CN106394884B - Unmanned plane - Google Patents
Unmanned plane Download PDFInfo
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- CN106394884B CN106394884B CN201510468299.8A CN201510468299A CN106394884B CN 106394884 B CN106394884 B CN 106394884B CN 201510468299 A CN201510468299 A CN 201510468299A CN 106394884 B CN106394884 B CN 106394884B
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- unmanned plane
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Abstract
The invention discloses a kind of unmanned plane, the unmanned plane includes：Body, the body include fuselage and article-storage device；About horn before central axes symmetrically arranged at least two, one end of the preceding horn is connected with the front end of the fuselage and extends forward, and the other end of the preceding horn is equipped with front motor to drive the unmanned plane；About horn behind central axes symmetrically arranged at least two, one end of the rear horn is connected with the rear end of the fuselage and extends backwards, and the other end of the rear horn is equipped with rear motor to drive the unmanned plane；The extended line of the direction fuselage of the wherein described rear horn the and described preceding horn is located at the intersection region of the central axes in front of the centre of lift of the unmanned plane, and the front motor and the rear motor are the centre of lift to the position of the resultant force of the unmanned plane, the center of gravity of the unmanned plane is adjacent to the centre of lift.The unmanned plane of the present invention, control difficulty is low, and has a smooth flight.
Description
Technical field
The invention belongs to vehicle technology fields, in particular to a kind of unmanned plane.
Background technology
The existing unmanned plane especially agricultural unmanned plane of multimachine arm, the crossover location of the extended line of horn and unmanned plane
Centre of lift overlaps, and the parts of unmanned plane are installed in above or below fuselage, and parts thereof is on gravity direction
Tired folded installation, when the cargo that unmanned plane loads is laid down, the center of gravity of unmanned plane can have greatly changed, and increase unmanned plane
Control difficulty, there are rooms for improvement.
Invention content
The present invention is directed to solve at least some of the technical problems in related technologies.For this purpose, the present invention
One purpose is to propose a kind of unmanned plane convenient for manipulation.
Unmanned plane according to the ... of the embodiment of the present invention, including：Body, after the body includes fuselage and is located at the fuselage
Article-storage device of the side for loading cargo；About machine before fuselage central axes in the front-back direction symmetrically arranged at least two
One end of arm, the preceding horn is connected with the front end of the fuselage and extends forward, before the other end of the preceding horn is equipped with
Motor is to drive the unmanned plane；About horn behind the central axes symmetrically arranged at least two, one end of the rear horn
Be connected with the rear end of the fuselage and extend backwards, it is described after horn the other end be equipped with rear motor with drive it is described nobody
Machine；The intersection region position of the extended line and the central axes of the direction fuselage of the wherein described rear horn the and described preceding horn
In front of the centre of lift of the unmanned plane, and the front motor and the position of the motor to the resultant force of the unmanned plane afterwards
For the centre of lift, the center of gravity of the unmanned plane is adjacent to the centre of lift.
Unmanned plane according to the ... of the embodiment of the present invention, the cargo that unmanned plane loads on the position of centre of gravity of unmanned plane influence compared with
It is small, be conducive to control unmanned plane more stablely, the control difficulty of unmanned plane is low.
In addition, unmanned plane according to the above embodiment of the present invention can also have following additional technical characteristic：
Preferably, geometric center of the centre of lift adjacent to the article-storage device.
Optionally, the geometric center of the center of gravity of the unmanned plane, the centre of lift and the article-storage device overlaps.
Preferably, the preceding horn and the rear horn are two.
Further, the angle of two preceding horns is more than the angle of two rear horns.
Further, the length of the rear horn is more than the length of the preceding horn.
Further, the other end of two preceding horns and two it is described after the other ends of horns be located at one
On four vertex of a rectangle.
Preferably, the other end of two preceding horns and two it is described after the other ends of horns be located at one
On four vertex of square.
Optionally, the rear horn is configured to linear or arc.
Optionally, the front end of the fuselage includes front panel, the front panel be equipped with the unmanned plane control module,
Detection module and auxiliary device；The battery of the unmanned plane is located in the article-storage device.
