CN106628177A - Unmanned aerial vehicle - Google Patents

Unmanned aerial vehicle Download PDF

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Publication number
CN106628177A
CN106628177A CN201611044281.6A CN201611044281A CN106628177A CN 106628177 A CN106628177 A CN 106628177A CN 201611044281 A CN201611044281 A CN 201611044281A CN 106628177 A CN106628177 A CN 106628177A
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CN
China
Prior art keywords
wing
unmanned vehicle
vehicle according
vehicle
unmanned
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Pending
Application number
CN201611044281.6A
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Chinese (zh)
Inventor
陈春梅
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Individual
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Individual
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Publication of CN106628177A publication Critical patent/CN106628177A/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
    • B64C27/26—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft characterised by provision of fixed wings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C3/00—Wings
    • B64C3/10—Shape of wings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C5/00—Stabilising surfaces
    • B64C5/06—Fins
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C9/00—Adjustable control surfaces or members, e.g. rudders
    • B64C9/12—Adjustable control surfaces or members, e.g. rudders surfaces of different type or function being simultaneously adjusted
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D43/00—Arrangements or adaptations of instruments
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/25—Fixed-wing aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/11—Propulsion using internal combustion piston engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B64U2201/104—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] using satellite radio beacon positioning systems, e.g. GPS
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls

Abstract

The invention discloses an unmanned aerial vehicle. The unmanned aerial vehicle is characterized in that the vehicle comprises trailing edge tilting wing type fixed wings with a low aspect ratio, one elevating rudder or two lifting ailerons located near the inner sides of the trailing edges of the wings, one or more vertical stabilizers which are located on the symmetrical planes of the vehicle and extend to the upper side and the lower side of the wings, one or more rudders additionally arranged on the rear sides of the vertical stabilizers, a pair of coaxial counter propellers located on the symmetrical planes of the vehicle and the upstream positions of the wings and driven by motors, a receiver and a battery, wherein the middle point of a wing root section chord is located at the upstream position of or aligned with the middle point of a wingtip section chord. The unmanned aerial vehicle can execute high-skill complex tasks which cannot be executed by various traditional fixed wing or rotor wing vehicles; the vehicle can vertically take off and land, fly horizontally in a fixed wing posture and be converted into a rotor wing posture anytime to collect images and videos, and the unmanned aerial vehicle is small, flexible and stable, and is better in maximum speed, cruising ability and energy-saving effect than a rotor wing type vehicle with the equal size and weight.

