CN107000837B - Unmanned aerial vehicle capable of walking on ground - Google Patents
Unmanned aerial vehicle capable of walking on ground Download PDFInfo
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- CN107000837B CN107000837B CN201680002968.5A CN201680002968A CN107000837B CN 107000837 B CN107000837 B CN 107000837B CN 201680002968 A CN201680002968 A CN 201680002968A CN 107000837 B CN107000837 B CN 107000837B
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- 239000013013 elastic material Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 3
- 239000000243 solution Substances 0.000 description 3
- 239000007787 solid Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 210000003811 finger Anatomy 0.000 description 1
- 238000007306 functionalization reaction Methods 0.000 description 1
- 238000010102 injection blow moulding Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C37/00—Convertible aircraft
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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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/04—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track having other than ground-engaging propulsion means, e.g. having propellers
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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
- B64U10/13—Flying platforms
- B64U10/16—Flying platforms with five or more distinct rotor axes, e.g. octocopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
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Abstract
An unmanned aerial vehicle capable of walking on the ground comprises a main shell (11), a first rotor wing group (12) and a second rotor wing group (13), the first rotor wing group (12) and the second rotor wing group (13) are arranged on the edge surface and symmetrically distributed on two sides of the symmetrical surface, the first rotor group (12) comprises a first rotor (121) and a second rotor (122), the second rotor group (13) comprises a third rotor (131) and a fourth rotor (132), the rotating shafts of the first rotor (121), the second rotor (122), the third rotor (131) and the fourth rotor (132) are parallel to an end surface reference plane and form an acute angle with the symmetry plane, the first rotor wing (121) and the third rotor wing (131) are used for jointly driving the unmanned aerial vehicle to move towards a first direction, the second rotor (122) and the fourth rotor (132) are configured to jointly propel the drone towards a second direction. Unmanned aerial vehicle can realize the function of ground walking, strengthens unmanned aerial vehicle's application environment, has promoted unmanned aerial vehicle's performance.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle capable of walking on the ground.
Background
Along with the continuous progress of science and technology society, the unmanned aerial vehicle trade is progressively getting bigger, and many rotor unmanned aerial vehicle is because mechanical structure is simple, and driving system is simple, can rise perpendicularly and descend the advantage development very fast, and the person that makes a good fat in a time becomes the heart of the person that makes a good fat in a dispute begins many rotor unmanned aerial vehicle's research use, all has the hot tide with many rotors commercialization in the global scope.
Unmanned aerial vehicle among the prior art, in order to let unmanned aerial vehicle can go to accomplish more complicated task or realize unmanned aerial vehicle's multi-functionalization, unmanned aerial vehicle's home range is not being confine to initial sky flight for a long time. And the research of the current air-ground integrated unmanned aerial vehicle is less, so that the increasingly complex use environment requirements are difficult to meet.
Disclosure of Invention
The utility model aims to provide an unmanned aerial vehicle that can ground walking realizes unmanned aerial vehicle's amphibious function in air and ground.
In order to achieve the above purpose, the present application provides the following technical solutions:
the invention provides a ground-walking unmanned aerial vehicle, which comprises a main shell, a first rotor wing group and a second rotor wing group, wherein the main shell is symmetrical along a symmetrical plane, the main shell comprises two oppositely-arranged end surface reference surfaces and an edge surface connected between the two end surface reference surfaces, the first rotor wing group and the second rotor wing group are arranged on the edge surface and are symmetrically distributed on two sides of the symmetrical plane, the first rotor wing group comprises a first rotor wing and a second rotor wing, the second rotor wing group comprises a third rotor wing and a fourth rotor wing, rotating shafts of the first rotor wing, the second rotor wing, the third rotor wing and the fourth rotor wing are parallel to the end surface reference surfaces, an included angle between the rotating shafts and the symmetrical plane is an acute angle, the first rotor wing and the third rotor wing are used for driving the unmanned aerial vehicle to move towards a first direction together, and the second rotor wing and the fourth rotor wing are used for driving the unmanned aerial vehicle to move towards a second direction together, the first direction and the second direction are opposite.
Wherein, the main casing body is regular hexagonal prism structure, first rotor with the third rotor divide and locate on two adjacent faceted pebbles, the second rotor with the fourth rotor divides and locates on other two adjacent faceted pebbles, first rotor the second rotor the third rotor with the pivot of fourth rotor is on a parallel with respectively corresponding the faceted pebble.
