CN107651184A - One kind is without displacement helicopter - Google Patents
One kind is without displacement helicopter Download PDFInfo
- Publication number
- CN107651184A CN107651184A CN201710807958.5A CN201710807958A CN107651184A CN 107651184 A CN107651184 A CN 107651184A CN 201710807958 A CN201710807958 A CN 201710807958A CN 107651184 A CN107651184 A CN 107651184A
- Authority
- CN
- China
- Prior art keywords
- empennage
- helicopter
- motor
- main wing
- dynamical system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000006073 displacement reaction Methods 0.000 title claims abstract description 13
- 238000005183 dynamical system Methods 0.000 claims abstract description 31
- 230000005540 biological transmission Effects 0.000 claims description 15
- 238000006243 chemical reaction Methods 0.000 claims description 7
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 2
- 230000008450 motivation Effects 0.000 claims 1
- 238000010338 mechanical breakdown Methods 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 5
- 230000003247 decreasing effect Effects 0.000 description 2
- 230000001965 increasing effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/82—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/026—Aircraft characterised by the type or position of power plants comprising different types of power plants, e.g. combination of a piston engine and a gas-turbine
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- 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
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/82—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft
- B64C2027/8209—Electrically driven tail rotors
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Remote Sensing (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
- Toys (AREA)
Abstract
One kind is without displacement helicopter, including main wing, dynamical system, supply unit, empennage, motor, drive mechanism and frame；Wherein, drive mechanism is arranged on the end of frame, dynamical system is arranged in frame, dynamical system one end is connected with main wing, the dynamical system other end is connected with supply unit, and the output end of supply unit is connected with empennage motor, and empennage motor is arranged in drive mechanism, empennage is connected with empennage motor, drives empennage to rotate after empennage electrical power；Drive mechanism can rotate around the helicopter longitudinal axis, drive empennage motor and empennage to be rotated around the helicopter longitudinal axis while drive mechanism rotates.The structure that the present invention uses eliminates the inclinator and pitch-changing mechanism of complexity completely.Main wing is connected after removing auto-bank unit with dynamical system, because the structure of no inclinator, therefore main wing greatly simplifies；The heading of helicopter is adjusted around the angle of the rotation of the helicopter longitudinal axis and the rotating speed of empennage by empennage, reliability is high, is not susceptible to mechanical breakdown.
Description
Technical field
The present invention relates to a kind of structure of helicopter, and specially one kind is without displacement helicopter.
Background technology
The outstanding feature of helicopter is in the VTOL of small area place and hovering, these features helicopter can be had
Wide purposes and development prospect.
The main rotor of conventional helicopters is driven by engine, and empennage is the machine by motion relevant with main rotor
Tool major axis drives.Auto-bank unit and pulp distance varying mechanism are housed on main rotor, Helicopter Main rotor entered by auto-bank unit
The row cycle controls the heading of helicopter away from control, changes lift, the displacement knot of this helicopter by changing pitch
Structure and control mode are extremely complex, and very high to the reliability requirement of material.
Empennage is the ultimate challenge of helicopter flight safety, and main rotor runs out of steam, and helicopter can also spin landing；But
Empennage once runs out of steam, and that helicopter will spin, out of hand.Empennage of helicopter with main rotor by having motion association
Drive link drives, and in order to which power is delivered to empennage, needs to install a very long power transmission shaft, while empennage in helicopter shoe
Pitch-changing mechanism is needed, this mode can increase the weight and mechanical complexity of helicopter.
The content of the invention
The present invention is directed to the problems of the prior art, it is therefore intended that proposes one kind without displacement helicopter.
To achieve the above object, the present invention adopts the following technical scheme that：
One kind is without displacement helicopter, including main wing, dynamical system, empennage, empennage motor, empennage assembly rotation driving
Mechanism and frame；Wherein, empennage assembly rotary drive mechanism is arranged on the afterbody of frame, and dynamical system is arranged in frame,
Dynamical system is connected with main wing, and drives main wing to rotate, and dynamical system is connected with empennage motor, and empennage motor drives
Empennage high-speed rotation；Empennage motor is arranged on empennage assembly rotary drive mechanism with empennage, empennage assembly rotation driving
Mechanism can drive empennage motor and empennage to be rotated around the helicopter longitudinal axis.
