CN107745804A - Aircraft and cruising level flight method - Google Patents
Aircraft and cruising level flight method Download PDFInfo
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- CN107745804A CN107745804A CN201710777727.4A CN201710777727A CN107745804A CN 107745804 A CN107745804 A CN 107745804A CN 201710777727 A CN201710777727 A CN 201710777727A CN 107745804 A CN107745804 A CN 107745804A
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- 238000005516 engineering process Methods 0.000 description 4
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Classifications
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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
-
- 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
- B64C27/10—Helicopters with two or more rotors arranged coaxially
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Toys (AREA)
Abstract
The present invention discloses a kind of aircraft and cruising level flight method, including aircraft body and support frame, the fixed rotor unit of at least one set, and each fixed rotor unit is fixedly connected on aircraft body；And at least one set of rotary wing unit, each rotary wing unit is fixedly connected on support frame, aircraft has at least two kinds of flight attitudes in flight course, one cruising level flight state, secondly landing state, support frame is rotationally connected with aircraft body, and support frame is swung relative to the aircraft body, with folding in the aircraft body, and rotary wing unit rotational is driven to switch between cruising level flight state and landing state；Or support frame is fixed on the aircraft body, aircraft in cruising level flight state, the rotary wing unit for the aircraft provide before to thrust.Technical solution of the present invention improves aircraft cruising level flight state acceleration and max level speed, and improves the preceding response speed to the big minor adjustment of thrust.
Description
Technical field
The present invention relates to aviation flight field of power machinery technology, the cruise of more particularly to a kind of aircraft and aircraft is put down
Fly method.
Background technology
As science and technology develops rapidly, people's living standard improves, the aircraft extensive use such as unmanned plane, passenger plane
In people live, particularly multi-rotor aerocraft is increasingly used in SUAV and hovercar field.But
Conventional multi-rotor aerocraft has the following disadvantages：Conventional multi-rotor aerocraft reduces aircraft machine by lifting low head mode
Body angle of pitch mode produces preceding to thrust.But its angle of pitch, which reduces, certain lower limit (lower limit is generally -20~-35 degree), no
It can not so ensure to provide enough lift, and lift the aerodynamic drag increase that low head can make fuselage under cruising level flight state.
So the flying speed of conventional more rotors is generally than relatively low.2) the forward direction thrust size of conventional more rotors changes and needs to pass through pitching
Angle changes process and realized indirectly, existence time hysteresis, to the response speed of the big minor adjustment of thrust before reducing.
The content of the invention
The main object of the present invention is to provide a kind of aircraft, it is intended to improve aircraft cruising level flight state acceleration and
Max level speed.
To achieve the above object, aircraft proposed by the present invention, the aircraft include aircraft body and support frame, should
Aircraft also includes：The fixed rotor unit of at least one set, each fixed rotor unit are fixedly connected on the aircraft master
Body；And at least one set of rotary wing unit, each rotary wing unit are fixedly connected on the aircraft support frame, institute
State aircraft has at least two kinds of flight attitudes, one cruising level flight state, secondly landing state, the branch in flight course
Support is rotationally connected with the aircraft body, and support frame as described above is swung relative to the aircraft body, with folding in described
Aircraft body, and drive the rotary wing unit rotational to switch between cruising level flight state and landing state；Or
Support frame as described above is fixed on the aircraft body, and in cruising level flight state, the rotary wing unit is the aircraft
The aircraft provide before to thrust.
Alternatively, aircraft includes rotary wing unit, four the first companies described in two group of first fixation rotor unit, two groups
Connect arm；The one rotor unit connects first linking arm, be provided with described first fix rotor unit two described the
One linking arm is symmetrically disposed in aircraft body opposite sides, and the first fixation rotor unit provides for the aircraft
The driving force risen, two first linking arms for being provided with the rotary wing unit are fixedly connected on support frame as described above and are located at
The aircraft body opposite sides, the rotary wing unit are the aircraft in cruising level flight state and landing state
Rising, advancing at least one driving force are provided in handoff procedure.
