CN106926654A - A kind of amphibious four rotor wing unmanned aerial vehicle - Google Patents
A kind of amphibious four rotor wing unmanned aerial vehicle Download PDFInfo
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- CN106926654A CN106926654A CN201710097439.4A CN201710097439A CN106926654A CN 106926654 A CN106926654 A CN 106926654A CN 201710097439 A CN201710097439 A CN 201710097439A CN 106926654 A CN106926654 A CN 106926654A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 118
- 238000003860 storage Methods 0.000 claims abstract description 38
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 11
- 238000009434 installation Methods 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 9
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000005538 encapsulation Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 238000007667 floating Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
- B64C35/008—Amphibious sea planes
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- 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 amphibious four rotor wing unmanned aerial vehicle of one kind, including four propellers, rigid right-angled intersection bracket institution and control system, right-angled intersection bracket institution includes frame main body and is connected to four horns of frame main body surrounding, frame main body sealed bottom is provided with nacelle, and top is provided with the watertight connector for installing water proof wire；The first half in nacelle is provided with water storage cabin and water pump；The water inlet pipe of water pump is tightly connected the intake-outlet for being arranged on nacelle bottom, and outlet pipe is tightly connected the water inlet of water storage cabin lower end.Improved on the basis of four rotor wing unmanned aerial vehicle technologies in the air of the invention.Can free movement under water, by encapsulation process, frame main body inside main member is protected.The water storage cabin and water pump that the first half in nacelle is set are deadweight adjusting means, can allow unmanned plane control under the control of remote control water pump draw water and draining adjusts the weight of aircraft, and then the control underwater attitude of unmanned plane.
Description
Technical field
The present invention relates to airmanship field, specially a kind of amphibious four rotor wing unmanned aerial vehicle.
Background technology
Unmanned plane is the abbreviation of push-button aircraft, and english abbreviation is UAV (Unmanned Aerial Vehicle).
Unmanned plane is the not manned aircraft manipulated using radio robot and the presetting apparatus provided for oneself.Nothing on machine
Driving cabin, but the equipment such as automatic pilot, presetting apparatus are installed.On ground, naval vessels or machine tool remote control station personnel pass through
The equipment such as radar, it is tracked, is positioned, remote control, remote measurement and Digital Transmission.Can be under wireless remotecontrol as conventional airplane one
Sample takes off or is launched with booster rocket, and also can take aerial dispensing to by machine tool flies.During recovery, can with conventional airplane
The same mode automatic Landing of land process, can also be reclaimed by remote control parachute or block.Can repetitiousness use it is multiple.Use extensively
In aerial reconnaissance, monitoring, communication, antisubmarine, electronic interferences etc..
National Defense Industry Press, the 1st printing of March the 1st edition in 2009, what Wei Ruixuan, Li Xueren write《UAS
And operational exertion》One book, describes general composition (page 2, Fig. 1-2 of UAS in the 1st chapter introduction UAS
It is shown).Wherein, aircraft system includes airframe systems, propulsion system, flight control system and navigation system.
Multiclass sensor, such as camera are loaded on unmanned plane, it is possible to achieve image real-time Transmission, high-risk areas detection
Function, is widely used in the fields such as fire-fighting, military affairs, traffic, police service, exploration and meteorology, to realize the cruise to designated area
Shoot and monitor.At present, unmanned plane is mostly that the flight theory based on helicopter is designed manufacture, is capable of achieving vertical lift
With high-altitude hovering, so as to meet the requirement taken photo by plane and monitor, most common is that single shaft single-blade, single shaft are starched and many rotor (examples altogether
Such as, four rotor) form.
Four rotor wing unmanned aerial vehicles are that a kind of have four aircraft of propeller and four propellers are in decussation knot
Structure, four relative rotors have identical direction of rotation, are divided to two groups, and two groups of direction of rotation is different.With traditional helicopter not
Together, four-rotor helicopter can only realize various actions by changing the speed of propeller.Four rotor wing unmanned aerial vehicles have can be certainly
The advantages of by hovering, Windsor, small volume, environment-friendly, reliability high and simple manipulation.Four rotor wing unmanned aerial vehicles are main
It is applied to that streetscape shoots, monitoring cruising, electric inspection process, environmental protection, really power problem, agricultural insurance express delivery, movie and television play shoot, rescue after calamity
The field such as help.