Description

Unmanned vehicle
Technical field
The present invention relates to unmanned plane and radio/Remote aircraft field.
Background technology
Unmanned plane has many private and business applications as aerial sensor platform（That is, video acquisition）, delivery system, ring Border senses and communication relay.They can be used for the various uses related to national defence, for example ISR（Information monitoring is scouted）, make For weapon platform and as electronic warfare platform.They can be divided into miniature, small-sized, tactics by size（In）Or strategy（Greatly）, And the method produced based on its aerodynamic lift can be typically further categorized into：Fixed-wing, rotary wings, the mixing wing or flapping wing.Root According to the report of the U.S.-China's economic safety and examination board, existing Chinese unmanned plane lacks micro-, little, mixed, flapping wing Class, more lacks various in demand private and business application types and functional government departments apply type such as：Search for and rescue, Border security, law enforcement and environmental monitoring.
Mixed type unmanned plane combines the advantage of fixed-wing and rotary wings unmanned plane, enables them to be successfully executed fixed-wing Individually all can not completing with rotary wings for task.Most promising mixed type unmanned plane is to take off vertically and land（VTOL）It is fixed Wing unmanned plane.This unmanned plane can fast and efficiently fly to remote position as a traditional fixed wing aircraft, so After be transitioned into low latitude fly slowly, hovering etc., purpose reaches rear unmanned plane can fast and efficiently fly back again user.Substantially, As a rotary wings type during unmanned plane execution task, but arrive at then as a fixed-wing type from original position, Substantially improve flight range, endurance and maximum speed.The small/micro version of present invention mixing wing unmanned plane can be put into Knapsack, carry sensors pass across a street and creep into building and return, or pass through several kilometers of mountain environments jagged in addition along path.
Existing mixing unmanned plane uses many different designs and configuration.This configuration is that the VTOL of a tail sitting posture flies Machine, is rare type.This is the misfortune of domestic market, because this type is better than other types at many aspects.This The type of design, has important essential different from the VD-200 of China.First, two contraprops of VD-200 and horse , away from the center line of aircraft, unnecessary complexity is increased up to.If a motor problem, aircraft will collapse. But, the detached motor of two long distances and screw are favorably improved rolling inertia stability in roll.Its component is in a conventional manner It is a kind of mixing wing body design within the compartment of centrally located fuselage shape.The present invention is same using two positioned at aircraft centerline Axle screw, it is allowed to which aircraft still is able to safe flight after a screw fails.Another advantage of the design is to offset The slip-stream that screw is produced, it is to avoid the driftage produced because drag iron is clashed into slip-stream, so as to avoiding yawing moment rudder The additional air resistance for compensating and bringing.Other each parts of the present invention are proper to realize to be distributed away from vehicle centre-line Such as the rolling inertia and stability of its point.Other make：Have in VD-200 Two separate slip-streams stable yaw stability vertical with two groups（Rather than one）, it can use difference feeding force control Driftage, and the present invention has been designed with the single rudder of driftage control.In addition, VD-200 have the aileron that controls pitching and rolling respectively and Elevating plane.It is of the invention then traditional detached aileron and elevating plane instead of with elevon, so as to control to roll and bow simultaneously Face upward.VD-200 volumes are big in design, involve great expense, can only be in military field application.The design of the present invention can be by personal use （That is explorer, fan, backpacker/pioneer）, commercial interest（Shoot, photography etc.）, and less public sector's entity （That is place law enforcement, border security, environmental monitoring etc.）, purposes is flexibly extensive.It is that a variety of users can afford , and can be made sufficiently small, jagged mountain area, urban district and the room of safe flight can be unable in the larger hybrid power aeroplane of volume Used in interior environment.
The content of the invention
Instant invention overcomes the deficiencies in the prior art, there is provided a relatively easy, economic, practical, multi-functional, Yi Jipu And in the UAV in different clients and market.
In order to achieve the above object, present invention employs technical scheme below：
A kind of unmanned vehicle, it is characterised in that by the fixed wing for sticking up the low aspect ratio that edge airfoil is constituted, be located at An elevator or two elevons near trailing edge inner side, one or more are located on the aircraft plane of symmetry and to wing The drag iron that up and down both sides extend, one or more are additional to the rudder behind drag iron, and one is pointed to aircraft On the plane of symmetry and in the dual rotation propeller driven by motor of wing upstream, the midpoint of the wing root section string of a musical instrument is in wing tip section The midpoint upstream of the string of a musical instrument is concordant, with receiver and battery.
