CN105292472A - Multi-purpose flexible-wing unmanned aerial vehicle - Google Patents
Multi-purpose flexible-wing unmanned aerial vehicle Download PDFInfo
- Publication number
- CN105292472A CN105292472A CN201410361164.7A CN201410361164A CN105292472A CN 105292472 A CN105292472 A CN 105292472A CN 201410361164 A CN201410361164 A CN 201410361164A CN 105292472 A CN105292472 A CN 105292472A
- Authority
- CN
- China
- Prior art keywords
- cabin
- wing unmanned
- fixed
- unmanned plane
- multipurpose
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention relates to a multi-purpose flexible-wing unmanned aerial vehicle. The multi-purpose flexible-wing unmanned aerial vehicle comprises a parawing system and a cabin system, wherein the cabin system is suspended at the lower part of the parawing system through hanging ropes; the parawing system comprises a parawing and parachute cords which are connected with the parawing; the cabin system comprises a cabin, an airspeed tube, a holder, a fuel tank, an engine and a propeller, wherein the airspeed tube, the holder, the fuel tank, the engine and the propeller are fixed on the cabin; the cabin is connected with the parachute cords through the hanging ropes; the airspeed tube is fixed at the front part of the cabin; the holder on which a camera is mounted is fixed at the middle part of the cabin; and a camera lens is vertically downwards; the engine is fixed at the back end of the cabin and connected with the propeller; and a protective cover is mounted on the external side of the propeller. The multi-purpose flexible-wing unmanned aerial vehicle provided by the invention has the advantages of simple structure, small volume, light weight, low cost, wide flight range, easy operation control and program-controlled autonomous flight; the multi-purpose flexible-wing unmanned aerial vehicle slides on the ground under a thrusting force generated by using the engine to drive the propeller and can take off at a low speed under a windless or breezy situation; and the multi-purpose flexible-wing unmanned aerial vehicle has low requirements on take-off and landing locations, is safe and reliable and is used in various ways.
Description
Technical field
The present invention relates to unmanned plane field, low latitude, is the soft wing unmanned plane of a kind of high-mobility, multipurpose, wheeled vehicle specifically.
Background technology
In order to be applicable to many-sided application requirement, people have developed a kind of can the ram air parachute of active flight.Manipulated by people's stay cord flight to umbrella under umbrella, be used for demonstration flight, advertising, frontier defense patrol and amusement flight.In propeller-parachuting airflight process, if be subject to the impact of air disturbance, very easily there is falling accident, the security presence some problems of aviator.Nowadays, some research institution, on the basis of propeller-parachuting, is equipped with remote operation mechanism, develops drone version propeller-parachuting.It instead of the mankind with Mechanical controllable device and manipulates umbrella, solves the safety problem of aviator, and compared with traditional unmanned plane, has the advantages such as lightweight, cost is low, stock is convenient.It can be pulled by people or vehicle from ground and take off, to take-off venue and landing site requirements low; Also from aerial input, vital task can be completed in combined type transport systems; May be used for prospecting in addition and scout surface weather pattern, carrying out aerial atmospheric contamination sampling and volcano monitoring etc.
But because remote controlled powered umbrella can only fly in visual range, flying distance is shorter, executable mission payload function is limited, and terrain prospecting, disaster area that can not be applied to needs long-distance large-range to cruise are searched and rescued or the tasks in areas such as goods and materials input.
Summary of the invention
In order to solve propeller-parachuting Problems existing, the invention provides the soft wing unmanned plane of a kind of novel high-mobility, multipurpose, wheeled vehicle.The unmanned function of the soft wing of this high-mobility, multipurpose, wheeled vehicle realizes the autonomous flight under multiple-task, simple to operate, safe and reliable, cost is low.
The technical scheme that the present invention is adopted for achieving the above object is: the soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle, comprises paraglider system and nacelle system; The bottom of paraglider system leads to hanging rope and hangs nacelle system;
Described paraglider system comprises parafoil and connected umbrella rope;
Described nacelle system comprises cabin and is fixed on pitot, The Cloud Terrace, fuel tank, driving engine and the screw propeller on cabin; Described cabin is connected with umbrella rope by hanging rope; Described pitot is fixed on front portion, cabin, the The Cloud Terrace that pick up camera is housed to be fixed in the middle part of cabin and camera lens vertically downward; Driving engine is fixed on rear end, cabin, and is connected with screw propeller, outside screw propeller, protective cover is housed.