Alternatively, support frame as described above is provided with the first connector, the second connector, the 3rd connector, second connector
First connector and the 3rd connector are connected to, first connector and the 3rd connector are hingedly connected to
The aircraft body opposite sides simultaneously has the first jointed shaft；One of the rotary wing unit described is installed
One linking arm is fixedly connected on first connector, and another first linking arm for being provided with the rotary wing unit is consolidated
Surely it is connected to the 3rd connector；At least one is provided with and verted driver first jointed shaft, the motor that verts
Drive support frame as described above to rotate, and then drive the rotary wing unit so that the rotary wing unit rotational is to cruise
Switch in flat winged state and landing state；Or first jointed shaft be not provided with the motor that verts, the controlled rotary wing list
Member produce lift drive support frame as described above rotate, and then the rotary wing unit pulling force gradate for it is preceding to thrust.
Alternatively, the aircraft also includes two group of second fixation rotor unit and two second linking arms,
Rotor unit is fixed in one second linking arm one end connection one described second, and the other end is connected to the aircraft
Main body, two second linking arms for being provided with the second fixation rotor unit are symmetrically disposed in aircraft body with respect to two
Side, the aircraft lands when level ground, fix above and below rotor unit by a rotary wing unit and one described second
Stacked, described second fixes rotor unit is set compared to the rotary wing unit close to level ground.
Alternatively, aircraft includes two group of the 3rd fixation rotor unit again, fixes rotor unit for two group the 3rd and symmetrically sets
Put in aircraft body opposite sides, the described 3rd of aircraft body the same side fixes rotor unit fixes rotation with described first
Wing unit one first same one end of linking arm of connection, and described first fixes rotor unit and the corresponding 3rd fixation rotation jointly
Wing unit is stacked up and down, and the 3rd fixation rotor unit is set compared to the described first fixation rotor unit close to level ground
Put；
For the aircraft lands when level ground, first fixes rotor unit propeller Plane of rotation and two described in two groups
The group rotary wing unit propeller Plane of rotation is located at or is located approximately at same plane, and second fixes rotor list described in two groups
The propeller Plane of rotation of first propeller Plane of rotation and the 3rd fixation rotor unit described in two groups is located at or is located approximately at same
Plane；
The aircraft body has head and afterbody, and rotary wing unit described in two groups is solid relative to described in two groups first
Determine rotor unit and close on the aircraft body afterbody setting.
Alternatively, the aircraft also includes the lift wing, support column, and the first driver, one end of the support column is hinged
In the lift wing lower surface and there is the second jointed shaft, the support column other end is fixed on the tail of the aircraft body
Portion, first driver drive second jointed shaft to rotate, and so as to drive the lift wing to rotate, and then increase or decrease
The angle of attack of the lift wing with respect to incoming.
Alternatively, aircraft also includes the lift wing, support column, aerodynamic control surface and the second driver, under the lift wing
One end of the support column is fixed on surface, and the support column other end is fixed on the afterbody of the aircraft body, the gas
For dynamic control surface while being articulated with the lift wing trailing edge, second driver drives the air-operated control (or upward) downwards
Deflection, so as to increase (or reduction) camber of the lift wing.
Alternatively, the aircraft is additionally provided with bumper frame, and the head of aircraft body connects the side of the bumper frame side
Frame, afterbody connect the frame of the bumper frame opposite side, and the frame of the bumper frame, aircraft are fixed in the support column lower end
Land when level ground, the bumper frame is in the orthographic projection in level ground by fixed rotor unit in the positive throwing in horizontal plane
Shadow surrounds.
