main body 1 and the left and right sides at rear portion are respectively symmetrically distributed with four rotors 10, nothing
Being respectively arranged on the left side and the right side on wing 3, each wing 3 for the middle part of people's aircraft body 1 is respectively equipped with an air bag 2, two gas
Capsule 2 is located in sustained height position, and two air bags 2 are symmetrical arranged based on unmanned vehicle main body 1.Noted in the air bag 2
Enter to be lighter than the gas of air, such as helium so that air bag 2 produce buoyancy can partially or completely offset the deadweight of aircraft with
And the weight loaded in operation gondola, so as to increase the payload amount of aircraft, improve operating efficiency；In-flight, machine
The wing 3 can also provide certain lift, equally can also increase the payload amount of aircraft.In spraying operation flight course,
The bottom loaded medicine-chest of aircraft, shower nozzle is typically disposed in wing 3 or/and the bottom surface of unmanned vehicle main body 1, and positioned at two air bags
Between 2, rotated in flight course by multiple rotors 10 of aircraft, can by pesticide spraying crop positive and negative.
In the present embodiment, the profile of above-mentioned air bag 2 is in dirigible shape, and the air bag 2 of dirigible shape can be provided in flight course
Climbing power as common dirigible, reduces the energy consumption of aircraft, can be good at lifting the endurance in flight course.Gas
Capsule 2 uses the streamlined contour of dirigible, and the tail end of air bag 2 is additionally provided with empennage 20, and such structural balloon awing also can
The effective resistance for reducing wind, lifts endurance.
Because the drugloading rate of aircraft is limited, so the decoction loaded in medicine-chest is typically high concentration, and in sprinkling
When, the medicine drop of sprinkling is very small, so during flight, if experience crosswind is blown, medicine drop is held
Skew is also easy to produce, the service efficiency reduction that can so cause medicine to drip, while therefore the operating efficiency of aircraft can also reduce, because
This, the bottom of above-mentioned air bag 2 has downwardly projecting projection 21, when being influenceed by crosswind, the projection 21 of the bottom of air bag 2
The effect for stopping crosswind influence can be played, improve droplet is influenceed to produce the phenomenon drifted about by crosswind, in addition, the horizontal stroke of projection 21
Section is tapered into from top to down, and the front end of projection 21 is cambered surface, can reduce the resistance being awing subject to.Air bag 2 exists
When aircraft does not have operation, it is to exist in the form of undercarriage, plays a supporting role；Occur in aircraft operation in the air
Failure or when having contingency generation, air bag 2 can provide a buffering landing when aircraft falls, even in pendant
When entering field or be waterborne, the complete of aircraft also can be significantly kept.
The bottom of above-mentioned unmanned vehicle main body 1 is provided with the first tie-beam 4 and the second tie-beam 5, and the second tie-beam 5 has
Two, the first tie-beam 4 is located at the rear of the second tie-beam 5, wherein the first tie-beam 4 is horizontally through unmanned vehicle main body 1
Outside bottom, and the left and right sides of two ends stretching unmanned vehicle main body 1 of the first tie-beam 4, the machine of the both sides of unmanned vehicle main body 1
The wing 3 is separately fixed on the first tie-beam 4 of respective side, and unmanned vehicle main body 1 can by a small margin turn around the first tie-beam 4
Dynamic, the angle of rotation is within 20 °, and the bottom of unmanned vehicle main body 1 is respectively arranged on the left side and the right side neck 11, the second connection
Beam 5 is stuck in the neck 11 of every side with one end that unmanned vehicle main body 1 is connected, and the second tie-beam 5 can be in neck 11
Interior movement, the other end of the second tie-beam 5 is connected with wing 3, and the bottom of unmanned vehicle main body 1 sets bottom plate, and bottom plate can be with
Stop the aperture position of neck 11, while limiting the stroke of the second tie-beam 5 movement.The inside of above-mentioned air bag 2 is provided with support rib
Frame 22, the outside of support frame 22 is coated by moccasin, and the first tie-beam 4 and the second tie-beam 5 are also through air bag 2, and the first connection
The tie-beam 5 of beam 4 and second is connected with support frame 22.When second tie-beam 5 is moved in neck 11 so that nobody flies
Row device main body 1 is rotated around the first tie-beam 4, the change of angle between unmanned vehicle main body 1 and wing 2 is realized, to adapt to
The manipulation that aircraft flight process medium velocity and posture change needs, and enables aircraft stabilized flight.In order to ensure the first company
The stability of the installation of beam 4 is connect, the set position of the first tie-beam 4 of the above-mentioned bottom of unmanned vehicle main body 1 correspondence offers groove
13, the position of the bottom respective grooves 13 of unmanned vehicle main body 1 is provided with snap component, and the snap component includes being located at groove 13
The limit fastener 121 at two ends and the turnable buckle 122 for being covered on groove 13, the both sides that buckle 122 may be reversed are respectively equipped with company
Buckle 1221 is connect, the bottom of unmanned vehicle main body 1 offers catching groove 14 respectively in the set position of correspondence connection buckle 1221, can
Overturn buckle 122 connection buckle 1221 can be with the bottom of unmanned vehicle main body 1 the snapping of catching groove 14, during assembling, first connection
In the insertion limit fastener 121 of beam 4, then turnable buckle 122 is covered on groove 13, passes through connection buckle 1221 and button
The snapping of groove 14 and avoid may be reversed buckle 122 come off, acted on simultaneously in limit fastener 121 and turnable buckle 122, by first company
Connect beam 4 and be limited in the bottom of unmanned vehicle main body 1, make it there is no other motions in addition to beam is to rotation, buckle 122 may be reversed
The first tie-beam 4 can be protected not come off in flight course from aircraft.Limit fastener 121 clasps the first tie-beam 4,
Ladder on ladder or projection, the first tie-beam 4 or the raised resistance in limit fastener 121 are set on the first tie-beam 4 simultaneously
Gear acts on the lower mobile effect of limitation, the first tie-beam 4 is not produced double swerve in flight course.