Description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination following accompanying drawings to embodiment
Obviously and it is readily appreciated that, wherein：
Fig. 1 is the structural schematic diagram of unmanned plane according to the ... of the embodiment of the present invention；
Fig. 2 is the partial enlarged view at D in Fig. 1.
Reference numeral：
Unmanned plane 100,
Body 110, fuselage 111, front panel 1111, article-storage device 112,
Preceding horn 120,
Horn 130 afterwards,
Front motor 142, rear motor 143,
First intersection point A, the second intersection points B, centre of lift C,
Angle α after two between horn, the angle β between two preceding horns.
Specific implementation mode
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term "center", " length ", " width ", " thickness ", "upper",
The orientation or position of the instructions such as "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside"
Relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, without referring to
Show or imply that signified device or element must have a particular orientation, with specific azimuth configuration and operation, therefore cannot manage
Solution is limitation of the present invention.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；Can be that machinery connects
It connects, can also be electrical connection；It can be directly connected, can also can be indirectly connected through an intermediary in two elements
The interaction relationship of the connection in portion or two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature can be with "above" or "below" second feature
It is that the first and second features are in direct contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is directly under or diagonally below the second feature, or is merely representative of fisrt feature level height and is less than second feature.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
As described in Figure 1, the front-rear direction of the embodiment of the present invention refers to the heading of unmanned plane, and unmanned plane flies forward
Row, the tail portion of unmanned plane is located behind.
Unmanned plane 100 according to the ... of the embodiment of the present invention, as depicted in figs. 1 and 2, nothing is described in detail referring to Fig. 1-Fig. 2
Man-machine 100 include body 110, preceding horn 120 and rear horn 130.
Wherein, body 110 includes fuselage 111 and article-storage device 112, and article-storage device 112 is for loading cargo, and storing fills
Set 112 rears for being located at fuselage 111.
One end of preceding horn 120 at least two, preceding horn 120 is connected with the front end of fuselage 111, and preceding horn 120 is facing forward
Extend, and preceding horn 120 is symmetrical arranged about 111 central axes in the front-back direction of fuselage are parallel to, on the other end of preceding horn 120
Equipped with front motor 142, front motor 142 is for driving unmanned plane 100.
One end of horn 130 at least two afterwards, rear horn 130 is connected with the rear end of fuselage 111, and rear horn 130 is backwards
Extend, and rear horn 130 is symmetrical arranged about 111 central axes in the front-back direction of fuselage are parallel to, on the other end of rear horn 130
Equipped with rear motor 143, rear motor 143 is also used for driving unmanned plane 100.
Front motor 142 and rear motor 143 to the centre of lift C that the position of the resultant force of unmanned plane 100 is unmanned plane 100,
In other words, the position of the resultant force for the driving force (including buoyancy) that unmanned plane 100 is subject to is the centre of lift C of unmanned plane 100.
As depicted in figs. 1 and 2, preceding horn 120 towards fuselage 111 extended line and rear horn 130 towards fuselage 111
Extended line and fuselage 111 Axis Cross among the above in intersection region, and intersection region is located at the centre of lift of unmanned plane 100
The front of C.
In other words, as depicted in figs. 1 and 2, the extended line towards fuselage 111 of rear horn 130 with fuselage 111 among the above
Axis meets at the first intersection point A, and the above-mentioned central axes of the extended line and fuselage 111 towards fuselage 111 of preceding horn 120 meet at second
Intersection points B, in Fig. 1 right back to rear horn 130 the extended line and Fig. 1 towards fuselage 111 in left front direction preceding horn 120
The extended line approximation towards fuselage 111 coincide together, the prolonging towards fuselage 111 of the rear horn 130 in left back direction in Fig. 1
Long line and right front in Fig. 1 to the extended line towards fuselage 111 of preceding horn 120 it is approximate coincide together, rear horn 130
The extended line towards fuselage 111 of extended line and preceding horn 120 towards fuselage 111 substantially intersects at the first intersection point A and second
The midpoint of the midpoint of intersection points B, the first intersection point A and the second intersection points B is located at the front of the centre of lift C of unmanned plane 100.It is optional
Ground, the first intersection point A and the second intersection points B are respectively positioned in front of the centre of lift C of unmanned plane 100.