Alternatively, support frame as described above also includes being used for the first guard member for protecting the rotary wing unit, and/or, the
Two guard members, one end of the first guard member is fixedly connected on the first connector and the other end is articulated with the side of same side stand component
Frame, and/or, one end of the second guard member is fixedly connected on the 3rd connector and the other end is articulated with the side of same side stand component
Frame；
For the aircraft lands when level ground, the first connector and the first guard member are in the orthographic projection in level ground
The rotary wing unit of homonymy and the first corresponding linking arm are surrounded in the orthographic projection in level ground, and/or, the 3rd connects
Fitting and the second guard member in the orthographic projection in horizontal plane by the rotary wing unit of homonymy and the first corresponding linking arm in
Orthographic projection in horizontal plane is surrounded.
The present invention also proposes a kind of cruising level flight method of aircraft, the following one or several kinds of combinations of specific method：
One, when aircraft cruising level flight, the propeller Plane of rotation and horizontal plane of two groups of rotary wing units,
The rotating speed of two groups of propellers is identical, turns on the contrary, to offset mutual reaction torque effect, it is necessary to increase or reduction is horizontal flies
During row forward acceleration, while increase or reduce the rotating speed of the propeller of two groups of rotary wing units, so as to increase or reduce water
Flat flight forward acceleration, and then controlled level flight forward speed size；
Secondly, when needing to adjust flying height, increase or reduce two group second of lower horizontal plane fixation rotor unit and two
Group the 3rd fixes rotor unit, and rotor unit is fixed so as to increase or reduce the second of lower horizontal plane the fixation rotor unit and the 3rd
Propeller pulling force, and/or, increase or reduce the first of the upper horizontal plane rotating speed and downward or upward for fixing propeller aircraft
Deflect the lift wing aerodynamic control surface or, the angle of attack of the lift wing is increased or decreased, so as to increase or reduce the of upper horizontal plane
One fixes the aerodynamic lift of rotor unit pulling force and the lift wing, realizes the adjustment of height；
Thirdly, when needing to adjust the angle of pitch, increase or reduce two group first of upper horizontal plane fixation rotor unit, and/or, under
The revolution speed of propeller of two group of the 3rd fixation rotor unit of horizontal plane, so as to increase or reduce the first fixation rotor unit, and/or,
3rd fixes the pulling force of the propeller of rotor unit, while the revolution speed of propeller of the second fixation rotor unit is decreased or increased, and/
Or, up or down deflect the lift wing aerodynamic control surface or, reduce or increase the lift wing the angle of attack, so as to be decreased or increased
Second fixes the propeller pulling force of rotor unit, and/or, the lift of the lift wing, realize the adjustment of the angle of pitch；
When four, needing to adjust roll angle, increase or the second fixation rotation for reducing aircraft body the same side lower horizontal plane
Wing unit and the 3rd fixation rotor unit revolution speed of propeller, so as to increase or reduce the pulling force of the aircraft side, subtracts simultaneously
Small or increase aircraft body opposite side lower horizontal plane the second fixation rotor unit and the 3rd fixation rotor unit spiral
The rotating speed of oar, so as to which the aircraft side draw be decreased or increased, realize the adjustment of roll angle；
When five, needing to adjust yaw angle, rotor unit and the 3rd fixation rotation are fixed by adjusting the second of lower horizontal plane
The rotating speed of wing unit, gone off course using the difference of the anti-twisted torque suffered by different fixed rotor unit propellers.
In technical scheme, it is that aircraft is straight by rotary wing unit in cruising level flight state ventrocephalad thrust
Offer is connect, compared to conventional multi-rotor aerocraft by lifting low head mode, i.e., before reduction aircraft fuselage angle of pitch mode produces
There is following benefit to thrust：
One, the angle of pitch of conventional multi-rotor aerocraft, which reduce, certain lower limit (lower limit is generally -20~-35 degree),
Not so it can not ensure to provide enough lift, and lift low head that fuselage can be made to increase under cruising level flight state is extra pneumatic
Resistance.And the pulling force of the rotary wing unit in the present invention can be completely converted into before to thrust, therefore which raises aircraft is maximum
The size of forward direction thrust can be used, and not increase additional friction caused by the low head of lift, and then improve the acceleration of aircraft
And max level speed.