At present, the research of four rotor wing unmanned aerial vehicles is concentrated mainly on aerial unmanned plane aspect, and notification number is CN204776011U
Chinese patent literature disclose know clearly it is a kind of enter water multi-rotor unmanned aerial vehicle, including body and multiple on body and be in right
The rotor arm of distribution, each rotor arm is claimed to be provided with rotor assemblies in the one end away from body, the rotor assemblies include installing
Power motor and the propeller being connected on power motor output shaft on rotor arm, the organism bottom are provided with water storage
Storehouse, the water storehouse is provided with inlet and outlet control valve, the processor respectively with power module, wireless communication module, ventilating control
Power motor connection on valve, inlet and outlet control valve and each rotor arm, the gas output end of the compressed air accumulator passes through
Ventilating control valve is connected to water storehouse.The utility model is by controlling the water storage situation in water storehouse so as to be effectively controlled water
In the situation that snorkels, so as to realize sail clear in water in the air, effectively solve unmanned plane in way of flying because of unexpected overboard
And the problem damaged.
The utility model is disadvantageous in that, turns under water dumb, it is impossible at any time adjust unmanned plane floating and under
It is heavy.Simultaneously as resistance is larger at deep water, easily there is situation about being short of power.
The content of the invention
In view of the shortcomings of the prior art, the invention provides amphibious four rotor wing unmanned aerial vehicle of one kind, the unmanned plane can be with
Free movement in the air, it is also possible to be not more than free movement in 5 meters of depth in the water surface and under water, flexibility is greatly increased.
Technical scheme is as follows：
A kind of amphibious four rotor wing unmanned aerial vehicle, including four propellers, rigid right-angled intersection bracket institution and control systems, institute
The right-angled intersection bracket institution stated includes frame main body and is connected to four horns of frame main body surrounding, described frame main body
Sealed bottom is provided with nacelle, and top is provided with the watertight connector for installing water proof wire；The first half in described nacelle sets
There are water storage cabin and water pump；The water inlet pipe of the water pump is tightly connected the intake-outlet for being arranged on nacelle bottom, and the water outlet seal of tube connects
Connect the water inlet of water storage cabin lower end.
In the above-mentioned technical solutions, described amphibious four rotor wing unmanned aerial vehicle, is combining aerial four rotor wing unmanned aerial vehicles technology
On the basis of improved.Can free movement under water, by encapsulation process, frame main body inside main member is protected
Shield.The water storage cabin and water pump that the first half in described nacelle is set are deadweight adjusting means, can allow unmanned plane in remote control
Control lower control water pump draw water and draining adjusts the weight of aircraft, and then control the underwater attitude of unmanned plane.
Preferably, it is provided with water storage cabin through the upper and lower cable hole of water storage cabin nacelle and water storage cabin piston.Waterproof machine leads to
Underwater electrical connector is crossed to be connected with internal electron speed regulator.The wire of underwater electrical connector is connected by water storage cabin cable hole and nacelle bottom
The electron speed regulator connection in portion.Water storage cabin piston can effectively prevent water body in water storage cabin from overflowing and with water storage cabin internal water
The change of bit line is moved up and down accordingly.
Preferably, described control system includes remote control, flight control panel and remote-control receiver, described flight control
Plate and remote-control receiver are arranged in nacelle.The radio signal for receiving remote control transmission by remote-control receiver directly passes through wire
Flight control panel is transferred to, flight control panel further makes the action of instruction controlled motor.
Before the work of amphibious four rotor wing unmanned aerial vehicle, buoyancy is set to be slightly larger than gravity by adjusting unmanned plane deadweight.Sent out by remote control
The radio command for going out is received by receiver, and control unmanned plane is moved in the air.It is slow to reduce unmanned plane highly, make unmanned plane
Drop to the water surface into floating state.Unmanned plane under floating state can be in water surface free movement by the control of remote control.Enter
One step, can be by remote control control pump working to control unmanned plane dive, and the water that water pump is pumped into promotes water storage cabin piston,
It is stored in water storage cabin.As deadweight slowly increases, unmanned plane can sink gradually.During slowly drawing water, unmanned engine room
Know from experience and state light in the middle of about one two parts weight is presented, now because crank unmanned plane can slowly topple over, so that complete
Into the switching of attitude.Unmanned plane can under water receive instruction motion after completing Posture exchange.After underwater operation is completed, control
Pumping drainage can make unmanned plane float up to the water surface again.
