CN106828916A - Unmanned vehicle - Google Patents

Unmanned vehicle Download PDF

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Publication number
CN106828916A
CN106828916A CN201611043641.0A CN201611043641A CN106828916A CN 106828916 A CN106828916 A CN 106828916A CN 201611043641 A CN201611043641 A CN 201611043641A CN 106828916 A CN106828916 A CN 106828916A
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CN
China
Prior art keywords
wing
unmanned vehicle
vehicle according
unmanned
vehicles according
Prior art date
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Pending
Application number
CN201611043641.0A
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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 CN106828916A publication Critical patent/CN106828916A/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
    • 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
    • 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
    • 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 a kind of unmanned vehicle, it is characterized in that, by the fixed wing for sticking up the low aspect ratio that edge airfoil is constituted, an elevator or two elevons near trailing edge inner side, one or more rotatable drag irons for being located on the aircraft plane of symmetry and extending to the upper and lower both sides of wing, one is pointed on the aircraft 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 in the downstream of wing tip section mid-chord, with receiver and battery.The present invention is able to carry out the skill complex task high that various traditional fixed-wings or rotor type cannot all be performed.It can at any time be converted to rotor posture collection image and video with VTOL, with fixed-wing posture horizontal flight, not only compact, flexible, stable, and the rotor type of maximal rate, endurance and energy-saving effect all than equivalent size and weight is much higher.