Wherein, the main casing body is regular hexagonal prism structure, first rotor with the second rotor divide and locate on two adjacent faceted pebbles, the third rotor with the fourth rotor divides and locates on other two adjacent faceted pebbles, first rotor the second rotor the third rotor with the pivot of fourth rotor is on a parallel with respectively corresponding the faceted pebble.
Wherein, still include fifth rotor and sixth rotor, the fifth rotor with the sixth rotor with first rotor the second rotor the third rotor with the fourth rotor divide to belong to the difference on the faceted pebble, the fifth rotor with the pivot forward orientation of sixth rotor is the same, the fifth rotor with the pivot of sixth rotor is on a parallel with corresponding the faceted pebble just is on a parallel with main casing body terminal surface reference surface.
The first rotor, the third rotor, the second rotor, the fourth rotor, the fifth rotor and the sixth rotor are in a regular hexagon structure, and the side length of the hexagon is equal to the edge length of the bottom surface of the hexagonal prism.
Wherein, still include first magnetic medium and second magnetic medium, be provided with on the main casing body arris face first magnetic medium, first rotor the second rotor the third rotor with be equipped with on the fourth rotor second magnetic medium, first magnetic medium with second magnetic medium inter attraction, still be equipped with the slot on the main casing body arris face, first rotor the second rotor the third rotor with be equipped with respectively on the fourth rotor with slot matched with bolt.
Wherein, the slot is in a cross shape.
Wherein, still include the base, be provided with draw-in groove and motion on the base, first rotor group with second rotor group is fixed in the draw-in groove.
Wherein, the base is made of elastic material.
Wherein, the motion mechanism is a universal wheel or a spherical contact.
The unmanned aerial vehicle of this application is through setting up the base under power component, is provided with the method of motion on the base, has realized the function of unmanned aerial vehicle walking on ground, strengthens unmanned aerial vehicle's suitable environment, has promoted unmanned aerial vehicle's performance.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is an exploded schematic view of a ground-walking unmanned aerial vehicle according to a first embodiment of the present application.
Fig. 2 is a schematic view of the ground-walking drone shown in fig. 1.
Fig. 3 is a schematic structural diagram of a ground-walking drone provided by a second embodiment of the present application.
Fig. 4 is a schematic structural diagram of a ground-walking drone provided by a third embodiment of the present application.
Fig. 5 is a schematic structural diagram of a ground-walking drone provided by a fourth embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The ordinal number qualifiers, first, second, etc. used in the following embodiments of the present application are merely used to clearly illustrate the distinctive words of similar features in the present application, and do not represent the ordering or use sequence of the corresponding features.
Referring to fig. 1, the ground-walking unmanned aerial vehicle of the present invention includes: a power assembly 10 and a base 20. The power assembly 10 includes a main housing 11, a first rotor group 12 and a second rotor group 13, the main housing 11 includes two end reference surfaces disposed opposite to each other and a prism surface connecting the two end reference surfaces, the main housing 11 is a symmetrical structure, and a symmetrical surface (for example, AA' in fig. 2) of the main housing 11 is perpendicular to the end surfaces. The end reference plane here refers to a cross section of the main housing 11 perpendicular to the prism plane at both ends. The first rotor set 12 and the second rotor set 13 are mounted on the prism of the main housing 11. The first rotor set 12 includes a first rotor 121 and a second rotor 122, and the second rotor set 13 includes a third rotor 131 and a fourth rotor 132. First and third rotors 121, 131 are arranged in mirror image with respect to main housing 11, and second and fourth rotors 122, 132 are arranged in mirror image with respect to main housing 11. That is, the first rotor set 12 and the second rotor set 13 are symmetrically distributed with respect to the symmetry plane of the main housing 11. Referring to fig. 2, fig. 2 is a schematic structural diagram of the first embodiment of the ground-walking drone in fig. 1, where the directions indicated by solid arrows are the positive directions of the rotating shafts of the rotors. First rotor 121, second rotor 122 third rotor 131 with the parallel terminal surface of main casing 11 of the pivot of fourth rotor 132 and with the contained angle of plane of symmetry AA' is the acute angle, first rotor 121 with the pivot forward deviation of third rotor 131 is first direction X, second rotor 122 with the pivot forward deviation of fourth rotor 132 is the second direction. The first direction is opposite to the second direction. It is understood that the shaft described in the present invention satisfies the right-hand screw rule in the forward direction. Namely, when the four fingers of the right hand rotate along the propeller, the direction pointed by the thumb is the positive direction of the rotating shaft. First rotor 121 and third rotor 131 are configured to drive the drone in a first direction. The second rotor 122 and the fourth rotor 132 are configured to drive the drone in a second direction. The power assembly 10 is mounted on the base 20, and the base 20 is provided with a movement mechanism 21. But unmanned aerial vehicle of ground walking places subaerial through base 20, under the drive of power component 10, can walk subaerial.