Used as the further improvement for above-mentioned technical proposal, described horn end is provided with upper motor cabinet symmetrical above and below
With lower motor cabinet, described upper motor cabinet is provided with waterproof machine, and described lower motor cabinet is provided with lower waterproof machine, described
Propeller by motor cap nut be arranged on upper waterproof machine output end.Upper and lower two waterproof machines are set, can be two
Moving for four rotor wing unmanned aerial vehicles of dwelling provides more stable power.
Preferably, described nacelle is built with four electronic speed regulations being connected with four propellers by water proof wire respectively
The battery of device and offer energy.Electron speed regulator is used for controlling the speed of propeller, and the signal of electron speed regulator is passed by wire
Flight control panel is defeated by, and carrys out the rotating speed of controlled motor by flight control panel, so as to control the speed of propeller.Battery is whole
Four rotor wing unmanned aerial vehicles provide the energy needed for continuing a journey.
Preferably, the wire clamp of fixed water proof wire is installed along horn, the wire clamp is used to fix on described horn
The water proof wire of connection waterproof machine and watertight connector, makes whole device more neat and artistic.
Preferably, described frame main body is formed around installing the horn interface of horn, for connecting horn, is easy to tear open
Unload.
Preferably, described nacelle lower end is provided with support feet.When amphibious four rotor wing unmanned aerial vehicle lands or work on land
When making, support feet plays a part of support.
Preferably, the hatch edge in described water storage cabin is provided with boss radially, is correspondingly arranged inside described nacelle
There is the groove coordinated with the boss.Boss is spacing in nacelle by water storehouse with groove fit.
Compared with prior art, beneficial effects of the present invention are：
Amphibious four rotor wing unmanned aerial vehicle of the present invention can not only realize in the air, the water surface, three dwell and move but also by water pump under water
Effect unmanned plane can be made to be transformed into the attitude that lies low under water from aerial and the water surface upright posture.Four rotations under the attitude that lies low
Wing unmanned plane turn under water it is more flexible and convenient compared to erectility, greatly increased unmanned plane mobility under water and
Reduce the manipulation difficulty of controllers.Unmanned plane provides power by 8 waterproof machines makes motion under water more stablize freely.
The arrangement mode of upper next group two can also effectively save space.
Brief description of the drawings
Fig. 1 is the overall structure main structure diagram of amphibious four rotor wing unmanned aerial vehicle of the present invention；
Fig. 2 is the overall structure overlooking the structure diagram of amphibious four rotor wing unmanned aerial vehicle of the present invention；
Fig. 3 is the overall structure axle geodesic structure schematic diagram of amphibious four rotor wing unmanned aerial vehicle of the present invention；
Fig. 4 is the deadweight regulating system detailed structure schematic diagram of amphibious four rotor wing unmanned aerial vehicle of the present invention；
Fig. 5 is the water surface operating diagram of amphibious four rotor wing unmanned aerial vehicle of the present invention；
Fig. 6 is the underwater operation schematic diagram of amphibious four rotor wing unmanned aerial vehicle of the present invention.
Wherein：1st, motor cap nut；2nd, propeller；3rd, upper waterproof machine；4th, upper motor cabinet；5th, lower motor cabinet；6th, it is lower anti-
Hydroelectric machine；7th, horn；8th, water proof wire；9th, wire clamp；10th, horn interface；11st, frame main body；12nd, nacelle；13rd, intake-outlet；
14th, support feet；15th, watertight connector；16th, water storage cabin piston；17th, cable hole；18th, water storage cabin；19th, outlet pipe；20th, water pump；21
Water inlet pipe.
Specific embodiment
Amphibious four rotor wing unmanned aerial vehicle of the invention is described in further detail with reference to the accompanying drawings and detailed description.
As shown in Figure 1, Figure 2, Figure 3 shows, a kind of amphibious four rotor wing unmanned aerial vehicle, including four propellers 2, rigid right-angled intersection branch
Frame mechanism and control system, right-angled intersection bracket institution include frame main body 11 and are connected to four machines of the surrounding of frame main body 11
Arm 7, the horn interface 10 for being formed around connecting horn 7 of frame main body 11, frame main body 11 is sealed and installed with nacelle 12 below,
Top is provided with the watertight connector 15 for connecting water proof wire 8.The lower end of nacelle 12 is provided with support feet 14, along machine on horn 7
Arm is provided with the wire clamp 9 of fixed water proof wire 8.