Described aspect ratio is 1-3.5.
Described motor is using the electro-motor with speed control.
Described motor may also be employed internal combustion engine, and equipped with fuel tank and igniter.
Equipped with emitter, for sending information to user.
Equipped with gyroscope and/or accelerometer.
It is mounted with satellite-based tracking system, including but not limited to GPS.
It is mounted with automated driving system.
It is located inside wing including the annex of one or more receivers and battery, rather than is incorporated into central machine cabin In.
The structure design of wing is that using there is a slim epidermis of bearing capacity, material includes composite, and with or not With internal force structure or soft core, the material of soft core includes foam.
Wing is with dihedral angle or dihedral（dihedral）.
The version that wing becomes narrow gradually from wing root to wing tip not only includes linear change, and including other any shapes Formula.
With taking pictures and/or photographic equipment.
Knuckle with promising installation video-photographic equipment.
With tip vane.
Equipped with collision avoidance system and various detection sensors.
With fluid storage tanks and pipeline, pipeline connects storage tank and the nozzle being discharged into liquid in surrounding environment.
Compared with prior art, the present invention has advantages below：Present invention incorporates fixed-wing and rotary wings unmanned plane Advantage so as to be able to carry out task and skill that independent fixed-wing and rotary wings unmanned plane can not be completed.It is sufficiently small without Automobile or any heavy/expensive equipment only need a people transporting.It can in chaotic urban environment, even indoors Video is captured and transmitted to earth station.
The complicated embodiment of the present invention has the function of the high complexity of the size type, including：
1) systems stabilisation used in " hovering " and " keeping height " pattern based on accelerometer, makes
Obtain of the invention " can staring at " and live object, and obtain stable high-quality video.
2) gps coordinate is used, follow the prescribed course Intelligent flight.
3) can make a return voyage according to the program comprising gps signal when control signal is disturbed.
4) extensibility：One user can dispose multiple units, the different route of each flight, and
One small earth station is received from the synchronous live of constituent parts.
5) thermovision is away from detection.
6) field position, course, flying height, speed and acceleration information transmission.
7) customization carries a variety of sensors, including：Chemistry, calorifics and hearing transducer.
8) less pay(useful) load can be carried to specified location.
9) with collision avoidance system.
The present invention has the simple and shock proof feature of safe, strong, inexpensive, relatively easy use, maintenance.
Description of the drawings
Fig. 1 is the perspective view of a simple embodiment of the present invention
Description of reference numerals：1- wings;2- aerofoil profiles;3 elevons;4- drag irons;5- rudders;6- screws;The 7- wings The midpoint of the root section string of a musical instrument；The midpoint of the 8- wing tips section string of a musical instrument；9- motors;10- receivers;11- batteries.
Specific embodiment
Simple embodiment：The simplest embodiment specific configuration of the present invention includes：Constituted by edge airfoil 2 is stuck up Low aspect ratio fixed wing 1, positioned at the trailing edge of wing 1 inner side near an elevator or two elevons 3（Only It is referred to as elevator during one elevon 3）, one or more are located on the aircraft plane of symmetry and to wing both sides extension about 1 Drag iron 4, one or more are additional to the rudder 5 behind drag iron 4, one be pointed on the aircraft plane of symmetry and The dual rotation propeller 6 of the upstream of wing 1, the midpoint 7 of the wing root section string of a musical instrument is in the upstream of midpoint 8 of the wing tip section string of a musical instrument or flat Together, one or more motors 9, with receiver 10 and battery 11.
Above-described embodiment does not include any complicated function, and it does not have sensor, data storage and data transmission capabilities, main It is used for the interesting and model of an airplane of uniqueness of model airplane fan.It may carry tip vane, it is also possible to without.
The present invention can also carry fluid storage tanks, pipeline and nozzle, and pipeline connects storage tank and liquid is discharged into surrounding Nozzle in environment, nozzle is disposed on below wing 1 along pipeline（It is not shown）, fill typically between storage tank and nozzle There is hydraulic pump.Described storage tank, hydraulic pump and pipeline are located inside wing, are imitated with the streamlined and air force for keeping wing Rate.Pipeline is located at the trailing edges of wing to improve applications of pesticide effect.The low aspect ratio of wing result in higher wingtip vortex Stream, powerful air-swirl greatly improves the fully dispersed of agricultural chemicals.For the pitching stability for keeping fuselage during flying, Storage tank is designed in the mass centre of aircraft, and the significant change of liquid volume in such storage tank is not result in Aircraft Quality The significant change of center, this is non-for the aerodynamic center of the mass centre and aircraft that keep appropriate relative position It is often important.Because the performance of wing is most sensitive to the barrier and defect of its upper surface, wherein unfavorable barometric gradient may be led Flow separation is caused, so nozzle is downwardly directed by the aperture of wing lower surface.In order to the flow obstacle of lower surface and possible product Raw turbulent flow is minimized, and nozzle ports are flushed with lower surface.Storage tank is used to inject liquid（Such as agricultural chemicals）, by storage tank when using Interior liquid is gone out through pipeline from nozzles spray, in being mainly used in agriculture and forestry production.