Further improve of the invention is that dynamical system includes engine and generator, and the output end of generator passes through
Cable is connected with empennage motor, is connected between engine one end and main wing by transmission mechanism.
Further improve of the invention is that dynamical system includes motor and electrokinetic cell, and electrokinetic cell passes through cable
It is connected with empennage motor, is connected between motor one end and main wing by transmission mechanism.
Further improve of the invention is that cable is arranged in frame
Further improve of the invention is, pedestal, empennage motor are provided with empennage assembly rotary drive structure
It is arranged on pedestal.
Further improve of the invention is, changes lift by changing main wing rotating speed, is balanced by empennage rotating speed
Heading is gone straight up in main wing reaction torque and regulation；Control fuselage to produce by empennage assembly rotary drive mechanism to lean forward or swing back
Angle come realize advance or retreat.
Compared with prior art, the device have the advantages that：The present invention is by setting dynamical system to be connected with main wing
And driving main wing to rotate, empennage motor drives empennage to rotate after being powered；Empennage assembly rotary drive mechanism can drive tail
Wing motor and empennage rotate around the helicopter longitudinal axis.The structure that the helicopter of the present invention uses eliminates the inclination of complexity completely
Device and pitch-changing mechanism.Main wing is connected after removing auto-bank unit with dynamical system, due to no inclinator, therefore the structure of main wing
Greatly simplify, it is suitable with rigid wings.The empennage of existing helicopter drives empennage, tail of the invention by engine by major axis
The wing drives by empennage electric drive, eliminates transmission long axis, drives empennage of helicopter using motor, simplifies the machine of empennage portion
Tool complexity, add the reliability of empennage；Empennage and empennage motor form an entirety, i.e. empennage assembly；Empennage is total
It can be distribution accurately controlled into the angle rotated around the longitudinal axis, empennage is with main wing without mechanical coupled movements.Empennage motor and assembly
Electric energy required for driving comes from helicopter dynamical system.Change lift by changing main wing rotating speed, pass through empennage rotating speed
Heading is gone straight up to balance main wing reaction torque and regulation；By empennage assembly rotary drive mechanism control fuselage produce lean forward or
The angle of person's layback is advanced or retreated to realize.It is by controlling empennage to be always at an angle of, producing perpendicular that i.e. helicopter, which moves forward and backward,
Nogata to component cause helicopter elevating movement, the front and rear component driving helicopter of main wing moves forward and backward；The driftage of helicopter
Angle is controlled by adjusting empennage rotating speed and being always at an angle of.Move up and down, move forward and backward and cause with yaw angle collective effect
Helicopter has spatial movement ability.The present invention is adjusted by empennage around the angle of the rotation of the helicopter longitudinal axis and the rotating speed of empennage
The heading of helicopter is saved, reliability is high, is not susceptible to mechanical breakdown.
Further, dynamical system includes motor and electrokinetic cell, and electrokinetic cell passes through the cable that is arranged in frame
It is connected with empennage motor, is connected between motor one end and main wing by transmission mechanism.Motor and electrokinetic cell, form
It helicopter electric power system, both can be used to drive empennage motor, or engine igniting system and airborne equipment power supply, and work as
When engine is shut down in the air, engine can be also restarted, improves the security of system.
Brief description of the drawings
Rearview when Fig. 1 is helicopter flight forward；
Side view when Fig. 2 is helicopter flight forward；
Fig. 3 be helicopter backward flight when rearview；
Fig. 4 be helicopter backward flight when side view；
Fig. 5 is the pose adjustment figure of helicopter when having lateral wind；
Fig. 6 is helicopter overall structure figure.
Fig. 7 is structural representation when dynamical system includes engine and generator.
In figure, 1 is main wing, and 2 be transmission mechanism, and 3 be dynamical system, and 5 be empennage, and 6 be empennage motor, and 7 be empennage
Assembly rotary drive mechanism, 8 be frame.
Embodiment
The present invention is described in detail below in conjunction with the accompanying drawings.