Further specifically, the main casing 11 is a regular hexagonal prism structure, and six prism faces of the main casing 11 are sequentially arranged. The first rotor 121 and the third rotor 131 are respectively disposed on two adjacent facets, and the second rotor 122 and the fourth rotor 132 are respectively disposed on two other adjacent facets. Referring to fig. 2, each rotor is fixed on a prism, and the rotation axis of the rotor fixed on the prism is parallel to the prism. When the drone needs to move in a first direction, the first rotor 121 and the third rotor 131 rotate, and the second rotor 122 and the fourth rotor 132 stop moving (or move in a reverse direction to change the positive direction of the rotation axis); when the drone is required to turn to the right in fig. 2, the second rotor 122 and the third rotor 131 rotate, and the first rotor 121 and the fourth rotor 132 stop moving (or move in reverse to change the positive direction of the rotation axis).
It will be appreciated that when the drone is required to move in a second direction or turn to the left in figure 2, the operation of the individual rotors is reversed from that described above. In other embodiments, all the rotor shafts in fig. 2 may be rotated by 180 ° in the forward direction, and the working process is also similar to the above working process, which is not described herein again.
Further, but unmanned aerial vehicle of ground walking still includes fifth rotor 15 and sixth rotor 16, fifth rotor 15 with sixth rotor 16 divide set up in on the main casing body 11 remaining two not be equipped with the faceted pebble of rotor. That is, the fifth rotor 15 and the sixth rotor 16 belong to different edge surfaces, the rotating shafts of the fifth rotor 15 and the sixth rotor 16 are in the same forward direction, and the rotating shafts of the fifth rotor 15 and the sixth rotor 16 are parallel to the corresponding edge surfaces and the end surface of the main housing 11. In fig. 2, the rotating shafts of the fifth rotor 15 and the sixth rotor 16 face the first direction in the forward direction, and are used for pushing the ground-walking unmanned aerial vehicle to move towards the first direction. When the rotating shaft forward direction of the fifth rotor 15 and the sixth rotor 16 is changed to enable the rotating shaft to face the second direction, the unmanned aerial vehicle capable of walking on the ground can be pushed to move towards the second direction.
More specifically, the first rotor 121, the third rotor 131, the second rotor 122, the fourth rotor 132, the fifth rotor 15, and the sixth rotor 16 are all in a regular hexagon structure, and the side length of the hexagon is equal to the edge length of the bottom surface of the hexagonal prism. The benefit that sets up like this lies in, when unmanned aerial vehicle that can ground walk need convert the flight mode into, the pivot direction perpendicular to horizontal plane of every rotor promptly, can support each other between the adjacent rotor this moment to strengthen the stability of structure.
Further specifically, unmanned aerial vehicle that can walk on ground still includes first magnetic medium 17 and second magnetic medium 18, be provided with on every arris face of main casing body 11 first magnetic medium 17, first rotor 121, second rotor 122, third rotor 131 fourth rotor 132 fifth rotor 15 with be equipped with on the sixth rotor 16 second magnetic medium 18, first magnetic medium 17 with second magnetic medium 18 attracts each other to fixed rotor and main casing body 11. Still be equipped with slot 110 on the main casing arris face, first rotor 121, second rotor 122 third rotor 131 fourth rotor 132 fifth rotor 15 with be equipped with respectively on the sixth rotor 16 with slot 110 matched with bolt 111. The positioning function is realized through the matching of the plug 111 and the slot 110.
More specifically, the slot 110 is substantially cross-shaped, that is, the latch 111 is cross-shaped. The advantage of this design is that the angle of rotor system 20 can be adjusted to achieve multiple flight modes depending on different needs. For example, the rotating shafts of all rotors can be arranged in the forward direction to realize the flight mode of the unmanned aerial vehicle.