It is understood that rear horn 130 is located at the middle part of body 110 with the junction of fuselage 111, it is equivalent to rear machine
Arm 130 moves forward, and the junction of preceding horn 120 and fuselage 111 is located at the front of body 110, and preceding horn 120 is also towards Forward.As a result,
There are the installation space of article-storage device 112, the centre of lift C of unmanned plane 100 is located at body for the middle part of body 110 position to the rear
110 middle part position to the rear, that is to say, that lift of the position of the cargo in article-storage device 112 adjacent to unmanned plane 100
Center C.The center of gravity of unmanned plane 100 is conducive to front motor 142 and drives unmanned plane 100 with rear motor 143 adjacent to centre of lift C.
Unloaded unmanned plane 100 is defined as constant weight module, the cargo that unmanned plane 100 loads is defined as variable weight
Measure module, adjacent to the centre of lift C of unmanned plane 100, the center of gravity of variable weight module also is adjacent to nothing for the center of gravity of constant weight module
Man-machine 100 centre of lift C loads the unmanned plane 100 of cargo after unloading cargo, the position of centre of gravity variation of unmanned plane 100
It is smaller.
Unmanned plane 100 according to the ... of the embodiment of the present invention, before making preceding horn 120 and the rear horn 130 of unmanned plane 100
It moves, influence of the cargo (variable weight module) loaded in unmanned plane 100 to the position of centre of gravity of unmanned plane 100 can be reduced, just
Unmanned plane 100 in more stable is controlled, the control difficulty of unmanned plane 100 is reduced.
Optionally, front motor 142 and rear motor 143 can be the motor of same model to reduce zero of unmanned plane 100
Part type simplifies the production procedure of unmanned plane 100, reduces the production cost of unmanned plane 100.
Optionally, as depicted in figs. 1 and 2, multiple engraved structures can be equipped on the fuselage 111 of unmanned plane 100, to reduce
The weight of unmanned plane 100 helps to realize the lightweight of unmanned plane 100.
In some currently preferred embodiments of the present invention, as described in Figure 1, the centre of lift C of unmanned plane 100 can neighbouring storing
The geometric center of device 112.
It is understood that the center of gravity of the cargo (variable weight module) loaded in article-storage device 112 is adjacent to article-storage device
112 geometric center, especially for liquid or the cargo of powdery type, the geometric center of center of gravity and article-storage device 112 is substantially
It overlaps.The geometric center of article-storage device 112 is located to the position neighbouring with the centre of lift C of unmanned plane 100, is conducive to mitigate goods
Influence of the object to the center of gravity of unmanned plane 100, convenient for when the weight of unmanned plane 100 is in dynamic (for example, gradually laying down cargo)
Preferably manipulate unmanned plane 100.
Preferably, the center of gravity of unmanned plane 100, the geometric center of the centre of lift C of unmanned plane 100 and article-storage device 112
It can overlap.In other words, the center of gravity of the constant weight module of unmanned plane 100, the center of gravity of centre of lift C and variable weight module
It can overlap, to reduce influence of the variable weight module to the center of gravity of unmanned plane 100.
In the specific example of the present invention, the front end of fuselage 111 may include front panel 1111, on front panel 1111
It can be equipped with control module, detection module and the auxiliary device of unmanned plane 100, the battery of unmanned plane 100 can be located at storing dress
It sets in 112.
It is understood that the constant weight module of unmanned plane 100 may include body 110, preceding horn 120, rear horn
130, control module, detection module, auxiliary device and battery, by by the control module of lighter in weight, detection module, auxiliary
Device is located at the front end of body 110, and the larger battery of weight is located to the rear end of fuselage 111, can make the constant of unmanned plane 100
The center of gravity of weight module falls the position to the rear at the middle part of body 110, is conducive to the balance and variable weight mould of unmanned plane 100
The arrangement of block, and constant weight module can be conducive in front-rear direction tiled arrangements in gravity direction with variable weight module
On so that the center of gravity of unmanned plane 100 is maintained near fuselage 111, avoid the center of gravity of unmanned plane 100 rise on gravity direction or under
Drop, and the position of variable weight module is unobstructed, is conducive to loading and the unloading of variable weight module.