Secondly, the forward direction thrust size of conventional more rotors changes to need to change process by the angle of pitch and realizes exist indirectly
Time lag, and rotary wing unit can adjust before rotating speed is directly adjusted to thrust size, to the big minor adjustment of thrust before improving
Response speed.
Thirdly, aircraft accelerate driving force can be carried from the driving moment of pose adjustment by different rotor units
For improving the manipulation flexibility ratio of aircraft.Such as aircraft can still keep fuselage attitude when before needing to produce to thrust
It is approximately 0.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Structure according to these accompanying drawings obtains other accompanying drawings.
Fig. 1 is structural representation when unmanned plane of the present invention is in landing state；
Fig. 2 is structural representation when unmanned plane of the present invention is in flat winged state；
Fig. 3 is overlooking the structure diagram when unmanned plane of the present invention is in flat winged state.
Drawing reference numeral explanation：
The realization, functional characteristics and advantage of the object of the invention will be described further referring to the drawings in conjunction with the embodiments.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only the part of the embodiment of the present invention, rather than whole embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art obtained under the premise of creative work is not made it is all its
His embodiment, belongs to the scope of protection of the invention.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute is only used in the embodiment of the present invention
In explaining the relative position relation under a certain particular pose (as shown in drawings) between each part, motion conditions etc., if should
When particular pose changes, then directionality instruction also correspondingly changes therewith.
In the present invention, unless otherwise clearly defined and limited, term " connection ", " fixation " etc. should be interpreted broadly,
For example, " fixation " can be fixedly connected or be detachably connected, or integrally；Can be mechanically connect or
Electrical connection；Can be joined directly together, can also be indirectly connected by intermediary, can be the connection or two of two element internals
The interaction relationship of individual element, limited unless otherwise clear and definite.For the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term in the present invention.
In addition, in the present invention such as relating to the description of " first ", " second " etc. be only used for describe purpose, and it is not intended that
Indicate or imply its relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ",
At least one this feature can be expressed or be implicitly included to the feature of " second ".In addition, the technical side between each embodiment
Case can be combined with each other, but must can be implemented as basis with those of ordinary skill in the art, when the combination of technical scheme
Occur conflicting or will be understood that the combination of this technical scheme is not present when can not realize, also not in the guarantor of application claims
Within the scope of shield.
The present invention proposes a kind of aircraft.
Include incorporated by reference to referring to figs. 1 to Fig. 3, aircraft：Aircraft body and the branch for being rotationally connected with aircraft body
Support 30, the aircraft also include：The fixed rotor unit of at least one set, each fixed rotor unit are fixedly connected on aircraft master
Body；And at least one set of rotary wing unit 20, each rotary wing unit 20 are fixedly connected on aircraft support frame 30, flight
Device has at least two kinds of flight attitudes in flight course, and one cruising level flight state, secondly landing state, support frame 30 rotates
Aircraft body is connected to, support frame 30 is swung relative to aircraft body, with folding in aircraft body, and drives rotation to revolve
Wing unit 20 is rotated to switch between cruising level flight state and landing state；Or support frame 30 is fixed on aircraft body,
Aircraft in cruising level flight state, rotary wing unit 20 for aircraft provide before to thrust.