Horn end is provided with upper motor cabinet 4 and lower motor cabinet 5 symmetrical above and below, and upper motor cabinet 4 is provided with waterproof machine
3, lower motor cabinet 5 is provided with lower waterproof machine 6, and waterproof machine is screwed with motor cabinet, and propeller 2 passes through motor screw
Cap 1 is arranged on the output end of upper waterproof machine 3.Upper and lower two waterproof machines are set, can be the fortune of amphibious four rotor wing unmanned aerial vehicle
The more stable power of dynamic offer.
The control system of amphibious four rotor wing unmanned aerial vehicle includes that flight control panel and remote signal in remote control, interior nacelle connect
Receipts machine.
As shown in figure 4, the top of nacelle 12 is provided with water storage cabin 18 and water pump 20, the water inlet pipe 21 of water pump 20 is tightly connected and sets
The intake-outlet 13 in the bottom of nacelle 12 is put, outlet pipe 19 is tightly connected the water inlet of the lower end of water storage cabin 18.The cabin in water storage cabin 18
Mouth edge is provided with boss radially, and the groove coordinated with the boss is correspondingly arranged on inside nacelle 12, and boss is matched somebody with somebody with groove
Close water storage cabin 18 is spacing in nacelle 12.It is provided with through water storage cabin nacelle upper and lower cable hole 17 and and cabling in water storage cabin 18
The water storage cabin piston 16 that hole 17 coordinates, when drawing water, promotes into the water inside water storage cabin 18 and is moved on water storage cabin piston 16, draining
When, because the effect water storage cabin piston 16 of pressure is moved down.The bottom of nacelle 12 is equipped with respectively by water proof wire four spirals of connection
Four electron speed regulators of oar and the battery of offer energy, while being provided with flight control panel and remote control signal receiver.
The course of work of the invention is as follows：
When amphibious four rotor wing unmanned aerial vehicles flight in the air, by operator by its flight attitude of remote control.
When amphibious four rotor wing unmanned aerial vehicle works in water, as shown in Figure 5, Figure 6, before work, regulation unmanned plane deadweight makes
Buoyancy is slightly larger than gravity, and the radio command sent by remote control is received by remote-control receiver, and control unmanned plane is moved in the air.
It is slow to reduce unmanned plane highly, unmanned plane is dropped to the water surface into floating state.Unmanned plane under floating state passes through remote control
Control can be in water surface free movement.
Further to control unmanned plane dive, can be worked by remote control control water pump 20, the water that water pump 20 is pumped into
Water storage cabin piston 16 is promoted, is stored in water storage cabin 18.As deadweight slowly increases, unmanned plane can sink gradually.Slowly taking out
During water, unmanned engine room is known from experience state light in the middle of one about two parts weight is presented, now due to crank nobody
Chance is slowly toppled over, so as to complete the switching of attitude.Unmanned plane can under water receive instruction motion after completing Posture exchange.
After completing underwater operation, the control draining of water pump 20 can make unmanned plane float up to the water surface again.
The foregoing is only preferable implementation example of the invention, be not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (9)
1. a kind of amphibious four rotor wing unmanned aerial vehicle, including four propellers, rigid right-angled intersection bracket institution and control systems, it is special
Levy and be：Described right-angled intersection bracket institution includes frame main body and is connected to four horns of frame main body surrounding, described
Frame main body sealed bottom nacelle is installed, top is provided with the watertight connector for installing water proof wire；In described nacelle
Top is provided with water storage cabin and water pump；The water inlet pipe of the water pump is tightly connected the intake-outlet for being arranged on nacelle bottom, outlet pipe
It is tightly connected the water inlet of water storage cabin lower end.
2. amphibious four rotor wing unmanned aerial vehicle according to claim 1, it is characterised in that：It is provided with described water storage cabin through storage
The cable hole of water tank nacelle and the water storage cabin piston coordinated with cable hole.
3. amphibious four rotor wing unmanned aerial vehicle according to claim 1, it is characterised in that：Described control system include remote control,
Flight control panel and remote-control receiver；Described flight control panel and remote-control receiver are arranged in nacelle.