Optionally, at least partly battery can be located at the rear end of article-storage device 112, and in other words, at least partly battery can be with
It is located at the rear of variable weight module, what the center of gravity when laying down cargo (variable weight module), to mitigate unmanned plane 100 was subject to
It influences, the control of unmanned plane 100 is simpler.
In some optional embodiments, preceding horn 120 can be two, and rear horn 130 can be machine after four, four
Arm 130 can be symmetrically arranged at the both sides of central axes two-by-two.In other optional embodiments, preceding horn 120 can be four,
Horn 130 can be four afterwards, and four preceding horns 120 can be symmetrically arranged at the both sides of central axes two-by-two, and horn 130 can after four
To be symmetrically arranged at the both sides of central axes two-by-two.Certainly, preceding horn 120 and the quantity of rear horn 130 are without being limited thereto.
Preferably, as shown in Figure 1, preceding horn 120 can be two, two preceding horns 120 can be symmetrically arranged at central axes
Both sides, rear horn 130 can be that horn 130 can be symmetrically arranged at the both sides of central axes after two, two.It is possible thereby to be nothing
Man-machine 100 provide sufficient driving force, and the structure of unmanned plane 100 is simple.
As Figure 1-Figure 2, due to after two horn 130 about central axes be symmetrical arranged, the direction of horn 130 after two
The extended line of fuselage 111 meets at same point with central axes --- the first intersection point A, the prolonging towards fuselage 111 of two preceding horns 120
The intersection point of long line is the second intersection points B, and the second intersection points B can be located between the centre of lift C and the first intersection point A of unmanned plane 100.
That is, above-mentioned 3 points of position relationship is：First intersection point A can be located at forefront, and the first intersection point A and the
Two intersection points Bs can be respectively positioned in front of the centre of lift C of unmanned plane 100.Contribute to the centre of lift C in unmanned plane 100 attached as a result,
Near-space goes out a large amount of space for loading cargo so that the center of gravity of cargo is close to 100 centre of lift C of unmanned plane, to mitigate variable
Influence of the weight module to the center of gravity of unmanned plane 100, the operation of unmanned plane 100 are simpler.
On the other hand, it by the way that above structure is arranged, is equivalent to and increases two triangular structures (the on unmanned plane 100
One intersection point A and the second intersection points B are the vertex that the two triangles share), the structure of unmanned plane 100 is more firm.
As shown in Fig. 2, the angle after two between horn 130 is α, the angle between two preceding horns 120 is β, and α with
β can meet：α ＜ β.Compared to two preceding horns 120, horn 130 can be received towards in the direction of central axes after two, by
This, moves after can making the centre of lift C of unmanned plane 100.
Optionally, the first intersection point A can be with the neighbouring setting of the second intersection points B, and in other words, the first intersection point A and the second intersection points B can
Substantially to overlap, the middle part of unmanned plane 100 and the space at rear portion thus can be increased.
Further, as shown in Figure 1, the length of rear horn 130 can be more than the length of preceding horn 120.In other words, rear machine
The distance of the other end (one end for being equipped with rear motor 143) of arm 130 to the first intersection point A can be more than the another of preceding horn 120
Hold (one end for being equipped with front motor 142) to the distance of the second intersection points B.Due to rear horn 130 and preceding horn 120 and fuselage 111
The opposite Forward in junction, make the balance of unmanned plane 100 more preferable by the way that above structure is arranged, convenient for manipulation.
In some alternative embodiments of the present invention, as shown in Figure 1, rear horn 130 is it is so structured that linear.
In other alternative embodiments of the present invention, rear horn 130 is it is so structured that arc.