Referring to Fig. 1~Fig. 7, the present invention include main wing 1, transmission mechanism 2, dynamical system 3, empennage 5, empennage motor 6,
Empennage assembly rotary drive mechanism 7 and frame 8.Wherein, empennage assembly rotary drive mechanism 7 is arranged on the afterbody of frame 8, moves
Force system 3 is arranged in frame 8, and dynamical system 3 is connected by transmission mechanism 2 with main wing 1, and dynamical system 3 can pass through
Transmission mechanism 2 drives main wing 1 to rotate,
Referring to Fig. 7, the dynamical system 3 in the present invention has two kinds of structures, and a kind of structure is that dynamical system includes engine 3-1
With generator 3-2, generator 3-2 output end is connected with empennage motor 6 by the cable being arranged in frame 8, started
It is connected between machine 3-1 one end and main wing 1 by transmission mechanism 2.While engine 3-1 drives the rotation of main wing 1, generator is driven
3-2 generates electricity.
Another structure is that dynamical system 3 includes motor and electrokinetic cell, and electrokinetic cell is by being arranged in frame 8
Cable be connected with empennage motor 6, be connected between motor one end and main wing 1 by transmission mechanism 2.Motor drives master
The wing 1 rotates, and electrokinetic cell is that motor and empennage motor 6 provide electric energy.
Dynamical system 3 is connected with empennage motor 6；Pedestal is provided with empennage assembly rotary drive structure 7, empennage drives
Dynamic motor 6 is arranged on pedestal.Empennage motor 6 drives the high-speed rotation of empennage 5 after being powered；Empennage motor 6 and empennage 5
On empennage assembly rotary drive mechanism 7, empennage assembly rotary drive mechanism 7 can drive empennage motor 6 and tail
The wing 5 rotates around the helicopter longitudinal axis.
It is of the invention to be with helicopter difference of the prior art：Main wing 1 eliminates the automatic of conventional helicopters complexity
Inclinator, empennage 5 also eliminate pitch-changing mechanism and transmission long axis, are directly driven by empennage motor 6 or deceleration, but are
Control helicopter attitude, empennage assembly (empennage assembly includes empennage 5 and empennage motor 6) can turn around the helicopter longitudinal axis
It is dynamic, the empennage assembly rotary drive mechanism 7 that can be accordingly rotated around helicopter axis is thereby increased, installed in the afterbody of frame 8,
Empennage 5 and empennage motor 6 can be driven to be rotated as overall around helicopter axis.
Frame 8 is the support section of helicopter, is not limited to the long rod structure shown in Fig. 1, can use different structures
Form.
Change helicopter lift by changing the rotating speed of main wing 1 in the present invention, by controlling empennage 5 to change helicopter
Heading, fuselage is produced the angle for either layback of leaning forward and advance or retreat to realize.In the present invention empennage rotation be for
The direction and adjustment course that control is advanced.
When helicopter is without flight forward or flight backward, i.e. helicopter is flat where tail-rotor under floating state
Face is perpendicular, and tail-rotor is used for balancing the reaction torque of main oar rotation.
The posture of empennage such as Fig. 1, sees from back to front during helicopter flight forward, and empennage is by vertical state during floating state
Around helicopter axis both clockwise rotation alpha1Angle, the thrust F of such empennage11The power F of horizontal direction can be decomposed into11xWith it is vertical
The power F in direction11y, F11xIt can be used for offsetting main wing reaction torque, and F11yHelicopter can be made to have an angle to lean forward, such as Fig. 2
Shown, helicopter turns forward β1Angle, power F caused by such main rotor12The power F of horizontal direction can be decomposed into12xIt is and perpendicular
Nogata to power F12y, F12yHelicopter is set to move up and down for providing lift, and F12xFor providing the dynamic of helicopter advance
Power.
Helicopter backward flight when empennage posture as shown in figure 3, seeing from back to front, empennage is by vertical during floating state
State is around helicopter axis rotate counterclockwise α2Angle, the thrust F of such empennage21The power F of horizontal direction can be decomposed into21xWith
The power F of vertical direction21y, F21xIt can be used for offsetting main shaft reaction torque, and F21yHelicopter can be made to have the angle of a layback,
As shown in figure 4, helicopter reclined by angle is β2, power F caused by such main rotor22The power F of horizontal direction can be decomposed into22xWith
And the power F of vertical direction22y, F22yHelicopter is set to move up and down for providing lift, and F22xFly backward for providing helicopter
Capable power.
