CN105270627B - A kind of aerial charging promotes double UAV system of cruising ability - Google Patents
A kind of aerial charging promotes double UAV system of cruising ability Download PDFInfo
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- CN105270627B CN105270627B CN201510704012.7A CN201510704012A CN105270627B CN 105270627 B CN105270627 B CN 105270627B CN 201510704012 A CN201510704012 A CN 201510704012A CN 105270627 B CN105270627 B CN 105270627B
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Abstract
A kind of aerial charging promotes double UAV system of cruising ability, it is related to vehicle technology field, it is comprising female unmanned plane, sub- unmanned plane, charge docking mechanism in the air, female unmanned plane, sub- unmanned plane are joined together to form double UAV system by the docking mechanism that charges in the air, and the aerial docking mechanism that charges is made of the banjo for being fixedly mounted on docking control mechanism below female unmanned plane, being fixedly mounted on above sub- unmanned plane.It can solve the problems, such as the continuation of the journey of existing UAV system, can charge in the air, increase continuation of the journey, achieve the purpose that infinitely to continue a journey；Solve existing execution tasks interrupt defect, the inaccurate defect in position that long endurance is realized using 2 frame separate type unmanned planes；Solve the defects of load of existing unmanned plane and endurance cannot be flexible and changeable.
Description
Technical field：
The present invention relates to vehicle technology fields, and in particular to a kind of aerial charging promotes double unmanned plane systems of cruising ability
System.
Background technology：
UAV system on the market at present, it is maximum the problem of be continuation of the journey problem, either occupation rate is most in the world at present
High big boundary unmanned plane or the unmanned plane of some sector applications, general civilian UAV system endurance are more than 20 minutes, row
The UAV system endurance of industry application also only has 1-2 hours.Moreover, at present on the market completely without very long or nothing of continuing a journey
Limit the technology of continuation of the journey.
There is a kind of patented technology of UAV system continuation of the journey at present, be that unmanned plane is allowed to perform operation flight in the sky to soon
When out of power, start the second frame unmanned plane heaven and perform same task, first unmanned plane begins to make a return voyage automatically at this time
To departure location or to the charging place specified, then this unmanned plane is about to begin charging, continues after charging complete
It takes off, then the second frame unmanned plane gets off charging again, so recycles, and achievees the purpose that extend cruise duration；Certainly, first
When unmanned plane charges, artificial charging can be taken, unmanned plane can also be allowed to find charging automatically using machine vision
Ready position, then unmanned plane return ground rest on automatic charging achieved above, can take contact charge or it is non-contact
Wireless charging.
But any mode either mentioned above, when key task is performed, be constantly present interruption or
It is persistent discontinuous problem, because first unmanned plane and the second frame unmanned plane are to be detached from, first unmanned plane out of power
When specific location, not the second frame unmanned plane come just just corresponding position.Therefore, there are unmanned planes for this continuation of the journey technology
The defects of system continuation of the journey position is inaccurate.
Meanwhile also there is the defects of task separation performed：For example, first unmanned plane shooting key video sequence or figure
Piece, first unmanned plane out of power, can only leave charging with video camera at this time；Second frame unmanned plane is with other video camera weight
New execution task of taking off；Here details, which exists, interrupts or must merge processing after returning, very cumbersome, holds
Easily omit key message.
In addition, same load, using two frame unmanned planes of above-mentioned separation, can not realize long endurance；If
Same endurance and the load that can not realize bigger.Therefore, the load of existing unmanned plane and endurance cannot flexibly change.
Invention content：
The object of the present invention is to provide double UAV system that a kind of aerial charging promotes cruising ability, it can solve existing
The continuation of the journey problem of UAV system, can charge in the air, increase continuation of the journey, achieve the purpose that infinitely to continue a journey；Solve 2 framves of existing use
Separate type unmanned plane realizes execution tasks interrupt defect, the inaccurate defect in position of long endurance；Solve the load of existing unmanned plane
The defects of lotus and endurance cannot be flexible and changeable.
In order to solve the problems existing in background technology, the present invention adopts the following technical solutions：It include female unmanned plane,
Sub- unmanned plane, charge docking mechanism in the air, and female unmanned plane, sub- unmanned plane are joined together to form by the docking mechanism that charges in the air
Double UAV system, the aerial docking mechanism that charges is by being fixedly mounted on docking control mechanism below female unmanned plane, being fixedly mounted
Banjo composition above sub- unmanned plane.