Certainly, the shape of rear horn 130 is not limited to above two, for example, can also be fold-line-shaped.
Preferably, the other ends (one end for being equipped with front motor 142) of two preceding horns 120 with two after horn 130
The other end (one end for being equipped with rear motor 143) can be located on four vertex of a rectangle.In other words, for being located at axis
The preceding horn 120 of line homonymy and rear horn 130, the front motor 142 being mounted on the preceding horn 120 be mounted on the rear horn
The line of rear motor 143 on 130 and above-mentioned axis parallel.
In the specific example of the present invention, as shown in Figure 1, the other end of two preceding horns 120 (is equipped with front motor
142 one end) with two after horn 130 the other end (one end for being equipped with rear motor 143) can be located at one it is square
On four vertex.
It is understood that centre of lift C of the unmanned plane 100 under plateau is the center of above-mentioned square, and
The constant weight module of unmanned plane 100 and the center of gravity of variable weight module can be respectively positioned on the immediate vicinity of above-mentioned square,
The structure of unmanned plane 100 is simple as a result, and symmetry and balance are good, easily controllable.
Unmanned plane 100 according to the ... of the embodiment of the present invention can be agricultural unmanned plane, correspondingly, the goods that unmanned plane 100 loads
Object (variable weight module) can be pesticide, since the constant weight module and variable weight module of unmanned plane 100 are preceding
Tiled arrangements in rear direction, the loading of pesticide and unloading are all more convenient, and in 100 flight course of unmanned plane, pesticide can be with
It goes out from article-storage device 112 by hose progressive spraying, the mistake of (weight of variable weight module changes) is reduced in pesticide
The center of gravity of Cheng Zhong, unmanned plane 100 are always positioned near the centre of lift C of unmanned plane 100, and the control of unmanned plane 100 is more as a result,
It is simple and steady.
In conclusion unmanned plane 100 according to the ... of the embodiment of the present invention, including two symmetrically arranged preceding horns 120 and two
It is a it is symmetrically arranged after horn 130, one end for being equipped with front motor 142 of two preceding horns 120 with two after horn 130 peace
One end equipped with rear motor 143 can be located on square four vertex, pass through horn after Forward 130 and fuselage 111
Junction, make the centre of lift C of the first intersection point A, the second intersection points B and unmanned plane 100 on the front-rear direction of unmanned plane 100 from
Front to back is sequentially arranged, and the position to the rear at the middle part of unmanned plane 100 is provided with article-storage device 112 so that unmanned plane 100
The center of gravity of constant weight module and the center of gravity of variable weight module are adjacent to the centre of lift C of unmanned plane 100.As a result, may be used
Make unmanned plane to reduce influence of the variable weight module to the center of gravity of entire unmanned plane 100 to simplify the control of unmanned plane 100
100 fly more stable, and by the constant weight module of unmanned plane 100 and variable weight module tiled arrangements, can prevent nothing
Man-machine 100 obtain center of gravity in the lifting of gravity direction, and article-storage device 112 is unobstructed, the loading convenient for variable weight module and unloading.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiments or example.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changes, replacing and modification.
Claims (10)
1. a kind of unmanned plane, which is characterized in that including：
Body, the body include fuselage and are located at the article-storage device that the rear of the fuselage is used to load cargo；
About horn before fuselage central axes in the front-back direction symmetrically arranged at least two, one end of the preceding horn and institute
The front end for stating fuselage is connected and extends forward, and the other end of the preceding horn is equipped with front motor to drive the unmanned plane；
About horn behind the central axes symmetrically arranged at least two, the rear end phase of one end and the fuselage of the rear horn
Extend even and backwards, the other end of the rear horn is equipped with rear motor to drive the unmanned plane；Wherein
The extended line of the direction fuselage of the rear horn the and described preceding horn and the intersection region of the central axes are located at
In front of the centre of lift of the unmanned plane, and the front motor is to the position of the resultant force of the unmanned plane with the rear motor
The centre of lift, the center of gravity of the unmanned plane is adjacent to the centre of lift.