Fuselage includes the kernel with composite crust and soft low-density.Each part is distributed in entirely by embedded part Fuselage, make rollover inertia maximize, while keep mass centre on the fuselage plane of symmetry, and positioned at away from the leading edge of wing 1 about The position of 25% chord length.Wing 1 carries certain dihedral angle or dihedral (dihedral) to improve roll stability.There are two Embedded servo motor（It is not shown）Drive elevon 3, also one embedded servo motor（It is not shown）Driving direction rudder. The slip-stream that dual rotation propeller 6 is produced hardly band whirlpool.The very powerful slip-stream of this burst is through elevon 3 and rudder 5, even if in low-down flying speed and hovering, or when almost not having wind speed, can also effective controling power be produced to fuselage, The functions such as the safety and compound action of flight are ensured.The symmetric deflection angle of elevon 3 produces a non-zero pitching moment, and The differential deflection angle of elevon 3 produces a non-zero rolling moment.The aerofoil profile of wing 1 is thicker so that can be embedded in wing 1 Various parts；The reflex action of aerofoil profile 2 increased the stability of pitching motion（It is common to all wing designs）.Machine under particular case The wing 1 can also use thin airfoil.Double motor with reciprocating movement components（That is motor 9, with electronic speed controller）It is used to drive spiral shell Rotation oar 6.Electronic speed controller therein is used to limit the throttle of motor 9 to control the thrust of its generation.Battery 11 is used for spiral shell Rotation oar motor 9 and each servo motor are powered.
The present invention is that the related energy loss of tip vortex is preferably minimized, and its wing planform is from wing root to wing tip The unique design of linear transitions.The design is to low aspect ratio wing particular importance.To improve flight stability, the design choosing of wing 1 Select swept-back wing mode.The selection of aerofoil profile 2 guarantees the change with direction and control input, and its aerodynamic quality is to gradually change 's（That is " soft " stall）, and guarantee that aerodynamic efficiency is maximized while realizing acceptable high coefficient of lift combined.Wing 1 Major part is immersed in propulsion slip-stream, therefore the aerodynamic performance of wing 1（Maximum lift coefficient, stall angle etc.）By force The strong impelling ratio and many other factors for depending on screw 6（The angle of attack, Reynolds number, dimensionless pitch rate etc.）.In order to obtain as The robust control algorithm of the complicated aircraft of this aerodynamics, substantial amounts of air stage combustion is necessary.
The present invention is a kind of type for combining rotary wings and fixed wing aircraft advantage, be able to carry out various tradition it is fixed or The high skill complex task that rotary wings type all cannot be performed.For example, it can be taken off with VTOL including from hand（Hovering Ability）With from aerial crawl（During hovering）.This allows it to use in substantially any place.Additionally, work as being transformed into its level After flight attitude, it can also fast and effeciently fly, and this is well beyond and its similarly sized and weight traditional rotary wings The endurance of type.After arriving at, it may switch to low latitude and flies posture slowly, accurately move up and down in the air, Plus its compact size so that it is roundabout in urban environment, building and barrier are bypassed, or even be suitable for flying indoors OK.The hovering pattern of its high stability makes it easy to gather fine definition, in-plant image and video.
Complicated embodiment：
Complicated embodiment includes some or all aforesaid complicated functions and associated components.Extra increased sensor and its After his component is added, the endurance of the present invention, endurance and payload capacity would generally be reduced（Keep original constant dimension）, And the cost of the present invention can increase.
Experimental result
The experimental model of the present invention has been created, tested and iterative refinement.
Statement：
Technological concept and feature that all above-described embodiments and discussion are intended to be merely illustrative of the present, so that this area is common Technical staff it will be appreciated that and implement the present invention, rather than limit the scope of the present invention purpose.According to the present invention made etc. Any change or modification of effect thing should belong within the scope of the present invention.