In the present embodiment, as shown in fig. 6, the inside of the wing 3 is provided with multiple ribs 31 arranged in same direction, rib
31 are spaced substantially equidistant, and the framework that all ribs 31 are constituted is coated by moccasin, and each rib 31 averraged the pressure that wing 3 is subject to
Power, enables wing 3 awing to keep original shape.Each rib 31 is respectively equipped with can coordinate with the first tie-beam 4 the
One through hole 311 and the second through hole 312 that can coordinate with the second tie-beam 5, the central line of the first through hole 311 of all ribs 31
Alignment, the center of the second through hole 312 of all ribs 31 is also aligned, and the first tie-beam 4 passes through the first of each rib 31
Through hole 311, the second tie-beam 5 passes through the second through hole 312 of each rib 31 so that the first tie-beam 4 and the second tie-beam 5 are hidden
In in wing 3, on the one hand avoiding, the exposed influence of tie-beam is attractive in appearance, on the other hand avoids tie-beam exposed and increases the wind of wing 3
Resistance.
The moccasin that above-mentioned wing 3 and air bag 2 are used is airship envelope, and airship envelope has explosion-resistance characteristic, improves aircraft
Safety coefficient.The support frame 22 of air bag 2 and the rib 31 of wing 3 are using the light materials such as aluminium alloy or carbon fiber, reduction
The weight of aircraft, so as to reduce energy consumption, lifts endurance.
The anti-drift unmanned vehicle of drop resistant of the present invention is in working flight, and the first tie-beam 4 is exactly to connect in the course of the work
Whole aircraft is connect and fixed, aircraft is not had excessive activity.When second tie-beam 5 is movable in neck 11,
Unmanned vehicle main body 1 and wing 2 and the angle of air bag 3 can be adjusted simultaneously, enables aircraft stabilized flight, adapted to simultaneously
The manipulation that aircraft flight process medium velocity and posture change needs.In the presence of the first tie-beam 4 and the second tie-beam 5,
Wherein the second tie-beam 5 is connected in the neck 11 of unmanned vehicle main body 1, and steering wheel is set in the bottom of unmanned vehicle main body 1
Control the second tie-beam 5 to be relatively moved in neck 11, the second tie-beam 5 is moved in the allowed band in neck 11
It is dynamic, keep level motionless in wing 2 so that the need for unmanned vehicle main body 1 is tilted to meet different flight attitudes, user
The angle of inclination of unmanned vehicle main body 1 can be changed in ground control cabinet manual control steering wheel, coordinate aircraft in the air
Pose is adjusted, the smooth flight of aircraft is ensure that；, can be by reducing nobody when aircraft, which moves ahead, produces inclination
Angle between aircraft body 1 and wing, makes wing continue to keep effective flight attitude, can either provide lift for flight,
Energy consumption can be reduced again, lift endurance.
The embodiment of invention described above, is not intended to limit the scope of the present invention..It is any in this hair
Made modifications, equivalent substitutions and improvements etc. within bright spiritual principles, should be included in the claim protection of the present invention
Within the scope of.
Claims (6)
1. a kind of anti-drift unmanned vehicle of drop resistant, including unmanned vehicle main body（1）, the unmanned vehicle main body（1）Phase
To two sides be respectively equipped with air bag（2）, air bag（2）With unmanned vehicle main body（1）Connection, the air bag（2）Bottom tool
There is downwardly projecting projection（21）, the unmanned vehicle main body（1）Relative both sides are respectively equipped with wing（3）, air bag（2）Gu
It is scheduled on wing（3）On, the unmanned vehicle main body（1）With wing（3）Pass through the first tie-beam（4）With the second tie-beam（5）
Connection, it is characterised in that first tie-beam（4）Through unmanned vehicle main body（1）The both sides of bottom, unmanned vehicle master
Body（1）The wing of both sides（3）It is separately fixed at positioned at unmanned vehicle main body（1）First tie-beam of both sides（4）On, nobody flies
Row device main body（1）The first tie-beam can be surrounded（4）Rotate；Unmanned vehicle main body（1）The relative both sides in bottom be respectively equipped with
Neck（11）, the second tie-beam（5）With unmanned vehicle main body（1）One end of connection is stuck in neck（11）It is interior, and the second connection
Beam（5）Can be in neck（11）Interior movement.
