CN105882954A - Hybrid-power unmanned aerial vehicle with four auxiliary wings and control method thereof - Google Patents
Hybrid-power unmanned aerial vehicle with four auxiliary wings and control method thereof Download PDFInfo
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- CN105882954A CN105882954A CN201610350995.3A CN201610350995A CN105882954A CN 105882954 A CN105882954 A CN 105882954A CN 201610350995 A CN201610350995 A CN 201610350995A CN 105882954 A CN105882954 A CN 105882954A
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000002485 combustion reaction Methods 0.000 claims abstract description 6
- 238000005096 rolling process Methods 0.000 claims description 15
- 239000002002 slurry Substances 0.000 claims description 14
- 238000009955 starching Methods 0.000 claims description 6
- 229920002472 Starch Polymers 0.000 claims description 4
- 235000019698 starch Nutrition 0.000 claims description 4
- 239000008107 starch Substances 0.000 claims description 4
- 230000008901 benefit Effects 0.000 abstract description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 7
- 230000005611 electricity Effects 0.000 description 5
- 230000007812 deficiency Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
- 238000005183 dynamical system Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D35/00—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions
- B64D35/02—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions specially adapted for specific power plants
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The invention discloses a hybrid-power unmanned aerial vehicle with four auxiliary wings and a control method thereof. The invention integrates the advantages of a helicopter and four rotor wings and the advantages of oil power and electric power to design a vertical take-off and landing unmanned aerial vehicle which adopts a structure of the helicopter as a main body and adopts the four rotor wings as an auxiliary oil-electricity hybrid-power system. The hybrid-power unmanned aerial vehicle comprises a main rotor wing, a vertical tail wing, a left-front auxiliary rotor wing, a right-front auxiliary rotor wing, a left-rear auxiliary rotor wing and a right-rear auxiliary rotor wing, which are six in number totally. The hybrid-power unmanned aerial vehicle is characterized in that the basic structure of the helicopter is adopted from the whole, but the common fixed-pitch propellers are replaced with the pitch-adjustable propellers of the main rotor wing of the traditional helicopter, and due to the replacement, the main rotor wing loses the function of controlling the flying direction, but the manufacturing cost is effectively reduced; and the control for the flying direction and the maneuvering action of the unmanned aerial vehicle is completed by the vertical tail wing and the four auxiliary rotor wings. The hybrid-power unmanned aerial vehicle disclosed by the invention has the advantages that the main rotor wing adopts an internal combustion engine as power so as to enhance the endurance capability of the unmanned aerial vehicle; and the other rotor wings adopt a brushless motor as power so as to improve the stability and the maneuverability of the unmanned aerial vehicle.
Description
Technical field
The invention belongs to aircraft manufacture field, be specifically related to a kind of hybrid power unmanned plane with four ailerons and
Its control method.
Background technology
Currently, the principal element of restriction Development of UAV is its dynamical system, on rotor wing unmanned aerial vehicle, and conventional dynamical system
System mainly has electronic and oil to move two kinds.Electronic unmanned plane is prone to handle, highly sensitive, but wind loading rating is poor, flying power is poor, especially
It is load heavier time, overcome gravity acting need to consume a large amount of electric energy；The dynamic unmanned plane wind loading rating of oil is strong, flying power strong, but
Handling difficulty, poor sensitivity, present small-sized oil moves the unmanned plane mode using control intake valve air inflow more and controls slurry
The rotating speed of leaf, the reaction to control signal is the most sluggish.
Nowadays, traditional helicopter framework and the most universal many rotors framework opened manufacture field at unmanned plane and all obtain
Rapid development, two kinds of frameworks are the most ripe, but but be respectively arranged with quality: helicopter consumes energy dynamic technology maturation relatively low, oily,
Use the dynamic design of oil that flying power can be greatly improved, but its control mode relying on change pitch to adjust flight makes main rotor
Requirement higher, add cost, and maintenance difficult；Many rotor structures are simple, cost is relatively low, easy to maintenance, but many rotors without
Man-machine power consumption is many, efficiency is low, and oil dynamic technology development is the most backward, limits its flying power.