When needing to move up and down, main wing rotating speed is increasedd or decreased, main wing lift changes so that helicopter will produce
Move up and down；But reaction torque at this moment can also change, can be balanced by adjusting empennage rotating speed.When needing to adjust course, with
Exemplified by Fig. 1 and Fig. 2, F is kept11yIt is constant, F is decreased or increased11x, in the case where keeping the angle of pitch constant, generate driftage fortune
It is dynamic, course is adjusted with this；Its specific control is realized by adjusting empennage rotating speed and assembly inclination angle.It is to go off course to the right
Example, to the right driftage need to increase F11x, and keep F11yIt is constant, so on the one hand increasing speed, on the other hand reduce empennage assembly and incline
Angle α1。
When there is external interference, such as when lateral wind, can by changing direction and the angle of pitch of helicopter fuselage,
To balance active force of the crosswind to fuselage.As shown in figure 5, considering extreme case, wind is vertical with line direction before helicopter, this feelings
Make unmanned plane that while the power of the forward needs of aircraft is ensured, wind pair can also be offset towards one angle of wind direction rotary under condition
The active force of helicopter.
The Helicopter Main rotor of the present invention eliminates the pitch-changing mechanism and tilting gearing of traditional unmanned plane, main wing and dynamical system
System is joined directly together by transmission device.Empennage is without pitch-changing mechanism and transmission long axis.By the empennage pitch-changing mechanism of helicopter and inclination
Device is cancelled, and enormously simplify helicopter structure；Empennage of helicopter is driven using motor, the machinery for simplifying empennage portion is complicated
Property, add the reliability of empennage；Lift control realizes that gesture stability leans on empennage rotating speed and empennage by regulation main wing rotating speed completely
Assembly is realized around the corner of the longitudinal axis and gone straight up to by empennage around the angle of the rotation of the helicopter longitudinal axis and the rotating speed of empennage to adjust
The heading of machine, without by inclinator and pitch-changing mechanism realization, reliability is high, is not susceptible to mechanical breakdown.
Claims (6)
1. one kind is without displacement helicopter, it is characterised in that including main wing (1), dynamical system (3), empennage (5), empennage driving electricity
Machine (6), empennage assembly rotary drive mechanism (7) and frame (8)；Wherein, empennage assembly rotary drive mechanism (7) is arranged on machine
The afterbody of frame (8), dynamical system (3) are arranged in frame (8), and dynamical system (3) is connected with main wing (1), and drives main wing (1)
Rotate, dynamical system (3) is connected with empennage motor (6), and empennage motor (6) drives empennage (5) high-speed rotation；Empennage
Motor (6) is arranged on empennage assembly rotary drive mechanism (7) with empennage (5), empennage assembly rotary drive mechanism (7) energy
Enough empennage motor (6) and empennage (5) is driven to be rotated around the helicopter longitudinal axis.
2. one kind according to claim 1 is without displacement helicopter, it is characterised in that dynamical system (3) includes engine (3-
1) it is connected with generator (3-2), the output end of generator (3-2) by cable with empennage motor (6), engine (3-1)
It is connected between one end and main wing (1) by transmission mechanism (2).
3. it is according to claim 1 one kind without displacement helicopter, it is characterised in that dynamical system (3) include motor and
Electrokinetic cell, electrokinetic cell are connected by cable with empennage motor (6), pass through biography between motor one end and main wing (1)
Motivation structure (2) is connected.
4. one kind according to Claims 2 or 3 is without displacement helicopter, it is characterised in that cable is arranged in frame (8).
5. one kind according to claim 1 is without displacement helicopter, it is characterised in that empennage assembly rotary drive structure (7)
On be provided with pedestal, empennage motor (6) is arranged on pedestal.