Further specifically, the base 20 is provided with six engaging grooves 201, and the first rotor 121, the third rotor 131, the second rotor 122, the fourth rotor 132, the fifth rotor 15 and the sixth rotor 16 are all fixed in the engaging grooves 201. The base 20 is made of an elastic material, such as rubber, elastic plastic, etc. Preferably, the base 20 can be made by injection molding or blow molding, and has a certain strength for supporting and protecting. The power module 10 is fixed to the base 20 by a pressing force generated by the rotors being caught in the catching grooves 201. This connection also facilitates removal of the base 20 from the host assembly 10 to form different modes of operation. The moving mechanism 21 on the base 20 can be a universal wheel or a spherical contact.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a second embodiment of the ground-based unmanned aerial vehicle, in which the directions indicated by solid arrows are the forward directions of the rotating shafts of the rotors, and each rotor is fixed on one edge surface. Specifically, first rotor 121 with second rotor 122 divides to locate on two adjacent faceted pebbles, third rotor 131 with fourth rotor 132 divides to locate on two other adjacent faceted pebbles, and the rotor pivot of being fixed in this faceted pebble all is on a parallel with this faceted pebble. When the drone needs to move in a first direction, the first rotor 121 and the third rotor 131 rotate, and the second rotor 122 and the fourth rotor 132 stop moving (or move in a reverse direction to change the positive direction of the rotation axis); when the drone is required to turn to the right in fig. 3, the first rotor 121 and the fourth rotor 132 rotate, and the second rotor 122 and the third rotor 131 stop moving (or move in reverse to change the positive direction of the rotation axis). It will be appreciated that when the drone is required to move in a second direction or turn to the left in figure 3, the operation of the individual rotors is reversed. In other embodiments, all the rotor shafts in fig. 2 may be rotated by 180 ° in the forward direction, and the working process is also similar to the above working process, which is not described herein again.
Further, but unmanned aerial vehicle of ground walking still includes fifth rotor 15 and sixth rotor 16, fifth rotor 15 with sixth rotor 16 divide set up in on main casing body 11 remaining two are not equipped with the faceted pebble of rotor, fifth rotor 15 with sixth rotor 16's pivot forward is the same, fifth rotor 15 with sixth rotor 16's pivot is on a parallel with the faceted pebble that corresponds and is on a parallel with the horizontal plane. In fig. 3, the rotating shafts of the fifth rotor 15 and the sixth rotor 16 are forward facing to the vertical first direction, and are used for pushing the ground-walking unmanned aerial vehicle to move towards the vertical first direction.
It will be appreciated that the rotor of the present invention is removably attached to the main chassis 11. Therefore, there can be also the movement patterns of the third embodiment shown in fig. 4 and the fourth embodiment shown in fig. 5. The movement pattern shown in fig. 4 may be implemented as a rotation in place or a spiral travel. The motion pattern of fig. 5 may enable fast movement in one direction.
The foregoing detailed description of the embodiments of the present application has been presented to illustrate the principles and implementations of the present application, and the above description of the embodiments is only provided to help understand the method and the core concept of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (9)
1. An unmanned aerial vehicle capable of walking on ground, which is characterized by comprising a main shell, a first rotor wing group and a second rotor wing group, wherein the main shell is symmetrical along a symmetrical plane, the main shell comprises two oppositely arranged end surface reference surfaces and an edge surface connected between the two end surface reference surfaces, the first rotor wing group and the second rotor wing group are arranged on the edge surface and are symmetrically distributed on two sides of the symmetrical plane, the first rotor wing group comprises a first rotor wing and a second rotor wing, the second rotor wing group comprises a third rotor wing and a fourth rotor wing, rotating shafts of the first rotor wing, the second rotor wing, the third rotor wing and the fourth rotor wing are parallel to the end surface reference surfaces and are acute angles with an included angle of the symmetrical plane, the first rotor wing and the third rotor wing are used for driving the unmanned aerial vehicle to move towards a first direction together, and the second rotor wing and the fourth rotor wing are used for driving the unmanned aerial vehicle to move towards a second direction together, the first direction and the second direction are opposite; still be equipped with the slot on the main casing body faceted pebble, first rotor the second rotor the third rotor with be equipped with on the fourth rotor respectively with slot matched with bolt, the slot is the cross, in order to be used for the adjustment first rotor the second rotor the third rotor with the pivot of fourth rotor with the contained angle of terminal surface reference surface realizes the switching of ground walking mode and flight mode.
2. The unmanned ground-walking vehicle according to claim 1, wherein the main housing has a regular hexagonal prism structure, the first rotor and the third rotor are respectively disposed on two adjacent facets, the second rotor and the fourth rotor are respectively disposed on two other adjacent facets, and the rotation axes of the first rotor, the second rotor, the third rotor and the fourth rotor are respectively parallel to the corresponding facets.