Summary of the invention
In view of solving problem above, the present invention devises one and incorporates helicopter and four rotor structures, uses oil, electricity mixed
Close the novel framework unmanned plane of power, both can effectively reduce cost, the flying power of unmanned plane can be strengthened again.
It is contemplated that design a low cost, lifting capacity VTOL unmanned plane strong, long-endurance and control thereof
Method processed.Considering helicopter and the respective advantage of four rotors and deficiency, oil moves and electronic respective advantage and deficiency, this
Bright devise a based on helicopter framework, be that the oil of auxiliary, the vertical of electric mixed dynamic system rise with four rotor frameworks
Fall unmanned plane.
For reaching above-mentioned purpose, the technical solution used in the present invention is that a kind of hybrid power with four ailerons is unmanned
Machine and control method thereof, wherein hybrid power unmanned plane includes body, main rotor, vertical tail, four auxiliary rotors；On body
Portion arranges main rotor, and body both sides respectively arrange two auxiliary rotors, and body afterbody arranges vertical tail；Described four auxiliary rotors
Including auxiliary rotor behind left front auxiliary rotor, right front auxiliary rotor, left back auxiliary rotor and the right side, four auxiliary rotors are identical
The paddle of model, after left front auxiliary rotor and the right side, auxiliary rotor is for just to starch, and right front auxiliary rotor and left back auxiliary rotor are anti-slurry,
The spaced arrangement of positive and negative slurry, can effectively offset gyroscopic effect and air force moment of torsion effect；
The most described vertical tail uses the paddle of fixing pitch；Main rotor uses the paddle of fixing pitch, and unmanned plane is on the whole
Use the basic framework of helicopter, but the adjustable paddle of pitch of traditional Helicopter Main rotor is changed to common fixing pitch slurry
Leaf, makes main rotor lose the function controlling heading although this kind changes, but effectively reduces manufacturing cost.And it is unmanned
Machine heading and the control of maneuver, then completed by vertical tail and four auxiliary rotors.
The most described main rotor uses internal combustion engine to be power, and vertical tail and four auxiliary rotors use motor to be
Power；In the present invention, it is contemplated that it is the most ripe that the oil of helicopter moves technology, so design main rotor uses internal combustion engine to be power, make
Export for major impetus.The acting as of main rotor overcomes gravity acting, provides the lift departing from ground, its active force for unmanned plane
It is mainly manifested in vertical direction.In the big load such as Material Transportation and agricultural plant protection, the big application born a heavy burden, overcome fuselage and load
The gravity acting of thing is the main kinetic energy output of unmanned plane, and main rotor uses oil dynamic, the flying power of unmanned plane can be greatly improved.
Vertical tail and four auxiliary rotors use electronic, regulate and control brushless electric machine processed by electricity, and then drive paddle to rotate output kinetic energy.
These five rotors are mainly responsible for keeping the balance of fuselage, and control the maneuvers such as the turning of unmanned plane, break-in.Brushless electric machine
Stability is high, by electricity regulation and control system, exports accurately, is swift in response, the flying quality of unmanned plane can be greatly improved.
This unmanned plane has six rotors, is respectively as follows: the main rotor on conventional helicopters framework and vertical tail, X-type four
Rotor behind left front rotor on rotor framework, right front rotor, left back rotor and the right side.Main rotor uses internal combustion engine to be used as power, for oil
Dynamic, main rotor is changed into fixing pitch paddle by traditional adjustable paddle of pitch, is mainly responsible for overcoming gravity acting, carries for unmanned plane
For lift upwards.Fixing pitch paddle both can simplify unmanned plane structure, ease of assembly and maintenance, can effectively reduce into again
This；Vertical tail uses brushless electric machine to be used as power, and for electronic, is mainly responsible for anti-twisted power and the control fuselage overcoming main rotor to produce
Turn to, use the paddle of fixing pitch；Four auxiliary rotors use brushless electric machine to be used as power, and for electronic, coordinate with vertical tail,
Complete the actions such as the smooth flight of aircraft, and pitching, rolling and driftage.Four rotors use the paddle of same model, left front
After auxiliary rotor and the right side, auxiliary rotor is for just to starch, and right front auxiliary rotor and left back auxiliary rotor are anti-slurry, and positive and negative slurry is spaced
Arrangement, can effectively offset gyroscopic effect and air force moment of torsion effect.