Aircraft can be used for express transportation, can be used for geological mapping, can be also used for the fields such as border cruise, under
Face is illustrated with the unmanned plane 100 applied to express transportation for embodiment.Rotor unit includes fixed rotor unit and rotation
Rotor unit, rotor unit are provided with propeller (not shown), motor (not shown), motor cabinet 23, the installation of propeller (not shown)
In motor output shaft, motor is mounted on motor cabinet 23, and wherein propeller is set for double leaf, naturally it is also possible to is multi-disc leaf knot
Structure is set.Unmanned plane 100 has flight control system, and flight control system is used for the speed for controlling unmanned plane 100, height, bowed
Face upward, rolling, yaw adjustment, flight control system is arranged in unmanned plane main body 10.It is defeated by flight control system controlled motor
Go out watt level, so as to control the size of revolution speed of propeller, and then control pulling force size caused by rotor unit.Aircraft body
Can be elongated setting, or other shapes, such as irregular shape, mainly disclosure satisfy that the layout of rotor unit
It is required that and produce less aerodynamic drag in cruising level flight.
In one embodiment of this invention, unmanned plane 100 be provided with one group of offer lift fixation rotor unit and one group of rotation
Switch rotor unit 20, unmanned plane 100 land when level ground, the propeller Plane of rotation and horizontal plane of rotary wing unit 20
Parallel or less parallel is set, and rotary wing unit 20 is fixedly connected on aircraft support frame 30, and support frame 30 is rotationally connected with
Unmanned plane main body 10, and rotary wing unit 20 is located at the upper surface of unmanned plane main body 10, fixed rotor unit is located at unmanned plane
The upper surface of main body 10, and the propeller Plane of rotation of the propeller Plane of rotation and rotary wing unit 20 of fixed rotor unit is put down
Row or less parallel are set.When unmanned plane 100 is in landing state, fixed rotor unit and rotary wing unit 20 are nobody
Machine 100 provides lift.During unmanned plane 100 is transitioned into cruising level flight state, controlled support frame 30 turns to rotation
The propeller Plane of rotation of rotor unit 20 is vertical with the propeller Plane of rotation of fixed rotor unit or near normal, rotation are revolved
The pulling force of wing unit 20 is gradated as the horizontal forward thrust of unmanned plane 100, until pulling force is completely or partially converted into level
Thrust forward, so as to realize that unmanned plane 100 switches to cruising level flight state；Because the direction of pull of rotary wing unit 20 occurs
Change, cause the lift of unmanned plane 100 to reduce, the output power of motor of fixed rotor unit is controlled by flight control system, is increased
The rotating speed of big fixed rotor unit propeller, compensates reduced lift so that unmanned plane 100 keeps highly stable.
It should be noted that support frame 30 can also be fixed on the aircraft body, aircraft is in cruising level flight state
When, rotary wing unit 20 for the aircraft provide before to thrust, in landing state rotary wing unit 20 without
Work, i.e., do not produce pulling force.Aircraft body is rotationally connected with the following examples with support frame 30 to illustrate.Aircraft
Can be by being revolved provided with multigroup fixed rotor unit and multigroup rotary wing unit 20, multigroup fixed rotor unit and multigroup rotation
Wing unit 20 cooperates or individually realizes the speed of aircraft, height, pitching, rolling, driftage control.
In technical scheme, it is aircraft in cruising level flight state ventrocephalad thrust by rotary wing unit 20
Directly provide, compared to conventional multi-rotor aerocraft by lifting low head mode, that is, increase the negative sense angle of pitch, have before producing to thrust
Following benefit：
The angle of pitch reduction of one, conventional multi-rotor aerocraft has a lower limit value, and lower limit is generally -20~-35 degree,
Not so it can not ensure to provide enough lift, and lift low head that fuselage can be made to increase under cruising level flight state is extra pneumatic
Resistance.And the rotary wing unit 20 in the present invention, rotated by support frame 30 and drive rotary wing unit 20 to rotate so that rotation
The pulling force of switch rotor unit 20 turns to preceding to thrust.Therefore which raises the size that aircraft maximum can use forward direction thrust, and do not increase
Add additional friction caused by the low head of lift, and then improve the acceleration and max level speed of aircraft.