As a further improvement on the present invention, the docking control mechanism includes an installation chassis, installation chassis upper table
Face is installed with fixed seat, and the end of fixed seat is equipped with gear reduction box servo motor, gear reduction box servo motor
Power output end is connect with sliding rail, and charging output precision positive terminal, the side setting limit switches of sliding rail are equipped on sliding rail
Position sensor, the other end of fixed seat are provided with butt hole, and the both sides of butt hole are provided with fiber alignment success sensor die
Block；The lower end of installation chassis is equipped with the docking shell of taper, and automatic focusing camera head module is equipped with outside docking shell；Charging
The lower end of output precision negative pole end and sliding rail is connected.
As a further improvement on the present invention, the banjo is taper, and the upper end is ferrule, under ferrule
End is equipped with charging input module positive terminal, and charging input module is equipped on the banjo side inner wall of ferrule lower end and is born
Extremely.
As a further improvement on the present invention, the charging output precision negative pole end, charging output precision positive terminal are equal
Connect with the battery supply in female unmanned aerial vehicle control system, fiber alignment success sensor assembly, limit-switch positions sensor,
Gear reduction box servo motor docks the/linear drive motor control module company of release with female unmanned aerial vehicle control system
It connects, limit-switch positions sensor is connect with gear reduction box servo motor.
As a further improvement on the present invention, the charging input module negative pole end, charging input module positive terminal are equal
It is connect with the charging circuit in sub- unmanned aerial vehicle control system, charging circuit is connect with the battery supply of sub- unmanned plane.
The present invention workflow be：
First, female unmanned plane, sub- unmanned plane docking flow be：
1st, the height for keeping sub- unmanned plane hovering certain first is stationary, and female unmanned plane flies to the upper of sub- unmanned plane
Sky, sub- unmanned plane are motionless；
2nd, female unmanned plane lower part installation automatic focusing camera head module, automatic focusing camera head module can do image knowledge
Not, using the technology of machine vision, the position of sub- unmanned plane upper end banjo is found, when female unmanned plane finds the accurate of plug
After position, that is, fly to above sub- unmanned plane, it is vertical to decline；
3rd, banjo enter docking shell after, once control system detect camera focus it is smaller than predetermined value or
Less than banjo height, control system is adjusted to docked flight pattern and completes to dock；
4th, after fiber alignment success sensor assembly senses banjo in place, signal is sent out, starter receiver reduction box is watched
Motor is taken, driving sliding rail locks banjo；
5th, when sliding rail is in locked position, charging output precision positive terminal is contacted with the ferrule of banjo end, from
And it is electrically connected with the charging input module positive terminal formation of its lower end；Output precision negative pole end charge under the drive of sliding rail, with
The input module cathode end in contact that charges forms electrical connection, is achieved in the purpose that female unmanned plane charges in the air to sub- unmanned plane；
6th, when female unmanned plane, the docking of sub- unmanned plane or keep female unmanned plane certain height of hovering stationary,
And sub- unmanned plane flies to below female unmanned plane and is docked.
2nd, female unmanned plane, sub- unmanned plane separation process be：
Ith, a few minutes before release, the rotor of promoter unmanned plane are started to work；
IIth, wait for sub- unmanned plane energy can support oneself weight and mounting task execution device when, send out
It orders to female unmanned plane；
IIIth, female unmanned plane starts starter receiver reduction box servo motor at this time, and driving sliding rail unclamps banjo；
IV then female unmanned plane slowly and sub- unmanned plane just departing from during this disengaging, female nothing can be allowed
The certain height of man-machine hovering is stationary, and sub- unmanned plane is detached from；
Vth, the height that sub- unmanned plane hovering can also be allowed certain is stationary, because in order to ensure the tasks carrying of mounting
Device work is not interrupted continuously, and female unmanned plane slowly up flies, disengaging docking mechanism, is flown back and replaced on ground battery or is filled
Electricity.
3rd, in task process, when female unmanned plane breaks down, sub- unmanned plane can carry female unmanned plane and fly back ground, increase
The reliability of system is added.
4th, the above-mentioned docking of repetitive cycling, separation process can be realized the long endurances work of double UAV system, charge in the air
Purpose.