Described protective cover is the guard of metal solder.
At least one rice of head distance protective cover of described pitot.
Described nacelle system also comprises receipts rope machine and is arranged on nacelle rear, is connected with parafoil by the control wire connected.
Described nacelle system also comprises three wheels, and first wheel is fixed on the below of front portion, cabin, two other be fixed on nacelle rear below and relative to first wheel symmetry.
Described nacelle system also comprises GPS and magnetic compass module, wireless data transfer module, flight controller, Inertial Measurement Unit, rotation speed measurement unit; Described GPS and magnetic compass module are fixed on the front end of engine room inside; Wireless data transfer module, flight controller, Inertial Measurement Unit are fixed on engine room inside; Described flight controller and Inertial Measurement Unit are all arranged in the middle part of the body of cabin by four groups of steel cable vibration isolators; Described rotation speed measurement unit is arranged on driving engine rotating disk side.
The X-axis line of described GPS and magnetic compass module and Inertial Measurement Unit, the axis of pitot are all parallel with the line of thrust of screw propeller.
Described paraglider system also comprises two Inertial Measurement Units and is integrated in GPS module, data acquisition plate module, wireless data transfer module, the magnetic compass on one piece of circuit card; Described circuit card is positioned at the center of parafoil lower floor, and two Inertial Measurement Units are fixed on circuit card both sides and symmetrical, and on chord length direction, are positioned at same straight line with circuit card.
The present invention has following beneficial effect and advantage:
1. structure of the present invention is simple, volume is little, lightweight, cost is low, flight range is wide, operation controls easily, multiple-task can be realized under autonomous navigation flight.
2. the present invention can independently strike sparks, the thrust produced by motivity and screw propeller is in ground taxi, and can realize taking off with less speed in calm or gentle breeze situation, for taking off, landing place requires very low, safe and reliable, occupation mode is various, can be used as the scouting search and rescue that aerial platform carries out disaster, also can as target drone, real-time Communication for Power relaying etc.
3. being arranged on parafoil by sensor is the attitudes vibration measuring parafoil in order to more promptly and accurately, reduce due to flexibly connecting and the Attitude estimation deviation that causes and departure between umbrella body and cabin, thus make control more promptly and accurately, strengthen the stability of soft wing unmanned plane during flying.
4. use pitot can measure the atmospherical drag that soft wing unmanned plane runs in flight course, and the wind in automatic decision autonomous flight disturbs power size, improves countermeasures, improves the safety of soft wing unmanned plane during flying.
The X-axis line of 5.GPS and magnetic compass module and Inertial Measurement Unit, the axis of pitot is parallel with the line of thrust of screw propeller can guarantee that navigation information measures the accuracy obtained, and reduces the coupling of three axis informations.
Accompanying drawing explanation
Fig. 1 is the structural representation of the soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle of the present invention.
Fig. 2 is paraglider system structural representation of the present invention.
Fig. 3 is nacelle system structural representation of the present invention.
Fig. 4 is the control system functional block diagram of the soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle.
Fig. 5 is fundamental diagram of the present invention.
In figure: 1 parafoil, 2-1GPS and magnetic compass module, 2-2 data acquisition board, 2-3 wireless data transfer module, 3,4 Inertial Measurement Units, 5-1 umbrella rope, 5-2 hanging rope, 5-3 control wire, 6GPS and magnetic compass module, 7 fuel tanks, 8-1 pitot, 8-2 air computing machine, 9 wireless data transfer modules, 10 flight controllers, 11 Inertial Measurement Units, 12 The Cloud Terraces, 13 receive rope machine, 14 wheels, 15 rotation speed measurement unit, 16 driving engines, 17 screw propellers, 18 protective covers, 20 cabins.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in further detail.
As shown in Figure 1, structure of the present invention mainly comprises substantially: flexible ram air parachute system, nacelle system.Wherein the bottom of flexible ram air parachute connects suspension cabin by umbrella rope.