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 can be typically further categorized into based on the method that its aerodynamic lift is produced：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-, small, 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.
The advantage of mixed type unmanned plane combination fixed-wing and rotary wings unmanned plane, enables them to be successfully executed fixed-wing Individually can not all being completed 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 user again.Substantially, As a rotary wings type during unmanned plane execution task, but arrived 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 Up to the center line away from aircraft, unnecessary complexity is increased.If a motor breaks down, aircraft will collapse. But, the motor and propeller of two long distance separation 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 that are located at aircraft centerline Axle propeller, it is allowed to which aircraft still is able to safe flight after a propeller fails.Another advantage of the design is to offset The slip-stream that propeller is produced, it is to avoid the driftage produced because drag iron is clashed into slip-stream, it is vertical steady so as to avoid deflection The additional air resistance determined device compensation and bring.Other each parts of the invention are distributed with away from vehicle centre-line, with reality Existing apt rolling inertia and stability.Other vital points for making uniqueness of the invention and novelty part are：In VD-200 Yaw stability with two separate slip-streams and two groups of vertical stabilizations（Rather than one）, it can use difference propulsive force Control driftage, and present invention design employs the drag iron that can be rotated around vertical axis and carries out driftage control.In addition, VD- 200 ailerons and elevating plane with control pitching and rolling respectively.Pair of the invention then that tradition separation is instead of with elevon The wing and elevating plane, so as to control to roll and pitching simultaneously.VD-200 volumes are big in design, involve great expense, and can only be led in military affairs Apply in domain.Design of the invention can be by personal use（That is explorer, fan, backpacker/pioneer）, commercial interest（Clap Take the photograph, photography etc.）, and less public sector's entity（That is place law enforcement, border security, environmental monitoring etc.）, purposes is flexibly wide It is general.It is that a variety of users can afford, and can be made it is sufficiently small, can be in the larger hybrid power aeroplane of volume It is unable to be used in jagged mountain area, urban district and the indoor environment of safe flight.
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 following technical scheme：A kind of unmanned vehicle, its feature exists In, by sticking up the fixed wing of the low aspect ratio that edge airfoil is constituted, positioned at trailing edge inner side near an elevator or Two elevons, one or more rotatable vertical stabilizations for being located on the aircraft plane of symmetry and extending to the upper and lower both sides of wing Device, one is pointed on the aircraft plane of symmetry and in the dual rotation propeller driven by motor of wing upstream, the wing root section string of a musical instrument Midpoint in the downstream at the midpoint of the wing tip section string of a musical instrument, with receiver and battery.
Described aspect ratio is 1-3.5.
Described motor is using the electro-motor with speed control.
Described motor uses 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.
Annex including one or more receivers and battery is located inside wing, rather than being incorporated into central machine cabin In.
The structure design of described wing is that, using the slim epidermis for having bearing capacity, its material includes composite, band Have or without internal force structure or soft core, the material of soft core includes foam.
Wing carries 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 the advantage of rotary wings unmanned plane, can perform independent fixed-wing and rotary wings nobody Task and skill that machine can not be completed.
It is sufficiently small without automobile or any heavy/expensive equipment is transported, only need a people.It can be in confusion Urban environment, even capture indoors and transmit video to earth station.
Complicated embodiment of the invention has the function of the high complexity of the size type, including：
1) systems stabilisation based on accelerometer is used in " hovering " and " keeping height " pattern so that the present invention " can be stared at " Firmly object, and obtain the high-quality video of stabilization.
2) gps coordinate is used, follow the prescribed course Intelligent flight.
3) can be maked a return voyage according to the program comprising gps signal when control signal is disturbed.
4) scalability：One user can dispose multiple units, the different route of each flight, and on a small ground Standing, it is synchronous live from constituent parts to receive.
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 to specified location can be carried.
9) with collision avoidance system.
The present invention has safe, strong, inexpensive, the relatively easy simple and shock proof feature of use, maintenance.
Brief description of the drawings
Fig. 1 is the one of the invention perspective view of simple embodiment.
Description of reference numerals：1- wings;2- aerofoil profiles;3 elevons;4- drag irons;6- propellers;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：Simplest embodiment such as Fig. 1 of the invention, by sticking up the low exhibition that edge airfoil 2 is constituted String than fixed wing 1, positioned at the trailing edge of wing 1 inner side near an elevator or two elevons 3, one or more On the aircraft plane of symmetry and to the wing rotatable drag iron 4 that both sides extend about 1, one is pointed to the aircraft plane of symmetry Above and in the dual rotation propeller 6 driven by motor 9 of the upstream of wing 1, the midpoint 7 of the wing root section string of a musical instrument is in wing tip section string The downstream at the midpoint 8 of line, with receiver 10 and battery 11.
The embodiment does not include any complicated function, and it does not have sensor, data storage and data transmission capabilities, is mainly used in 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）, filled 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 stronger wingtip vortex Stream, powerful air-swirl greatly improves the fully dispersed of agricultural chemicals.In order to keep the pitching stability of fuselage during flying, Storage tank is designed in the mass centre of aircraft, and the significant change of liquid volume will not cause Aircraft Quality in such storage tank The significant change of center, the mass centre of this relative position appropriate for holding and the aerodynamic center of aircraft are non- 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 piping from nozzles spray, is 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 25% position of 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）Drive rotatable Drag iron 4.The slip-stream that dual rotation propeller 6 is produced hardly band whirlpool.The very powerful slip-stream of this burst is by rising Drop aileron 3 and drag iron 4, even if in low-down flying speed and hovering, or when almost there is no wind speed, also can be to machine Body produces effective controling power, has ensured the functions such as the safety and compound action of flight.The symmetric deflection angle of elevon 3 produces One 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 various parts can be embedded in wing 1；The reflex action of aerofoil profile 2 increased the stability of pitching motion（It is common to institute organic The wing is designed）.Particular case lower wing 1 can also use thin airfoil.Double motor with reciprocating movement components（That is motor 9, with velocity of electrons Controller）It is used to drive propeller 6.Electronic speed controller therein is used to limit the throttle of motor 9 to control what it was produced Thrust.Battery 11 is used to be powered to propeller motor 9 and each servo motor.
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 approximate Zimmerman of linear transitions（Annemarie Zimmermann）The unique design of plane.The design is especially important to low aspect ratio wing. The midpoint 8 of the wing tip section string of a musical instrument is located at the upstream at the midpoint 7 of the wing root section string of a musical instrument, and the storage that can not only increase inside wing is empty Between, reduce impact of the wingtip vortex to wing, can more strengthen resistance of the pitching moment to fitful wind.The selection of aerofoil profile 2 ensure with Direction and the change of control input, its aerodynamic quality are gradually changed（That is " soft " stall）, and ensure air force Efficiency is maximized while realizing acceptable high coefficient of lift combined.The major part of wing 1 is immersed in propulsion slip-stream, therefore machine The aerodynamic performance of the wing 1（Maximum lift coefficient, stall angle etc.）Be strongly depend on propeller 6 impelling ratio and it is many its His factor（The angle of attack, Reynolds number, dimensionless pitch rate etc.）.In order to obtain the robust control of the complicated aircraft of such aerodynamics Algorithm processed, 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 skill complex task high that rotary wings type cannot all be performed.For example, it with VTOL, including can take off from hand（Hovering Ability）Captured with from aerial（During hovering）.This allows that it is used 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 collection fine definition, image and video closely.
Complicated embodiment：
Complicated embodiment includes some or all foregoing complicated functions and associated components.Extra increased sensor and its After his component is added, endurance of the invention, endurance and payload capacity would generally be reduced（Keep original constant dimension）, And cost of the invention can increase.
Experimental result
Experimental model of the 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 limitation the scope of the present invention purpose.According to the present invention made etc. Any change or modification for imitating 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 rotatable drag iron that upper and lower both sides extend（4）, one be pointed on the aircraft plane of symmetry and Wing（1）Upstream by motor（9）The dual rotation propeller of driving（6）, the midpoint of the wing root section string of a musical instrument（7）In wing tip section The midpoint of the string of a musical instrument（8）Downstream, 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 control The electro-motor of device.
4. unmanned vehicle according to claim 1, it is characterised in that described motor（9）Using internal combustion engine, and it is equipped with There are fuel tank and igniter.
5. unmanned vehicle according to claim 1, it is characterised in that equipped with emitter, for sending letter to user 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 it is 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）And battery （11）Annex be located inside wing, rather than being incorporated into central machine cabin.
10. unmanned vehicle according to claim 1, it is characterised in that described wing（1）Structure design be Using the slim epidermis for having bearing capacity, its material includes composite, with or without inside force structure or soft core, soft The material of core 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.
CN201611043641.0A 2016-10-19 2016-11-24 Unmanned vehicle Pending CN106828916A (en)

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

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CN201611044281.6A Pending CN106628177A (en) 2016-10-19 2016-11-24 Unmanned aerial vehicle
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
CN201611043631.7A Pending CN106516097A (en) 2016-10-19 2016-11-24 Unpiloted aircraft
CN201611043886.3A Pending CN106516098A (en) 2016-10-19 2016-11-24 Unpiloted aircraft

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CN107364572A (en) * 2017-08-11 2017-11-21 红河学院 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
CN108298064A (en) * 2017-11-09 2018-07-20 青岛兰道尔空气动力工程有限公司 Unconventional yaw control system
TWI688519B (en) * 2018-01-08 2020-03-21 經緯航太科技股份有限公司 Fixed-wing aeroplane take-off system and method thereof

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US11059378B2 (en) * 2017-11-16 2021-07-13 The Boeing Company Charging a rechargeable battery of an unmanned aerial vehicle in flight using a high voltage power line
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
CN116755473B (en) * 2023-08-18 2023-11-07 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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