Beneficial effects of the present invention are：
1st, it solves the problems, such as the continuation of the journey of existing UAV system, can charge in the air, increase continuation of the journey, reach either any
Unmanned plane when the task of execution, can promote the cruise duration of existing unmanned plane.
2nd, solution is existing realizes that the execution tasks interrupt defect of long endurance, position are inaccurate using 2 frame separate type unmanned planes
Defect.
3rd, the defects of load of the existing unmanned plane of solution and endurance cannot be flexible and changeable.
Description of the drawings：
Fig. 1 is the structural diagram of the present invention,
Fig. 2 is structure diagram when the hollow middle charging docking mechanism of the present invention is in the lock state,
Fig. 3 is the bottom sectional view of Fig. 2,
Fig. 4 is the right view of Fig. 3,
Fig. 5 is structure diagram when the hollow middle charging docking mechanism of the present invention is in release conditions,
Fig. 6 is the bottom sectional view of Fig. 5,
Fig. 7 is the right view of Fig. 6,
Fig. 8 is the circuit diagram of female unmanned plane in the present invention,
Fig. 9 is the circuit diagram of neutron unmanned plane of the present invention,
Figure 10 is the work flow diagram of the present invention,
Reference numeral：
1-mother unmanned plane；2-sub- unmanned plane；3-charge docking mechanism in the air；4-installation chassis；5-sliding rail；6-right
Plug；7-charging output precision negative pole end；8-fixed seat；9-charging output precision positive terminal；10-charging input module
Negative pole end；11-charging input module positive terminal；12-docking shell；13-ferrule；14-butt hole；
A-docking control mechanism；S-limit-switch positions sensor；M-gear reduction box servo motor；
N-mother's unmanned plane rotor motor；M-motor speed control module one；E1-battery supply one；U1-mother's unmanned plane
Cpu motherboard；U2-voltage-current sensor module one；U3-GPS receiver and compass module one；U4-fiber alignment successfully passes
Sensor module；The linear drive motor control module of U5-docking/release；U6-telemetering radio transceiver chip one；U7-nothing
Line electric control receiver module one；U8-automatic focusing camera head module；T1-antenna one；T2-antenna two；
Z-sub- unmanned plane rotor motor；Y-motor speed control module two；E2-battery supply two；U9-camera shooting head mould
Block；U10-charging circuit；U11-vision signal sending module；U12-sub- unmanned plane cpu motherboard；U13-voltage and current sensing
Device module two；U14-GPS receiver and compass module two；U15-telemetering radio transceiver chip two；U16-radio control
Receiver module two；U17-camera universal joint control module；T3-antenna three；T4-antenna four；T5-antenna five.
Specific embodiment：
Below in conjunction with the accompanying drawings, the present invention is described in detail.
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with attached drawing and specific implementation
Mode, the present invention will be described in further detail.It should be appreciated that the specific embodiments described herein are only explaining this
Invention, is not intended to limit the present invention.
With reference to Fig. 1-Figure 10, present embodiment uses following technical scheme：It includes female unmanned plane 1, sub- unmanned plane
2nd, charging docking mechanism 3, female unmanned plane 1, sub- unmanned plane 2 are joined together to form double by the docking mechanism 3 that charges in the air in the air
UAV system, the aerial docking mechanism 3 that charges is by being fixedly mounted on the docking control mechanism A of female 1 lower section of unmanned plane, being fixedly mounted
Banjo 6 above sub- unmanned plane 2 forms.
With reference to Fig. 2-Fig. 5, the docking control mechanism A includes an installation chassis 4, and peace is fixed in 4 upper surface of installation chassis
Equipped with fixed seat 8, the end of fixed seat 8 is equipped with gear reduction box servo motor M, the power of gear reduction box servo motor M
Output terminal is connect with sliding rail 5, and charging output precision positive terminal 9, the side setting limit switches of sliding rail 5 are equipped on sliding rail 5
Position sensor S, the other end of fixed seat 8 are provided with butt hole 14, and the both sides of butt hole 14 are provided with fiber alignment and successfully pass
Sensor module U4；The docking shell 12 of the lower end side of the being equipped with cone of installation chassis 4；Charge output precision negative pole end 7 and sliding rail 5
Lower end be connected, and pass through slideway and be equipped with below installation chassis 4.