The attitude data of parafoil is aloft important parameter, and the present invention is provided with two Inertial Measurement Units on parafoil, a GPS positioning unit, a magnetic compass unit, a data acquisition board, a data transmission module.Being arranged on by sensor on parafoil is the attitudes vibration measuring parafoil in order to more promptly and accurately, reduce due to flexibly connecting and the Attitude estimation deviation that causes and departure between umbrella body and cabin, thus make control more promptly and accurately, strengthen the stability of soft wing unmanned plane during flying.Data acquisition board is for gathering the data of Inertial Measurement Unit, GPS and magnetic compass, and packing sends to data transmission module, is wirelessly sent to flight control system, to carry out data processing through data transmission module.
Cabin is machine body frame shelf structure; this construction reduce soft wing unmanned plane causes inner important devices to damage possibility because of collision; various kinds of sensors, driving circuit, receipts rope machine, flight control system, driving engine and The Cloud Terrace etc. are installed in machine frame inside, and frame can protect device in cabin by actv..Cabin periphery is mainly provided with wheel, pitot, fuel tank etc.Driving engine and screw propeller are arranged on the afterbody of cabin body, for cabin provides thrust forward, are the power that soft wing unmanned plane aloft flies.Wheel is arranged on bottom, cabin, works the effect of sliding on the ground when autonomous sparking is taken off.Driving circuit is to amplify the signal of control circuit, drives and receives rope machine.After receipts rope machine connection propeller-parachuting, the control wire on edge, receives rope machine and pulls control wire to make parafoil produce deformation, change aerodynamic parameter, reach the object of control propeller-parachuting yaw angle pitch angle and flying speed.
Various kinds of sensors comprises: pitot, Inertial Measurement Unit, GPS, magnetic compass, rotation speed measurement unit.Pitot points to dead ahead, cabin, in the state of stabilized flight, accurately can measure the air speed in cabin, in conjunction with the measurement of GPS to propeller-parachuting ground velocity, can calculate size and the direction of wind speed, thus changes control policy, to reduce the impact of wind on powered paragliding.The Cloud Terrace is applicable to carrying out scanning monitoring on a large scale, can expand the visual range of pick up camera, and when searching and rescuing disaster area, interior target of finding plays vital effect on a large scale.The rotation of pick up camera is realized by the electrical motor in The Cloud Terrace, and the signal that electrical motor accepts self-controller accurately runs location, thus lock onto target.Inertial Measurement Unit in cabin, GPS and magnetic compass sensing unit calculate attitude and the location information in cabin by flight controller.Rotation speed measurement unit is used for measuring motor speed, forms closed loop control.Load on cabin is used for carrying out counterweight to soft wing unmanned plane, to ensure balance when flying, and is conducive to the fast and stable landing of soft wing unmanned plane.
Unmanned plane is also furnished with surface control station.Surface control station can every data of real-time monitored propeller-parachuting, comprise aloft various attitude information, velocity information, position coordinate, Fuel Oil Remaining, flight path etc.In addition, by surface control station, the soft wing unmanned plane of manipulation that can be artificial.
Flexible ram air parachute takes full advantage of aerodynamic force, and make himself to have the large feature of load carrying ability, such as, for the small-sized soft wing unmanned plane in the present invention, the ratio of its Maximum Loading Capacity and fuselage weight can reach 1:1 nearly, and this is that other aircraft are very inaccessible.
As shown in Figure 2,2-1GPS module, 2-2 data acquisition plate module, 2-3 wireless data transfer module, 2-4 magnetic compass four module integrations, on one piece of circuit card, are arranged on parafoil center-of-gravity position.Be that on the line of centers that is arranged on below flexible ram air parachute of straight line, two Inertial Measurement Units are equidistantly placed on center of gravity both sides, make an appointment 0.5 meter with two Inertial Measurement Units.Mounting means is fixing for sewing.
Umbrella rope 5-1, the part umbrella rope being connected to ram air parachute leading edge and centre is to hang cabin, the rope of the bottom be connected with this part umbrella rope is hanging rope 5-2, the part umbrella rope being connected to ram air parachute trailing edge is to control parafoil form, and the rope of the bottom be connected with this part umbrella rope is control wire 5-3.