3. The unmanned ground-walking vehicle according to claim 1, wherein the main housing has a regular hexagonal prism structure, the first rotor and the second rotor are respectively disposed on two adjacent facets, the third rotor and the fourth rotor are respectively disposed on two other adjacent facets, and the rotation axes of the first rotor, the second rotor, the third rotor and the fourth rotor are respectively parallel to the corresponding facets.
4. The ground-walking unmanned aerial vehicle of claim 2 or 3, further comprising a fifth rotor and a sixth rotor, wherein the fifth rotor and the sixth rotor belong to different prism surfaces from the first rotor, the second rotor, the third rotor and the fourth rotor, and the rotating shafts of the fifth rotor and the sixth rotor are in the same forward orientation, and the rotating shafts of the fifth rotor and the sixth rotor are parallel to the corresponding prism surfaces and the reference surface of the end surface of the main housing.
5. The ground-walking unmanned aerial vehicle of claim 4, wherein the first rotor, the third rotor, the second rotor, the fourth rotor, the fifth rotor, and the sixth rotor are in a regular hexagon configuration, and the side length of the hexagon is equal to the edge length of the bottom surface of the hexagonal prism.
6. The unmanned, ground-walking vehicle of claim 1, further comprising a first magnetic medium and a second magnetic medium, wherein said first magnetic medium is disposed on said main housing prism, and said second magnetic medium is disposed on said first rotor, said second rotor, said third rotor, and said fourth rotor, and wherein said first magnetic medium and said second magnetic medium attract each other; the first magnetic medium is arranged around the slot, and the second magnetic medium is arranged around the bolt.
7. The ground-walking unmanned aerial vehicle of claim 1, further comprising a base, wherein a slot and a motion mechanism are disposed on the base, and the first rotor set and the second rotor set are fixed in the slot.
8. The ground-walking drone of claim 7, wherein the base is made of an elastic material.
9. The ground-walking drone of claim 7, wherein the kinematic mechanism is a universal wheel or a spherical contact.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/082495 WO2017197601A1 (en) | 2016-05-18 | 2016-05-18 | Unmanned aerial vehicle capable of walking on ground |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107000837A CN107000837A (en) | 2017-08-01 |
| CN107000837B true CN107000837B (en) | 2020-10-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680002968.5A Active CN107000837B (en) | 2016-05-18 | 2016-05-18 | Unmanned aerial vehicle capable of walking on ground |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107000837B (en) |
| WO (1) | WO2017197601A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110641698A (en) * | 2019-10-06 | 2020-01-03 | 谌薏冰 | Multifunctional flying robot |
| CN113148133A (en) * | 2021-04-02 | 2021-07-23 | 泉州中国兵器装备集团特种机器人研发中心 | Improved generation air-land dual-purpose four rotor unmanned aerial vehicle |
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| US9493235B2 (en) * | 2002-10-01 | 2016-11-15 | Dylan T X Zhou | Amphibious vertical takeoff and landing unmanned device |
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| JP5837032B2 (en) * | 2013-12-27 | 2015-12-24 | 株式会社原子力エンジニアリング | Aircraft that can travel on the ground |
| CN104494818B (en) * | 2014-11-28 | 2016-12-07 | 吉林大学 | Four rotor amphibious robots |
| CN104786768A (en) * | 2015-04-21 | 2015-07-22 | 中国科学院合肥物质科学研究院 | Spherical mechanism for quad-rotor amphibious robot |
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- 2016-05-18 WO PCT/CN2016/082495 patent/WO2017197601A1/en active Application Filing
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| JP2006021733A (en) * | 2004-07-07 | 2006-01-26 | Kaido Ikeda | Vertical taking-off and landing machine installing rapid wind quantity generation wind direction changing device of double inversion two-axis tilt as device for lift and propulsion of machine body and using it as steering means |
| CN1944091A (en) * | 2006-11-07 | 2007-04-11 | 北京航空航天大学 | Multifunction aircraft |
| CN102556341A (en) * | 2011-12-05 | 2012-07-11 | 北京航空航天大学 | Group flying robot with distribution and self-assembly characteristics |
| CN102910269A (en) * | 2012-11-16 | 2013-02-06 | 张家港同宇智能机电科技有限公司 | Robot for brushing ship body |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107000837A (en) | 2017-08-01 |
| WO2017197601A1 (en) | 2017-11-23 |
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