With reference to Fig. 6, Fig. 7,6 side's of selection cone of banjo, the upper end is a ferrule 13 being vertically arranged, golden
The lower end for belonging to head 13 is equipped with charging input module positive terminal 11, is installed on the 6 side inner wall of banjo of 13 lower end of ferrule
There is charging input module negative pole end 12.
The limit-switch positions sensor S be a pair be separately positioned on 5 beginning of sliding rail, terminal limit switch group
Into.
The fiber alignment success sensor assembly U4 selects a pair of successfully LED that docks to dock successfully diode with a pair of
Composition.
Referring to Fig. 8, the control circuit of female unmanned plane 1 includes female unmanned plane rotor motor n, motor speed control mould
One m of block, one E1 of battery supply, female unmanned plane cpu motherboard U1, one U2 of voltage-current sensor module, GPS receiver and compass mould
One U3 of block, fiber alignment success sensor assembly U4, the linear drive motor control module U5 of docking/release, telemetering radio
One U6 of transceiver module, one U7 of radio control receiver module, automatic focusing camera head module U8, one T1 of antenna, two T2 of antenna,
Six mother unmanned plane rotor motor n connect six motor speed control modules one m, several one m of motor speed control module respectively
Connect respectively with female unmanned plane cpu motherboard U1, one E1 of battery supply after parallel with one another, one E1 of battery supply respectively with female unmanned plane
Cpu motherboard U1, the one U2 connections of voltage-current sensor module, one U2 of voltage-current sensor module, GPS receiver and compass mould
One U3 of block, one U6 of telemetering radio transceiver chip, one U7 of radio control receiver module, automatic focusing camera head module U8 are equal
Connect with female unmanned plane cpu motherboard U1, one U6 of telemetering radio transceiver chip, one U7 of radio control receiver module respectively with
One T1 of antenna, two T2 connections of antenna, charging output precision negative pole end 7, charging output precision positive terminal 9 with one E1 of battery supply
Connection, fiber alignment success sensor assembly U4, limit-switch positions sensor S, gear reduction box servo motor M with it is right
Meet/discharge linear drive motor control module U5 connections, limit-switch positions sensor S and gear reduction box servo motor M
Connection, and limit-switch positions sensor S is grounded.Automatic focusing camera head module U8 is fixedly mounted on the outside of docking shell.
Referring to Fig. 9, the control circuit of the sub- unmanned plane 1 includes sub- unmanned plane rotor motor z, motor speed control mould
Two y of block, two E2 of battery supply, charging circuit U10, vision signal sending module U11, sub- unmanned plane cpu motherboard U12, voltage electricity
Two U14 of two U13 of flow sensor module, GPS receiver and compass module, two U15 of telemetering radio transceiver chip, radio control
Two U16 of receiver module, camera universal joint control module U17, camera module U9, three T3 of antenna, four T4 of antenna, antenna five
T5, four unmanned plane rotor motor z connect four motor speed control modules two y, several two y of motor speed control module respectively
It is connect respectively with two E2 of battery supply, sub- unmanned plane cpu motherboard U12 after parallel with one another, two E2 of battery supply is electric with charging respectively
Road U10, camera universal joint control module U17, camera module U9 connections, charging input module negative pole end 12, charging input group
Part positive terminal 11 is connect with charging circuit U10, two U13 of voltage-current sensor module, GPS receiver and compass module two
U14, two U15 of telemetering radio transceiver chip, two U16 of radio control receiver module, camera universal joint control module U17 are equal
It is connect with sub- unmanned plane cpu motherboard U12, camera module U9 is connect with vision signal sending module U11, and vision signal sends mould
Five T5 of antenna is connected on block U11, is distinguished on two U15 of telemetering radio transceiver chip, two U16 of radio control receiver module
It is connected with three T3 of antenna, four T4 of antenna.