As shown in Figure 3, nacelle system comprises some spaces, is convenient to hold install GPS and magnetic compass module 6, fuel tank 7, pitot 8-1, air computing machine 8-2, wireless data transfer module 9, flight controller 10, Inertial Measurement Unit 11, The Cloud Terrace 12, receives rope machine 13.GPS must be parallel with the line of thrust of screw propeller with the installation site of magnetic compass module 6, pitot 8-1, Inertial Measurement Unit 11.GPS and magnetic compass module 6 are as far as possible away from protective cover and the cabin body dividing plate of magnetic material, and the head of pitot 8-1 must lean out shelter-clad at least 1 meter.
Oil mass in fuel tank 7 can reach about 5L, and due to the characteristic that propeller-parachuting is fuel-efficient, can supply flight 2 hours in full oil mass situation, the flight time under equal oil mass, 7 fuel tanks were fixed in cabin far above the aircraft of other types.
Pitot 8-1 is arranged on body front, cabin, above front-wheel, is connected, supports the use with air data computer 8-2.Air data computer is connected with flight controller 10, provides air speed data accurately to flight controller.Wireless data transfer module 9 is responsible for and ground station communications, is arranged in the body of cabin.Flight controller 10 and Inertial Measurement Unit 11 use four groups of spring shock absorption links to be arranged in the middle part of the body of cabin.An Inertial Measurement Unit contains the accelerometer of three single shafts and the gyro of three single shafts, accelerometer is the acceleration signal for inspected object independent three axles in carrier coordinate system system, and gyro is for detecting the angular velocity signal of carrier relative to navigational coordinate system, with the object measured cireular frequency in three dimensions and acceleration/accel to calculate the attitude of object.
The Cloud Terrace 12 is arranged on cabin body medium position, direction, camera alignment ground, when carrying out disaster and searching and rescuing, for making a terrain reconnaissance, finds terrain object.Receive rope machine 13 and be arranged on body rear portion, cabin, be connected with control wire 5-3.Wheel 14 3, front-wheel is without turning to, and trailing wheel two, has cushioning effect.Rotation speed measurement unit 15 Hall components and parts, are arranged on and start rotating disk side.Driving engine 16 is direct-connected with screw propeller 17, rotating speed probably at 5000 revs/min within the scope of 7000 revs/min, the lift of the thrust that the soft wing soft wing unmanned plane produces by driving engine 16 rotating screw 17 and flexible ram air parachute 1 flies.The protective cover 18 that all-metal makes welding can prevent the accident caused because staff enters unintentionally the screw propeller in rotation, and the screw propeller that simultaneously also effectively prevent rotation meets other objects, both provides safety control to people and screw propeller.
As shown in Figure 4, control system is made up of parafoil sensing acquisition part, onboard flight control part, ground control segment.
Wherein, parafoil sensing acquisition part comprises GPS and magnetic compass module 2-1, data acquisition board 2-2, wireless data transfer module 2-3, Inertial Measurement Unit 3, Inertial Measurement Unit 4.Data acquisition board 2-2 and GPS is connected with magnetic compass module 2-1, Inertial Measurement Unit 3 and 4, wireless data transfer module 2-3.
Onboard flight control part comprises GPS and magnetic compass module 6, pitot 8-1, air computing machine 8-2, wireless data transfer module 9, flight controller 10, Inertial Measurement Unit 11, receives rope machine 13, rotation speed measurement unit 15.Flight controller 10 and GPS and magnetic compass module 2-1, pitot 8-1, air computing machine 8-2, Inertial Measurement Unit 11, wireless data transfer module 9, rotation speed measurement unit 15, The Cloud Terrace 12, receive rope machine 13 and be connected.
Ground control segment comprises surface control station, number passes link.
Parafoil sensing acquisition partial function: the data of data acquisition board Real-time Collection Inertial Measurement Unit, GPS, magnetic compass transmitter, and by wireless data sending link transmission to the flight controller be arranged on umbrella car, flight controller obtains the three-axis attitude information of parafoil, three axle velocity informations and three axis angular rate information, longitude and latitude height position information by utilizing these data analyses.