The control method of the above-mentioned hybrid power unmanned plane with four ailerons, it includes situation:
(1) when unmanned plane vertically climbs: main rotor increase output offer lift, vertical tail increase output, four
The motor-driven output of individual auxiliary rotor, keeps fuselage balance；When unmanned plane the most vertically climbs, four auxiliary rotors are with main rotor altogether
It is all it and lift is provided；
(2) when unmanned plane vertical landing: main rotor reduces output, vertical tail reduces output, four auxiliary rotations
The motor-driven output of the wing, keeps fuselage balance；
(3) when unmanned plane flight forward: main rotor output keeps constant, vertical tail output keeps constant, left
Before front auxiliary rotor and the right side, auxiliary rotor does not works, auxiliary rotor operating, rear thrust upwards after left back auxiliary rotor and the right side
Drive fuselage turns forward, and the output of main rotor produces component backward, drives fuselage flight forward, flies forward when needs increase
During the speed of row, increase the output of auxiliary rotor behind left back auxiliary rotor and the right side, or increase the output of main rotor；
(4) when unmanned plane flight backward: main rotor output keeps constant, vertical tail output keeps constant, left
After rear auxiliary rotor and the right side, auxiliary rotor does not works, and left front auxiliary rotor and the operating of right the first two auxiliary rotor, front is upwards
Thrust drives fuselage to tilt backwards, and the output of main rotor produces component forward, drives fuselage to fly backward；When needs increase to
During the speed of rear flight, increase the output of auxiliary rotor before left front auxiliary rotor and the right side, or increase the output of main rotor
Power；
(5) when unmanned plane rolling to the left: main rotor output keeps constant, vertical tail output keeps constant,
Latter two auxiliary rotor left front, left does not works, and before the right side, latter two auxiliary rotor right operating, right side thrust upwards drives fuselage
Rolling to the left；
(6) when unmanned plane rolling to the right: main rotor output keeps constant, vertical tail output keeps constant,
Before the right side, latter two auxiliary rotor right do not work, latter two auxiliary rotor left front, left operates, and left side thrust upwards drives fuselage
Rolling to the right；
(7) when unmanned plane is gone off course to the left: main rotor output keeps constant, and vertical tail provides to the left for fuselage
Anti-twisted power；If main rotor is for just starching, vertical tail reduces output；If main rotor is for anti-slurry, vertical tail increases output；Right
Before, latter two auxiliary rotor left do not work, latter two auxiliary rotor left front, right operates, and provides anti-twisted power to the left for fuselage, hangs down
Fin cooperates with left front auxiliary rotor and latter two auxiliary rotor right, drives fuselage to go off course to the left；
(8) when unmanned plane is gone off course to the right: main rotor output keeps constant, and vertical tail provides to the right for fuselage
Anti-twisted power；If main rotor is for just starching, vertical tail increases output；If main rotor is for anti-slurry, vertical tail reduces output；Left
Before, latter two auxiliary rotor right do not work, before the right side, left latter two auxiliary rotor operating, provide anti-twisted power to the right for fuselage；Hang down
Fin with before the right side, latter two auxiliary rotor left cooperate, drive fuselage is gone off course to the right；
The present invention mainly completes techniques below index:
(1) make adjustable for the pitch of depopulated helicopter paddle into fixing pitch paddle, effectively reduce cost；
(2) main rotor uses fuel power, improves the flying power of unmanned plane；
(3) add four auxiliary rotors, with the brushless electric machine of electricity regulation and control system as power, improve the motility of unmanned plane, steady
Qualitative and mobility；
(4) when unmanned plane turns to, left front and right after, or right before and left back auxiliary rotor combine, its unidirectional anti-twisted power
Vertical tail can be assisted quickly to realize turning to；
(5) when unmanned plane enters quick traveling mode, four auxiliary rotors also can provide kinetic energy；
Beneficial effects of the present invention: consider helicopter and the respective advantage of four rotors and deficiency, oil is dynamic and electronic respective
Advantage and deficiency, unmanned plane simple in construction that the present invention designs, easy to maintenance, low cost, lifting capacity are strong, cruising time
Long, and the method disclosing manipulation hybrid power unmanned plane, flight can be completed quickly and effectively.