The principle of present embodiment is：Fixed point was flown to together after female unmanned plane was docked with sub- unmanned plane before this；
At this point, female unmanned plane propeller rotational flight, and lower prescription unmanned plane does not start；Fly to after job site, until it is female nobody
When machine battery electricity is soon insufficient, the propeller of sub- unmanned plane starts, and female unmanned plane of top unclamps the sub- unmanned plane of lower section；Under
Prescription unmanned plane is independently started to work；Female unmanned plane returns to ground, changes battery；After female unmanned plane changes battery, fly to again
Above sub- unmanned plane, docked, locked with lower prescription unmanned plane；After docking successfully, the propeller of sub- unmanned plane stops fortune
Row, female unmanned plane start to charge to sub- unmanned plane.Because this docking operation does not exceed 5 minutes, the electricity of sub- unmanned plane
Amount loss 10%, as long as the electricity of battery is supported 5 minutes or so, ensures that docking operation is smoothed out.Female unmanned plane can be with
It charges to sub- unmanned plane, general 10 minutes or so, it is possible to full of 10% electricity lost in sub- unmanned plane docking operation
Amount, in the process, sub- unmanned plane propeller is always stationary.Full of the electricity lost in sub- unmanned plane above-mentioned steps
Later, when the battery soon out of power of female unmanned plane, female unmanned plane returns to ground and changes battery, recycles whole above
Step.So cycle realizes the purpose of continuation of the journey for a long time.
Referring to Figure 10, the workflow of present embodiment is：
A, female unmanned plane 1, sub- unmanned plane 2 are checked before task start；
B, two radio controllers are opened；
C, female unmanned plane 1, sub- unmanned plane 2 are both placed on ground, and ensure spacing 10-20m, open 1 He of female unmanned plane
The power supply of sub- unmanned plane 2；
D, waiting and check GPS positioning LED state indicate, female unmanned plane 1, the GPS receiver of sub- unmanned plane 2 and compass mould
After the completion of block positions, female unmanned plane 1 and sub- unmanned plane 2 are docked manually；
E, offline mode is set to switch to double unmanned plane during flying patterns by chief aviation pilot（In such a mode, only female nothing
Man-machine 1 motor provides flying power）；
F, under the control of chief aviation pilot, female unmanned plane 1 carries sub- unmanned plane 2 and takes off, meanwhile, transmitted by two frame unmanned planes
State of flight, GPS positioning data, orientation and vision signal all controlled by telemetering radio transceiver chip（It is in office
In business, copilot can also make female unmanned plane 1 take off）；
G, in flight course, voltage-current sensor module monitors the battery capacity of female unmanned plane 1, sub- unmanned plane 2 in real time,
If sub- 2 electricity of unmanned plane is low, controllers can choose whether that female unmanned plane 1 is allowed to work on：If female unmanned plane 1 is allowed to continue
Work then carries sub- unmanned plane 2 when it sends out low battery warning and flies back transmitter site, and task is completed；If female unmanned plane 1 is allowed to stop
It only works, then female unmanned plane 1 directly carries sub- unmanned plane 2 and flies back transmitter site, and task is completed；
If h, female unmanned plane 1 sends out low battery warning, during without continuing to execute task, female unmanned plane 1 directly carries sub- nothing
Man-machine 2 fly back transmitter site, and task is completed；If female unmanned plane 1 sends out low battery warning, but when task still needs to continue, main driving
Member sends pre- offline mode signal to two frame unmanned planes, and the motor of promoter unmanned plane 2 enables it to support the weight of itself；
I, at this point, the linear drive motor control module U5 of docking/release is in releasing position, unclamp lower section son nobody
Machine 2, the height that female unmanned plane 1 will fly to sub- 2 top 15-25m of unmanned plane rapidly, and sub- unmanned plane 2 continues task, female unmanned plane
1 flies back transmitter site, and automaticallys cut off the power；
J, copilot helps female unmanned plane 1 to change new rechargeable battery, and open power supply, waits for GPS positioning；
K, after GPS positioning success, female unmanned plane is set docked flight pattern by chief aviation pilot, female unmanned plane receive son nobody
After the GPS location and altitude information of machine, female unmanned plane is flown to above sub- unmanned plane position at 20 meters；
L, video camera is opened and searches for sub- unmanned plane 2, and female unmanned plane 1 is locked if sub- unmanned plane 2 is found,
Control system can guide female unmanned plane 1 slowly to fly to sub- unmanned plane 2, once control system detects that camera focus compares predetermined value
Small or less than square cone height, control system is adjusted to docked flight pattern and completes to dock, the square cone machine of two unmanned planes
Tool position is corresponding；
M, at this point, if sub- unmanned plane 2 sends out low battery warning, sub- unmanned plane 2 is needed to stop task immediately and be flown back；If
Sub- unmanned plane 2 does not send out low battery warning, then works on, and whether fiber alignment success sensor assembly U4 detection docking arrive
Position；
N, if in place, berthing mechanism activates and locks following sub- unmanned plane for docking, meanwhile, two pairs of charge power supply terminals
It is charged with reference to, female unmanned plane 1 by charging circuit U10 to the battery of sub- unmanned plane 2, when battery is completely filled with or safety timer
When reaching preset value, charging is automatically stopped；If docking is not in place, repeatedly step l；
O, fiber alignment success sensor assembly U4 sends docking pass signal to ground, and chief aviation pilot becomes offline mode
For double unmanned plane during flying patterns；
P, the control of double UAV system can be realized in repetitive cycling step g- steps o.