Onboard flight control part function: flight controller Real-time Collection is arranged on the data of Inertial Measurement Unit on umbrella car, GPS, magnetic compass, pitot sensor, and analyze the three-axis attitude information, three axle velocity informations and the three axis angular rate information that obtain umbrella car, longitude and latitude height position information, analyzes the wind speed information obtaining heading simultaneously.Simultaneously, in conjunction with the three-axis attitude information of parafoil, three axle velocity informations and three axis angular rate information, longitude and latitude height position information, by the output that controller calculates throttle rudder amount, rope machine actr is received in left and right, thus control the state of flight of soft wing unmanned plane.
Ground control segment function: surface control station carries out data interaction by wireless data link and on-board controller.By the data message such as flight path, flight attitude, flying speed of surface control station Real Time Observation unmanned vehicle, and can the Real Time Observation airborne tripod head video pictures etc. of shooting with video-corder.And people send the parameter such as flight path, flying speed, air objective position of instruction setting aircraft by surface control station, the flight of manipulation aircraft.
As shown in Figure 5, this soft wing unmanned plane can realize two kinds of offline mode: remote control distributor pattern and autonomous flight pattern.
Remote control distributor pattern: by remote controller and receiving wire, people is the manipulation carrying out powered paragliding.
Autonomous flight pattern: pass through flight controller, complete parafoil state transducing part, umbrella car state transducing part, the resolving of air speed transducing part sensor parameters, control the driving circuit of flight according to attitude and location information and receive rope machine, guiding unmanned plane automatically to fly aloft.
This soft wing unmanned plane manipulation flow process is probably: first under remote control distributor pattern, the upwind takeoff of soft wing unmanned plane, until flight after predetermined altitude, switch to autonomous flight pattern, and then by flight controller according to desired trajectory route, automatically adjust attitude in real time, carry out tracking flight.During flight, ground station carries out real-time, interactive by wireless transmission link and soft wing unmanned plane, can give different control task instructions.After airflight terminates, first soft wing unmanned plane arrives overhead, level point, and carrying out spirals cuts height, and when highly suitable, selected upper position, carries out contrary wind sparrow and fall, thus complete all aerial missions.
Claims (8)
1. the soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle, is characterized in that: comprise paraglider system and nacelle system; The bottom of paraglider system leads to hanging rope (5-2) and hangs nacelle system;
Described paraglider system comprises parafoil (1) and connected umbrella rope (5-1);
Described nacelle system comprises cabin (20) and is fixed on pitot (8-1), The Cloud Terrace (12), fuel tank (7), driving engine (16) and the screw propeller (17) on cabin (20); Described cabin (20) is connected with umbrella rope (5-1) by hanging rope (5-2); It is anterior that described pitot (8-1) is fixed on cabin (20), the The Cloud Terrace (12) that pick up camera is housed be fixed on middle part, cabin (20) and camera lens vertically downward; Driving engine (16) is fixed on cabin (20) rear end, and is connected with screw propeller (17), and protective cover (18) is equipped with in screw propeller (17) outside.
2. the soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle according to claim 1, is characterized in that the guard that described protective cover (18) is metal solder.
3. the soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle according to claim 1, is characterized in that head distance protective cover (18) at least one rice of described pitot (8-1).
4. the soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle according to claim 1, it is characterized in that described nacelle system also comprises receipts rope machine (13) and is arranged on cabin (20) rear portion, be connected with parafoil (1) by the control wire (5-3) connected.
5. the soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle according to claim 1, it is characterized in that described nacelle system also comprises three wheels (14), first wheel is fixed on anterior below, cabin (20), two other be fixed on cabin (20) rear portion below and relative to first wheel symmetry.
6. the soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle according to claim 1, is characterized in that described nacelle system also comprises GPS and magnetic compass module (6), wireless data transfer module (9), flight controller (10), Inertial Measurement Unit (11), rotation speed measurement unit (15); Described GPS and magnetic compass module (6) are fixed on inner front end, cabin (20); It is inner that wireless data transfer module (9), flight controller (10), Inertial Measurement Unit (11) are fixed on cabin (20); Described flight controller (10) and Inertial Measurement Unit (11) are all arranged in the middle part of the body of cabin by four groups of steel cable vibration isolators; Described rotation speed measurement unit (15) is arranged on driving engine (16) rotating disk side.