2. unmanned plane according to claim 1, which is characterized in that geometry of the centre of lift adjacent to the article-storage device
Center.
3. unmanned plane according to claim 2, which is characterized in that the center of gravity of the unmanned plane, the centre of lift and
The geometric center of the article-storage device overlaps.
4. unmanned plane according to claim 2, which is characterized in that the preceding horn and it is described after horn be two.
5. unmanned plane according to claim 4, which is characterized in that after the angle of two preceding horns is described more than two
The angle of horn.
6. unmanned plane according to claim 5, which is characterized in that the length of horn is more than the length of the preceding horn after described
Degree.
7. according to the unmanned plane described in any one of claim 4-6, which is characterized in that two preceding horns it is described another
End and the other end of two horns after described are located on four vertex of a rectangle.
8. unmanned plane according to claim 7, which is characterized in that the other end of two preceding horns and two institutes
The other end for stating rear horn is located on square four vertex.
9. unmanned plane according to claim 2, which is characterized in that horn is configured to linear or arc after described.
10. unmanned plane according to claim 2, which is characterized in that the front end of the fuselage includes front panel, described preposition
Plate is equipped with control module, detection module and the auxiliary device of the unmanned plane；The battery of the unmanned plane is located at the storing
In device.
Priority Applications (8)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510468299.8A CN106394884B (en) | 2015-07-31 | 2015-07-31 | Unmanned plane |
| ES16832251T ES2807923T3 (en) | 2015-07-31 | 2016-07-27 | Unmanned aerial vehicle |
| PCT/CN2016/091932 WO2017020763A1 (en) | 2015-07-31 | 2016-07-27 | Unmanned aerial vehicle |
| AU2016303994A AU2016303994B2 (en) | 2015-07-31 | 2016-07-27 | Unmanned aerial vehicle and unmanned aerial vehicle body configured for unmanned aerial vehicle |
| US15/523,897 US10526087B2 (en) | 2015-07-31 | 2016-07-27 | Unmanned aerial vehicle and unmanned aerial vehicle body configured for unmanned aerial vehicle |
| EP16832251.9A EP3202662B1 (en) | 2015-07-31 | 2016-07-27 | Unmanned aerial vehicle |
| KR1020177012662A KR101989258B1 (en) | 2015-07-31 | 2016-07-27 | Unmanned aerial vehicle and unmanned aerial vehicle body configured for unmanned aerial vehicle |
| JP2017527807A JP6463841B2 (en) | 2015-07-31 | 2016-07-27 | Unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510468299.8A CN106394884B (en) | 2015-07-31 | 2015-07-31 | Unmanned plane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106394884A CN106394884A (en) | 2017-02-15 |
| CN106394884B true CN106394884B (en) | 2018-09-21 |
Family
ID=58008093
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510468299.8A Active CN106394884B (en) | 2015-07-31 | 2015-07-31 | Unmanned plane |
Country Status (1)
| Country | Link |
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| CN (1) | CN106394884B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6994406B2 (en) * | 2018-02-23 | 2022-01-14 | 本田技研工業株式会社 | Flying object |
| WO2022052645A1 (en) * | 2020-09-11 | 2022-03-17 | 广州极飞科技股份有限公司 | Unmanned aerial vehicle |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202783778U (en) * | 2011-12-27 | 2013-03-13 | 天津曙光敬业科技有限公司 | Variable-torque high-load four-rotor craft |
| US20140263822A1 (en) * | 2013-03-18 | 2014-09-18 | Chester Charles Malveaux | Vertical take off and landing autonomous/semiautonomous/remote controlled aerial agricultural sensor platform |
| KR101456035B1 (en) * | 2014-09-06 | 2014-11-04 | 최종필 | The rotor arm device of multi-rotor type drone |
| CN104691749A (en) * | 2015-03-05 | 2015-06-10 | 葛讯 | Transversely staggered four-rotor aircraft |
| CN204998762U (en) * | 2015-07-31 | 2016-01-27 | 广州极飞电子科技有限公司 | Unmanned aerial vehicle |
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| CN106394884A (en) | 2017-02-15 |
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