Accompanying drawing explanation
Fig. 1 is that unmanned plane overlooks design sketch；
Fig. 2 is that unmanned plane faces design sketch；
Fig. 3 is each rotor wing rotation state diagram when being unmanned plane movement in vertical direction；
Fig. 4 is that unmanned plane does each rotor wing rotation state diagram during forward travel；
Fig. 5 is that unmanned plane does each rotor wing rotation state diagram during setback；
Each rotor wing rotation state diagram when Fig. 6 is rolling movement on the left of unmanned plane does；
Each rotor wing rotation state diagram when Fig. 7 is rolling movement on the right side of unmanned plane does；
Each rotor wing rotation state diagram when Fig. 8 is yawing rotation on the left of unmanned plane does；
Each rotor wing rotation state diagram when Fig. 9 is yawing rotation on the right side of unmanned plane does；
In figure: 1, body, 2, main rotor, 3, left front auxiliary rotor, 4, right before auxiliary rotor, 5, left back auxiliary rotor, 6, behind the right side
Auxiliary rotor, 7, vertical tail.
Detailed description of the invention
A kind of hybrid power unmanned plane with four ailerons, it include body, main rotor, vertical tail, four auxiliary
Help rotor；Body upper arranges main rotor, and body both sides respectively arrange two auxiliary rotors, and body afterbody arranges vertical tail, on
Four auxiliary rotors stated include left front auxiliary rotor, right before auxiliary rotor behind auxiliary rotor, left back auxiliary rotor and the right side, four
Auxiliary rotor is the paddle of same model, and after left front auxiliary rotor and the right side, auxiliary rotor is for just to starch, right front auxiliary rotor and a left side
Rear auxiliary rotor is anti-slurry.
Described vertical tail uses the paddle of fixing pitch, and same main rotor is also adopted by the paddle of fixing pitch.
Described main rotor uses internal combustion engine to be power, and vertical tail and four auxiliary rotors use motor to be power.
The flight of the present embodiment controls to make a concrete analysis of:
(1) when unmanned plane vertically climbs: main rotor increases output provides lift, vertical tail increases output, with
Offset the anti-twisted power that main rotor increases, four motor-driven outputs of auxiliary rotor, keep fuselage balance.When unmanned plane the most vertically climbs
Time, four auxiliary rotors also can be that it provides lift, but not advocate use during normal flight, because electricity in accumulator can be strengthened
Consumption；
(2) when unmanned plane vertical landing: main rotor reduces output, vertical tail reduces output, four auxiliary rotations
The motor-driven output of the wing, keeps fuselage balance；
(3) when unmanned plane flight forward: main rotor output keeps constant, vertical tail output keeps constant, left
Before, right the first two auxiliary rotor do not work, latter two auxiliary rotor left back, right operates, rear thrust upwards drive fuselage to
Top rake, the output of main rotor produces component backward, drives fuselage flight forward.Increase latter two auxiliary rotor left back, right
Output with increase fuselage forward leaning angle, or increase main rotor output, it is possible to increase the speed of flight forward；
(4) when unmanned plane flight backward: main rotor output keeps constant, vertical tail output keeps constant, left
Afterwards, latter two auxiliary rotor right do not work, the first two auxiliary rotor left front, right operates, front thrust upwards drive fuselage to
Rear-inclined, the output of main rotor produces component forward, drives fuselage to fly backward.Increase the first two auxiliary rotor left front, right
Output, or increase main rotor output, it is possible to increase the speed flown backward；
(5) when unmanned plane rolling to the left: main rotor output keeps constant, vertical tail output keeps constant,
Latter two auxiliary rotor left front, left does not works, and before the right side, latter two auxiliary rotor right operating, right side thrust upwards drives fuselage
Rolling to the left.In the case of this, the output of main rotor can produce component to the right, drives fuselage to tilt flight to the left；
(6) when unmanned plane rolling to the right: main rotor output keeps constant, vertical tail output keeps constant,
Before the right side, latter two auxiliary rotor right do not work, latter two auxiliary rotor left front, left operates, and left side thrust upwards drives fuselage
Rolling to the right.In the case of this, the output of main rotor can produce component to the left, drives fuselage to tilt flight to the right；
(7) when unmanned plane is gone off course to the left: main rotor output keeps constant, and vertical tail provides to the left for fuselage
(if main rotor is for just starching, vertical tail reduces output to anti-twisted power；If main rotor is for anti-slurry, vertical tail increases output),
Before the right side, latter two auxiliary rotor left do not work, latter two auxiliary rotor left front, right operates, and provides anti-twisted power to the left for fuselage.