4. amphibious four rotor wing unmanned aerial vehicle according to claim 1, it is characterised in that：Described horn end is provided with right up and down
Motor cabinet and lower motor cabinet are much of, described upper motor cabinet is provided with waterproof machine, and described lower motor cabinet is provided with down
Waterproof machine, described propeller is arranged on the output end of upper waterproof machine by motor cap nut.
5. amphibious four rotor wing unmanned aerial vehicle according to claim 1, it is characterised in that：Described nacelle built with passing through respectively
Four electron speed regulators and the battery of offer energy that water proof wire is connected with four propellers.
6. amphibious four rotor wing unmanned aerial vehicle according to claim 1, it is characterised in that：Installed along horn on described horn
There is the wire clamp of fixed water proof wire.
7. amphibious four rotor wing unmanned aerial vehicle according to claim 1, it is characterised in that：Described frame main body is formed around peace
The horn interface of installation arm.
8. amphibious four rotor wing unmanned aerial vehicle according to claim 1, it is characterised in that：Described nacelle lower end is provided with support
Pin.
9. amphibious four rotor wing unmanned aerial vehicle according to claim 1, it is characterised in that：The hatch edge in described water storage cabin sets
There is boss radially, the groove coordinated with the boss is correspondingly arranged on inside described nacelle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710097439.4A CN106926654A (en) | 2017-02-22 | 2017-02-22 | A kind of amphibious four rotor wing unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710097439.4A CN106926654A (en) | 2017-02-22 | 2017-02-22 | A kind of amphibious four rotor wing unmanned aerial vehicle |
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| CN106926654A true CN106926654A (en) | 2017-07-07 |
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| CN201710097439.4A Pending CN106926654A (en) | 2017-02-22 | 2017-02-22 | A kind of amphibious four rotor wing unmanned aerial vehicle |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107499502A (en) * | 2017-08-24 | 2017-12-22 | 泸州深远世宁无人机科技有限公司 | Waterproof more blade flight equipment |
| CN107539475A (en) * | 2017-08-03 | 2018-01-05 | 上海海事大学 | A kind of empty water is dwelt the control method of ROV more |
| CN107839419A (en) * | 2017-11-30 | 2018-03-27 | 中国科学院合肥物质科学研究院 | A kind of coaxial eight rotor three is dwelt robot |
| CN108621727A (en) * | 2018-06-15 | 2018-10-09 | 中宇航通（北京）科技有限公司 | The eight rotor arrangements and eight rotor string wing hovercars of string wing hovercar |
| CN109229371A (en) * | 2018-07-12 | 2019-01-18 | 哈尔滨工程大学 | A kind of novel aircraft of dwelling based on quadrotor more |
| CN109324629A (en) * | 2017-07-31 | 2019-02-12 | 上海交通大学 | In the air, the water surface and underwater dwell aircraft and its control method more |
| CN110040253A (en) * | 2019-05-06 | 2019-07-23 | 深圳市青柠空间科技有限责任公司 | A kind of unmanned plane water pump complement |
| CN110456817A (en) * | 2019-07-19 | 2019-11-15 | 西北工业大学 | A kind of amphibious Underwater Detection buoy |
| CN110515317A (en) * | 2019-09-06 | 2019-11-29 | 西安电子科技大学 | A kind of empty double dynamical unmanned aerial vehicle control system of close coupled type water |
| CN110588972A (en) * | 2019-09-06 | 2019-12-20 | 西安电子科技大学 | Water-air hybrid unmanned aerial vehicle based on coaxial water-air hybrid and water-air hybrid conversion device and method |
| CN110696574A (en) * | 2018-07-10 | 2020-01-17 | 中国科学院沈阳自动化研究所 | Rotor wing air-sea amphibious robot capable of switching sailing postures |
| CN112977865A (en) * | 2021-04-09 | 2021-06-18 | 深圳微希科技有限公司 | Unmanned aerial vehicle water surface auxiliary recovery system, unmanned aerial vehicle and water surface recovery method thereof |
| CN113524998A (en) * | 2021-08-10 | 2021-10-22 | 中国人民解放军国防科技大学 | Sea-air integrated detection platform based on variable rotor and detection method thereof |
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