Claims (17)

1. a kind of unmanned vehicle, it is characterised in that by sticking up edge airfoil（2）The fixed wing of the low aspect ratio of composition （1）, positioned at wing（1）An elevator or two elevons near trailing edge inner side（3）, one or more are located at aircraft pair On title face and to wing（1）The drag iron that up and down both sides extend（4）, one or more are additional to drag iron（4）Afterwards The rudder in face（5）, one is pointed on the aircraft plane of symmetry and in wing（1）Upstream by motor（9）The coaxial reverse spiral shell of driving Rotation oar（6）, the midpoint of the wing root section string of a musical instrument（7）At the midpoint of the wing tip section string of a musical instrument（8）Upstream is concordant, with receiver（10） And battery（11）.
2. unmanned vehicle according to claim 1, it is characterised in that described aspect ratio is 1-3.5.
3. unmanned vehicle according to claim 1, it is characterised in that described motor（9）Using with speed The electro-motor of controller.
4. unmanned vehicle according to claim 1, it is characterised in that described motor（9）Using internal combustion engine, and Equipped with fuel tank and igniter.
5. unmanned vehicle according to claim 1, it is characterised in that equipped with emitter, for sending out to user Deliver letters breath.
6. unmanned vehicle according to claim 1, it is characterised in that equipped with gyroscope and/or accelerometer.
7. unmanned vehicle according to claim 1, it is characterised in that be mounted with satellite-based tracking system, Including but not limited to GPS.
8. unmanned vehicle according to claim 1, it is characterised in that be mounted with automated driving system.
9. unmanned vehicle according to claim 1, it is characterised in that including one or more receivers（10）With Battery（11）Annex be located inside wing, rather than be incorporated into central machine cabin.
10. unmanned vehicle according to claim 1, it is characterised in that wing（1）Structure design be using having The slim epidermis of bearing capacity, material includes composite, and with or without inside force structure or soft core, the material of soft core Matter includes foam.
11. unmanned vehicles according to claim 1, it is characterised in that wing（1）With dihedral angle or dihedral.
12. unmanned vehicles according to claim 1, it is characterised in that wing（1）Gradually become from wing root to wing tip Narrow version not only includes linear change, and including other any forms.
13. unmanned vehicles according to claim 1, it is characterised in that with taking pictures and/or photographic equipment.
14. unmanned vehicles according to claim 1, it is characterised in that with promising installation video-photographic equipment Knuckle.
15. unmanned vehicles according to claim 1, it is characterised in that with tip vane.
16. unmanned vehicles according to claim 1, it is characterised in that equipped with collision avoidance system and various detections Sensor.
17. unmanned vehicles according to claim 1, it is characterised in that with fluid storage tanks and pipeline, pipeline Connection storage tank and the nozzle being discharged into liquid in surrounding environment.
CN201611044281.6A 2016-10-19 2016-11-24 Unmanned aerial vehicle Pending CN106628177A (en)

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Application Number Priority Date Filing Date Title
CN201610912192 2016-10-19
CN2016109121922 2016-10-19

Publications (1)

Publication Number Publication Date
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CN201611043635.5A Pending CN106672231A (en) 2016-10-19 2016-11-24 Unmanned aerial vehicle
CN201611043641.0A Pending CN106828916A (en) 2016-10-19 2016-11-24 Unmanned vehicle
CN201611044281.6A Pending CN106628177A (en) 2016-10-19 2016-11-24 Unmanned aerial vehicle
CN201611043886.3A Pending CN106516098A (en) 2016-10-19 2016-11-24 Unpiloted aircraft
CN201611043631.7A Pending CN106516097A (en) 2016-10-19 2016-11-24 Unpiloted aircraft

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CN201611043631.7A Pending CN106516097A (en) 2016-10-19 2016-11-24 Unpiloted aircraft

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CN109795344A (en) * 2017-11-16 2019-05-24 波音公司 Awing charged using rechargeable battery of the high-voltage power line to unmanned vehicle
CN116755473A (en) * 2023-08-18 2023-09-15 四川腾盾科技有限公司 Unmanned aerial vehicle aerial delivery mission planning method for wing lifting

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CN107364572B (en) * 2017-08-11 2024-01-30 昆明学院 Fixed wing vector unmanned plane
CN107757877A (en) * 2017-09-30 2018-03-06 肇庆高新区国专科技有限公司 A kind of unmanned plane and regulative mode of wing adjustable angle
CN110015421A (en) * 2018-01-08 2019-07-16 经纬航太科技股份有限公司 Fixed wing machine take-off system and its method
CN113883254B (en) * 2021-10-26 2023-06-23 南通睿动新能源科技有限公司 Double-motor pure electric reduction gearbox anti-suction system

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