7. the soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle according to claim 1, is characterized in that the axis of the X-axis line of described GPS and magnetic compass module (6) and Inertial Measurement Unit (11), pitot (8-1) is all parallel with the line of thrust of screw propeller (17).
8. the soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle according to claim 1, is characterized in that described paraglider system also comprises two Inertial Measurement Units (3,4) and is integrated in GPS module (2-1), data acquisition plate module (2-2), wireless data transfer module (2-3), the magnetic compass (2-4) on one piece of circuit card; Described circuit card is positioned at the center of parafoil (1) lower floor, and two Inertial Measurement Units (3,4) are fixed on circuit card both sides and symmetrical, and on chord length direction, are positioned at same straight line with circuit card.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410361164.7A CN105292472A (en) | 2014-07-28 | 2014-07-28 | Multi-purpose flexible-wing unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410361164.7A CN105292472A (en) | 2014-07-28 | 2014-07-28 | Multi-purpose flexible-wing unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105292472A true CN105292472A (en) | 2016-02-03 |
Family
ID=55190463
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410361164.7A Pending CN105292472A (en) | 2014-07-28 | 2014-07-28 | Multi-purpose flexible-wing unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105292472A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107621391A (en) * | 2017-10-18 | 2018-01-23 | 深圳国技仪器有限公司 | Wind resistance ambient air samples aircraft |
| CN107804457A (en) * | 2017-11-22 | 2018-03-16 | 襄阳宏伟航空器有限责任公司 | A kind of parafoil umbrella rope protection device for umbrella wing unmanned plane |
| CN109367774A (en) * | 2018-09-29 | 2019-02-22 | 周欢东 | A kind of propeller-parachuting for carrying out aerial multi-mode operation that safety flexibility is high |
| CN109436318A (en) * | 2018-12-05 | 2019-03-08 | 中国工程物理研究院总体工程研究所 | Parafoil platform and its control method |
| CN111788118A (en) * | 2018-03-02 | 2020-10-16 | 高永旭 | Umbrella type unmanned aerial vehicle |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1337342A (en) * | 2000-08-14 | 2002-02-27 | 王文锁 | Wing-parachute aeroplane with inflated inner bag |
| WO2002070343A2 (en) * | 2001-01-11 | 2002-09-12 | Remote Aerial Services, Inc. | Remote control powered parafoil aircraft |
| CN102806990A (en) * | 2012-07-27 | 2012-12-05 | 沈阳航天新光集团有限公司 | Portable mapping unmanned aerial plane |
| CN202879795U (en) * | 2012-10-31 | 2013-04-17 | 襄阳宏伟航空器有限责任公司 | Multipurpose unmanned plane with flexible ram-type parawings |
| EP2660151A1 (en) * | 2012-04-30 | 2013-11-06 | Sunlight Photonics Inc. | Autonomous solar aircraft |
| CN203567946U (en) * | 2013-11-29 | 2014-04-30 | 航宇救生装备有限公司 | Dual-engine aerofoil unmanned plane |
| CN103809598A (en) * | 2014-03-12 | 2014-05-21 | 北京航空航天大学 | Rotor unmanned aircraft independent take-off and landing system based on three-layer triangle multi-color landing ground |
| CN203727641U (en) * | 2013-12-13 | 2014-07-23 | 珲春国遥博诚科技有限公司 | Reconnaissance drone |
| CN204021249U (en) * | 2014-07-28 | 2014-12-17 | 中国科学院沈阳自动化研究所 | The soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle |
-
2014
- 2014-07-28 CN CN201410361164.7A patent/CN105292472A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1337342A (en) * | 2000-08-14 | 2002-02-27 | 王文锁 | Wing-parachute aeroplane with inflated inner bag |
| WO2002070343A2 (en) * | 2001-01-11 | 2002-09-12 | Remote Aerial Services, Inc. | Remote control powered parafoil aircraft |
| EP2660151A1 (en) * | 2012-04-30 | 2013-11-06 | Sunlight Photonics Inc. | Autonomous solar aircraft |