2. the anti-drift unmanned vehicle of drop resistant according to claim 1, it is characterised in that the unmanned vehicle main body
（1）It is provided with least one rotor（10）, air bag（2）Profile be in dirigible shape.
3. the anti-drift unmanned vehicle of drop resistant according to claim 1, it is characterised in that the air bag（2）Injection is lighter than
The gas of air.
4. the anti-drift unmanned vehicle of drop resistant according to claim 1, it is characterised in that the wing（3）Inside is provided with
Multiple ribs arranged in same direction（31）, rib（31）Outside is coated by moccasin, each rib（31）Being respectively equipped with can be with
First tie-beam（4）The first through hole of cooperation（311）With can be with the second tie-beam（5）The second through hole coordinated（312）, first connects
Connect beam（4）Through each rib（31）First through hole（311）, the second tie-beam（5）Through each rib（31）Second lead to
Hole（312）.
5. the anti-drift unmanned vehicle of drop resistant according to claim 1, it is characterised in that the air bag（2）Inside set
There is support frame（22）, support frame（22）Outside is coated by moccasin, the first tie-beam（4）With the second tie-beam（5）Through gas
Capsule（2）, and the first tie-beam（4）With the second tie-beam（5）And support frame（22）Connection.
6. the anti-drift unmanned vehicle of drop resistant according to claim 1, it is characterised in that the unmanned vehicle main body
（1）Bottom is provided with snap component, the first tie-beam（4）Unmanned vehicle main body is fixed on by snap component（1）Bottom.
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| CN201510402303.0A CN105000186B (en) | 2015-07-09 | 2015-07-09 | A kind of anti-drift unmanned vehicle of drop resistant |
Applications Claiming Priority (1)
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| CN201510402303.0A CN105000186B (en) | 2015-07-09 | 2015-07-09 | A kind of anti-drift unmanned vehicle of drop resistant |
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| CN105000186A CN105000186A (en) | 2015-10-28 |
| CN105000186B true CN105000186B (en) | 2017-09-26 |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US10858098B2 (en) | 2015-07-09 | 2020-12-08 | South China Agricultural University | Falling-resistant and anti-drifting unmanned aerial vehicle |
| CN105292474A (en) * | 2015-11-06 | 2016-02-03 | 中国航空工业经济技术研究院 | Aerial queue type agricultural unmanned aerial vehicle system |
| CN107539471A (en) * | 2016-06-28 | 2018-01-05 | 郑州航空工业管理学院 | A kind of ship wing multi-rotor unmanned aerial vehicle |
| CN106564580B (en) * | 2016-10-19 | 2019-02-19 | 南京达索航空科技有限公司 | A kind of dirigible |
| CN107352034A (en) * | 2017-06-14 | 2017-11-17 | 广州越城丰茂农林科技有限公司 | New golden-pomelo yellow twig Control Technology |
| CN108177787B (en) * | 2018-02-09 | 2021-09-17 | 重庆三峡学院 | Bridge detection unmanned aerial vehicle emergency safety landing device |
| CN111186586B (en) * | 2019-12-11 | 2022-11-18 | 贵州电网有限责任公司 | Smog emitter suitable for unmanned aerial vehicle |
| CN114348265B (en) * | 2022-03-07 | 2024-06-07 | 中国商用飞机有限责任公司 | Wing body fusion body and aircraft |
| CN115520317B (en) * | 2022-09-28 | 2023-06-20 | 江苏科技大学 | Sea ice image acquisition device and sea ice identification method |
| CN116215900B (en) * | 2023-03-07 | 2023-11-14 | 深圳技术大学 | Double-airbag unmanned aerial vehicle |
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| GB1117054A (en) * | 1967-05-30 | 1968-06-12 | Arthur Paul Pedrick | Gas turbine heated hot air buoyant airships |
| US3856238A (en) * | 1972-04-14 | 1974-12-24 | F Malvestuto | Aircraft transporter |
| US6860449B1 (en) * | 2002-07-16 | 2005-03-01 | Zhuo Chen | Hybrid flying wing |
| CN201305135Y (en) * | 2008-09-28 | 2009-09-09 | 河海大学 | Novel helicopter capable of flying and alighting on water surface |
| CN103274045A (en) * | 2013-05-10 | 2013-09-04 | 华南农业大学 | Duct airship helicopter |
| CN104724284B (en) * | 2015-03-25 | 2016-10-05 | 朱威 | A kind of many rotor diving unmanned vehicles and control method thereof |
| CN204916190U (en) * | 2015-07-09 | 2015-12-30 | 华南农业大学 | Unmanned vehicles that drifts about is prevented to anti falling |
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