Vertical tail cooperates with latter two auxiliary rotor left front, right, drives fuselage to go off course to the left；
(8) when unmanned plane is gone off course to the right: main rotor output keeps constant, and vertical tail provides to the right for fuselage
(if main rotor is for just starching, vertical tail increases output to anti-twisted power；If main rotor is for anti-slurry, vertical tail reduces output),
Latter two auxiliary rotor left front, right does not works, and before the right side, latter two auxiliary rotor left operating, provides anti-twisted power to the right for fuselage.
Vertical tail with before the right side, latter two auxiliary rotor left cooperate, drive fuselage is gone off course to the right.
Claims (6)
1. the hybrid power unmanned plane with four ailerons, it is characterised in that: include body, main rotor, vertical tail,
Four auxiliary rotors；Body upper arranges main rotor, and body both sides respectively arrange two auxiliary rotors, and body afterbody arranges vertical end
The wing.
A kind of hybrid power unmanned plane with four ailerons the most according to claim 1, it is characterised in that: described four
Individual auxiliary rotor includes auxiliary rotor behind left front auxiliary rotor, right front auxiliary rotor, left back auxiliary rotor and the right side, four auxiliary rotations
The wing is the paddle of same model, and after left front auxiliary rotor and the right side, auxiliary rotor is for just to starch, right front auxiliary rotor and left back auxiliary
Rotor is anti-slurry.
A kind of hybrid power unmanned plane with four ailerons the most according to claim 1, it is characterised in that: described vertical
Fin uses the paddle of fixing pitch.
A kind of hybrid power unmanned plane with four ailerons the most according to claim 1, it is characterised in that: described master
Rotor uses the paddle of fixing pitch.
A kind of hybrid power unmanned plane with four ailerons the most according to claim 1, it is characterised in that: described master
Rotor uses internal combustion engine to be power, and vertical tail and four auxiliary rotors use motor to be power.
6. the control method of the hybrid power unmanned plane with four ailerons as claimed in claim 1, it is characterised in that:
(1) when unmanned plane vertically climbs: main rotor increase output offer lift, vertical tail increase output, four
The motor-driven output of individual auxiliary rotor, keeps fuselage balance；When unmanned plane the most vertically climbs, four auxiliary rotors are with main rotor altogether
It is all it and lift is provided；
(2) when unmanned plane vertical landing: main rotor reduces output, vertical tail reduces output, four auxiliary rotations
The motor-driven output of the wing, keeps fuselage balance；
(3) when unmanned plane flight forward: main rotor output keeps constant, vertical tail output keeps constant, left
Before front auxiliary rotor and the right side, auxiliary rotor does not works, auxiliary rotor operating, rear thrust upwards after left back auxiliary rotor and the right side
Drive fuselage turns forward, and the output of main rotor produces component backward, drives fuselage flight forward, flies forward when needs increase
During the speed of row, increase the output of auxiliary rotor behind left back auxiliary rotor and the right side, or increase the output of main rotor；
(4) when unmanned plane flight backward: main rotor output keeps constant, vertical tail output keeps constant, left
After rear auxiliary rotor and the right side, auxiliary rotor does not works, and left front auxiliary rotor and the operating of right the first two auxiliary rotor, front is upwards
Thrust drives fuselage to tilt backwards, and the output of main rotor produces component forward, drives fuselage to fly backward；When needs increase to