| CN102806990A (en) * | 2012-07-27 | 2012-12-05 | 沈阳航天新光集团有限公司 | Portable mapping unmanned aerial plane |
| CN202879795U (en) * | 2012-10-31 | 2013-04-17 | 襄阳宏伟航空器有限责任公司 | Multipurpose unmanned plane with flexible ram-type parawings |
| CN203567946U (en) * | 2013-11-29 | 2014-04-30 | 航宇救生装备有限公司 | Dual-engine aerofoil unmanned plane |
| CN203727641U (en) * | 2013-12-13 | 2014-07-23 | 珲春国遥博诚科技有限公司 | Reconnaissance drone |
| CN103809598A (en) * | 2014-03-12 | 2014-05-21 | 北京航空航天大学 | Rotor unmanned aircraft independent take-off and landing system based on three-layer triangle multi-color landing ground |
| CN204021249U (en) * | 2014-07-28 | 2014-12-17 | 中国科学院沈阳自动化研究所 | The soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107621391A (en) * | 2017-10-18 | 2018-01-23 | 深圳国技仪器有限公司 | Wind resistance ambient air samples aircraft |
| CN107804457A (en) * | 2017-11-22 | 2018-03-16 | 襄阳宏伟航空器有限责任公司 | A kind of parafoil umbrella rope protection device for umbrella wing unmanned plane |
| CN107804457B (en) * | 2017-11-22 | 2023-11-10 | 襄阳宏伟航空器有限责任公司 | Parafoil rope protection device for parafoil unmanned aerial vehicle |
| CN111788118A (en) * | 2018-03-02 | 2020-10-16 | 高永旭 | Umbrella type unmanned aerial vehicle |
| CN111788118B (en) * | 2018-03-02 | 2023-07-18 | 高永旭 | Umbrella type unmanned aerial vehicle |
| CN109367774A (en) * | 2018-09-29 | 2019-02-22 | 周欢东 | A kind of propeller-parachuting for carrying out aerial multi-mode operation that safety flexibility is high |
| CN109436318A (en) * | 2018-12-05 | 2019-03-08 | 中国工程物理研究院总体工程研究所 | Parafoil platform and its control method |
| CN109436318B (en) * | 2018-12-05 | 2023-08-29 | 中国工程物理研究院总体工程研究所 | Parafoil platform and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10723442B2 (en) | Adaptive thrust vector unmanned aerial vehicle | |
| CN201604796U (en) | Intelligent aerial photography unmanned aerial vehicle | |
| JP2023129723A (en) | Flight unit and control method of flight unit | |
| NL2017971B1 (en) | Unmanned aerial vehicle | |
| US9187173B2 (en) | Towable autogyro having a re-positionable mast | |
| US8366037B2 (en) | Towable aerovehicle system with automated tow line release | |
| US20200148387A1 (en) | Recovery System for UAV | |
| US20150136897A1 (en) | Aircraft, preferably unmanned | |
| NL2018003B1 (en) | Unmanned aerial vehicle | |
| CN102806990B (en) | Portable type mapping unmanned plane | |
| CA2970190C (en) | Aerodynamically shaped, active towed body | |
| US20060102798A1 (en) | Unmanned biplane for airborne reconnaissance and surveillance having staggered and gapped wings | |
| CN107402583B (en) | Light remote sensing sensor carrying device with power helium balloon | |
| CN104002963A (en) | Unmanned patrol aircraft for power transmission lines | |
| CN105292472A (en) | Multi-purpose flexible-wing unmanned aerial vehicle | |
| CN102272003A (en) | Automatic takeoff method for an aircraft with a flexible airfoil, and airfoil and aircraft | |
| Honda et al. | D-SEND project for low sonic boom design technology | |
| CN204021249U (en) | The soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle | |
| CN112638770B (en) | Safe unmanned aerial vehicle | |
| CN202935570U (en) | Portable mapping unmanned aerial plane | |
| CN203864994U (en) | Unmanned patrolling airplane for power transmission line | |
| Ranasinghe et al. | Development of gasoline-electric hybrid propulsion surveillance and reconnaissance VTOL UAV | |
| RU196085U1 (en) | UAV VERTICAL TAKEOFF AND LANDING | |
| RU2403184C1 (en) | Method for increasing unmanned aerial vehicle flight duration and device for its implementation | |
| RU117399U1 (en) | EARTH SURFACE AERONAUTICAL SYSTEM |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160203 |