It should be noted last that more than specific embodiment and embodiment are merely illustrative of the technical solution of the present invention
And it is unrestricted, although the present invention is described in detail with reference to example, it will be understood by those of ordinary skill in the art that, can with
Technical scheme of the present invention is modified or replaced equivalently, without departing from the spirit and scope of technical solution of the present invention,
It is intended to be within the scope of the claims of the invention.
Claims (1)
1. a kind of aerial charging promotes double UAV system of cruising ability, it is characterised in that it include female unmanned plane, it is sub nobody
Machine, charge docking mechanism in the air, female unmanned plane, sub- unmanned plane by the docking mechanism that charges in the air be joined together to form it is double nobody
Machine system, the aerial docking mechanism that charges is by being fixedly mounted on docking control mechanism below female unmanned plane, being fixedly mounted on sub- nothing
The banjo composition of man-machine top；
The docking control mechanism includes an installation chassis, and installation chassis upper surface is installed with fixed seat, fixed seat
End is equipped with gear reduction box servo motor, and the power output end of gear reduction box servo motor is connect with sliding rail, on sliding rail
Charging output precision positive terminal is installed, the side of sliding rail is provided with limit-switch positions sensor, and the other end of fixed seat is set
Butt hole is equipped with, the both sides of butt hole are provided with fiber alignment success sensor assembly；The lower end of installation chassis is equipped with taper
Docking shell, docking shell outside automatic focusing camera head module is installed；The lower end of charging output precision negative pole end and sliding rail
It is connected；
The banjo is taper, and the upper end is ferrule, and the lower end of ferrule is equipped with charging input module positive terminal,
Charging input module negative pole end is installed on the banjo side inner wall of ferrule lower end；
Described charging output precision negative pole end, charging output precision positive terminal with the battery electricity in female unmanned aerial vehicle control system
Source connect, fiber alignment success sensor assembly, limit-switch positions sensor, gear reduction box servo motor with mother nobody
The linear drive motor control module connection of docking/release in machine control system, limit-switch positions sensor subtract with gear
Fast case servo motor connection；
Described charging input module negative pole end, charging input module positive terminal with the charging electricity in sub- unmanned aerial vehicle control system
Road connects, and charging circuit is connect with the battery supply of sub- unmanned plane；
After the fiber alignment success sensor assembly senses banjo in place, signal, starter receiver reduction box servo are sent out
Motor, driving sliding rail lock banjo；When sliding rail is in locked position, charging output precision positive terminal and banjo end
Ferrule contact, so as to be electrically connected with the formation of the charging input module positive terminal of its lower end；Charging output precision negative pole end exists
Under the drive of sliding rail, end with charging input module cathode end in contact formation be electrically connected, be achieved in female unmanned plane antithetical phrase without
The man-machine purpose to charge in the air.
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| CN201510704012.7A CN105270627B (en) | 2015-10-27 | 2015-10-27 | A kind of aerial charging promotes double UAV system of cruising ability |
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| CN203005745U (en) * | 2012-11-22 | 2013-06-19 | 神翼航空器科技（天津）有限公司 | Remotely controlled aircraft with assistant endurance system and control system thereof |
| CN103434642A (en) * | 2013-08-20 | 2013-12-11 | 朱幕松 | Linked double-wing and double-rotor-wing vertical lifting aircraft |
| CN103995538B (en) * | 2014-05-12 | 2017-01-11 | 中国航空工业集团公司沈阳飞机设计研究所 | Air refueling control method based on image identification |
| CN104828252A (en) * | 2015-06-02 | 2015-08-12 | 冯圣冰 | Method for implementing aerial continuous voyage for unmanned aerial vehicle |
| CN205060016U (en) * | 2015-10-27 | 2016-03-02 | 深圳市飞研智能科技有限公司 | Charge in air and promote two unmanned aerial vehicle systems of duration |
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