6. one kind according to claim 1 is without displacement helicopter, it is characterised in that is changed by changing main wing (1) rotating speed
Become lift, heading is gone straight up to balance main wing reaction torque and regulation by empennage (5) rotating speed；Pass through empennage assembly rotation driving
The angle that mechanism (7) control fuselage produces either layback of leaning forward is advanced or retreated to realize.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710807958.5A CN107651184B (en) | 2017-09-08 | 2017-09-08 | Non-variable-pitch helicopter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710807958.5A CN107651184B (en) | 2017-09-08 | 2017-09-08 | Non-variable-pitch helicopter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107651184A true CN107651184A (en) | 2018-02-02 |
| CN107651184B CN107651184B (en) | 2020-11-10 |
Family
ID=61128174
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710807958.5A Expired - Fee Related CN107651184B (en) | 2017-09-08 | 2017-09-08 | Non-variable-pitch helicopter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107651184B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108502156A (en) * | 2018-05-29 | 2018-09-07 | 珠海霄鹰科技发展有限公司 | Asymmetric double-shaft helicopter and its flying method |
| CN109987221A (en) * | 2019-03-19 | 2019-07-09 | 黄迅 | A kind of unmanned plane |
| CN112379466A (en) * | 2020-10-12 | 2021-02-19 | 南京信息工程大学 | Self-positioning recoverable sonde |
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| KR20110121232A (en) * | 2010-04-30 | 2011-11-07 | 경북대학교 산학협력단 | An unmanned helicopter for spraying chemical |
| US20120012693A1 (en) * | 2010-07-13 | 2012-01-19 | Eurocopter | Method and an aircraft provided with a swiveling tail rotor |
| CN103921936A (en) * | 2014-02-12 | 2014-07-16 | 无锡汉和航空技术有限公司 | Oil and power mixed small unmanned helicopter and its power principle |
| CN104743111A (en) * | 2013-12-17 | 2015-07-01 | 空客直升机 | Rotorcraft fitted with an anti-torque tail rotor that contributes selectively to providing the rotorcraft with lift and with propulsion |
| CN105691610A (en) * | 2016-03-01 | 2016-06-22 | 清华大学 | Hybrid power system for helicopter and helicopter with same |
| CN205524951U (en) * | 2016-03-27 | 2016-08-31 | 郑州大学 | Novel unmanned helicopter aircraft of multi -functional hybrid of intelligence |
| CN205602124U (en) * | 2016-05-05 | 2016-09-28 | 武汉捷特航空科技有限公司 | Fin and helicopter of helicopter |
| CN106143897A (en) * | 2016-07-26 | 2016-11-23 | 芜湖万户航空航天科技有限公司 | Can be verted tail-rotor |
-
2017
- 2017-09-08 CN CN201710807958.5A patent/CN107651184B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110121232A (en) * | 2010-04-30 | 2011-11-07 | 경북대학교 산학협력단 | An unmanned helicopter for spraying chemical |
| US20120012693A1 (en) * | 2010-07-13 | 2012-01-19 | Eurocopter | Method and an aircraft provided with a swiveling tail rotor |
| CN104743111A (en) * | 2013-12-17 | 2015-07-01 | 空客直升机 | Rotorcraft fitted with an anti-torque tail rotor that contributes selectively to providing the rotorcraft with lift and with propulsion |
| CN103921936A (en) * | 2014-02-12 | 2014-07-16 | 无锡汉和航空技术有限公司 | Oil and power mixed small unmanned helicopter and its power principle |
| CN105691610A (en) * | 2016-03-01 | 2016-06-22 | 清华大学 | Hybrid power system for helicopter and helicopter with same |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108502156A (en) * | 2018-05-29 | 2018-09-07 | 珠海霄鹰科技发展有限公司 | Asymmetric double-shaft helicopter and its flying method |
| CN109987221A (en) * | 2019-03-19 | 2019-07-09 | 黄迅 | A kind of unmanned plane |
| CN109987221B (en) * | 2019-03-19 | 2022-04-15 | 黄迅 | Unmanned aerial vehicle |
| CN112379466A (en) * | 2020-10-12 | 2021-02-19 | 南京信息工程大学 | Self-positioning recoverable sonde |
| CN112379466B (en) * | 2020-10-12 | 2021-06-22 | 南京信息工程大学 | Self-positioning recoverable sonde |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107651184B (en) | 2020-11-10 |
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