During the speed of rear flight, increase the output of auxiliary rotor before left front auxiliary rotor and the right side, or increase the output of main rotor
Power；
(5) when unmanned plane rolling to the left: main rotor output keeps constant, vertical tail output keeps constant,
Latter two auxiliary rotor left front, left does not works, and before the right side, latter two auxiliary rotor right operating, right side thrust upwards drives fuselage
Rolling to the left；
(6) when unmanned plane rolling to the right: main rotor output keeps constant, vertical tail output keeps constant,
Before the right side, latter two auxiliary rotor right do not work, latter two auxiliary rotor left front, left operates, and left side thrust upwards drives fuselage
Rolling to the right；
(7) when unmanned plane is gone off course to the left: main rotor output keeps constant, and vertical tail provides to the left for fuselage
Anti-twisted power；If main rotor is for just starching, vertical tail reduces output；If main rotor is for anti-slurry, vertical tail increases output；Right
Before, latter two auxiliary rotor left do not work, latter two auxiliary rotor left front, right operates, and provides anti-twisted power to the left for fuselage, hangs down
Fin cooperates with left front auxiliary rotor and latter two auxiliary rotor right, drives fuselage to go off course to the left；
(8) when unmanned plane is gone off course to the right: main rotor output keeps constant, and vertical tail provides to the right for fuselage
Anti-twisted power；If main rotor is for just starching, vertical tail increases output；If main rotor is for anti-slurry, vertical tail reduces output；Left
Before, latter two auxiliary rotor right do not work, before the right side, left latter two auxiliary rotor operating, provide anti-twisted power to the right for fuselage；Hang down
Fin with before the right side, latter two auxiliary rotor left cooperate, drive fuselage is gone off course to the right.
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| Application Number | Priority Date | Filing Date | Title |
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| CN106741896A (en) * | 2016-12-30 | 2017-05-31 | 武汉华伍航空科技有限公司 | A kind of quadrotor |
| CN106741904A (en) * | 2017-01-24 | 2017-05-31 | 天津曙光天成科技有限公司 | A kind of compound unmanned vehicle |
| CN107028549A (en) * | 2017-05-18 | 2017-08-11 | 烟台工程职业技术学院 | A kind of glass-cleaning robot |
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| CN106741896A (en) * | 2016-12-30 | 2017-05-31 | 武汉华伍航空科技有限公司 | A kind of quadrotor |
| CN106741904A (en) * | 2017-01-24 | 2017-05-31 | 天津曙光天成科技有限公司 | A kind of compound unmanned vehicle |
| CN106741904B (en) * | 2017-01-24 | 2023-11-03 | 天津凤凰智能科技有限公司 | Composite unmanned aerial vehicle |
| CN107028549A (en) * | 2017-05-18 | 2017-08-11 | 烟台工程职业技术学院 | A kind of glass-cleaning robot |
| CN109250081A (en) * | 2018-10-30 | 2019-01-22 | 佛山市神风航空科技有限公司 | A kind of hybrid power helicopter |
| WO2020119731A1 (en) * | 2018-12-14 | 2020-06-18 | 深圳市格上格创新科技有限公司 | Body-balanced unmanned aerial vehicle and control method therefor |
| CN109699296A (en) * | 2019-01-30 | 2019-05-03 | 同济大学 | A kind of vibration-type Cone picking machine |
| CN109699296B (en) * | 2019-01-30 | 2021-11-09 | 同济大学 | Vibrations formula pine nut picking machine |
| WO2020237558A1 (en) * | 2019-05-30 | 2020-12-03 | 四川灼识科技股份有限公司 | Power-controlled aerial vehicle thrust steering method and corresponding aircraft |
| CN112319801A (en) * | 2020-11-24 | 2021-02-05 | 北京航空航天大学 | Flapping-effect-based large high-mobility hovering flapping-wing aircraft |
| RU2803214C1 (en) * | 2022-08-12 | 2023-09-11 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Саратовский государственный технический университет имени Гагарина Ю.А." (СГТУ имени Гагарина Ю.А.) | Multicopter with combined propellers and hybrid propeller of power plants |
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