Secondly, the forward direction thrust size of conventional multi-rotor aerocraft change need to change process by the angle of pitch it is indirectly real
It is existing, existence time hysteresis, and rotary wing unit 20 can adjust before rotating speed is directly adjusted to thrust size, to thrust before improving
The response speed of big minor adjustment.
Thirdly, aircraft accelerate driving force can be carried from the driving moment of pose adjustment by different rotor units
For improving the manipulation flexibility ratio of aircraft.Such as aircraft can still keep fuselage attitude when before needing to produce to thrust
It is approximately 0.
Specifically, aircraft includes two group of first fixation 50, two groups of unit of rotor rotary wing unit 20, four first company
Connect arm 21；Fixed rotor unit and rotary wing unit 20 include motor and propeller, and propeller is installed on motor one end, electricity
The machine other end is installed on motor cabinet 23, and one first linking arm 21 connects a motor cabinet 23, is provided with the first fixation rotor unit 50
Two the first linking arms 21 be symmetrically disposed in aircraft body opposite sides, the first fixation rotor unit 50 carries for aircraft
For lift, two first linking arms 21 for being provided with rotary wing unit 20 are fixedly connected on support frame 30 and are located at aircraft body
Opposite sides, rotary wing unit 20 be aircraft provided in the handoff procedure of cruising level flight state and landing state lift,
At least one driving force of advance.
In the preferred embodiment of the present invention, 10 elongated setting of unmanned plane main body, aircraft lands are in flatly
During face, the opposite sides of unmanned plane main body 10 has one group of rotary wing unit 20 and one group of first fixation rotor unit 50 respectively,
The propeller Plane of rotation of rotary wing unit 20 fixes that rotor 50 propeller Plane of rotations of unit are parallel or less parallel with first.
In the flight course of unmanned plane 100, the cruising level flight state of unmanned plane 100 can be realized by the two groups of rotary wing units 20 that vert simultaneously
Switch with landing state, two groups of rotary wing units 20 and two group first fix rotor unit 50 act on it is as follows：
1) when unmanned plane 100 is in landing state or floating state, two groups of rotary wing units 20 and two group first
The propeller Plane of rotation of fixed rotor unit 50 is located at or is located approximately at same plane；Flight control system is revolved to two groups of rotations
Wing unit 20 and two group first are fixed rotor unit 50 and are controlled so that two groups of rotary wing units 20 and two group first are fixed
Rotor unit 50 is that unmanned plane 100 provides flight lift, and then keeps 100 steady landing of unmanned plane or hovering.
2) during unmanned plane 100 is by landing status transition to horizontality, controlled support frame 30 drives two groups of rotations
Rotor unit 20 rotates simultaneously, the propeller shapes of two groups of rotary wing units 20 into Plane of rotation and fixed rotor unit spiral
Oar Plane of rotation shape is at a certain angle, and gradually increase is up to being adjusted to appropriate forward direction thrust for angle, to support now
Frame 30 carries out rotation locking, completes switching of the landing state to horizontality.
3) when 100 cruising level flight state of unmanned plane, two groups of rotary wing units 20 are that unmanned plane 100 provides lift simultaneously
It is preceding to thrust with forward direction thrust or completely offer, and two group first is fixed rotor unit 50 and provides lift, compared to conventional four rotors
To thrust and can to keep body pitching angle simultaneously be approximately 0 before offer.
Illustrated in following examples using this preferred embodiment.
Further, in order to realize two groups of synchronous axial systems of rotary wing unit 20, support frame 30 be provided with the first connector 31,
Second connector 33, the 3rd connector 35, the second connector 33 are connected to the first connector 31 and the 3rd connector 35, and first connects
The connector 35 of fitting 31 and the 3rd is hingedly connected to aircraft body opposite sides and has the first jointed shaft；Rotation rotation is installed
First linking arm of one of wing unit 20 21 is fixedly connected on the first connector 31, is provided with the another of rotary wing unit 20
One first linking arm 21 is fixedly connected on the 3rd connector 35；At least one is provided with the driver that verts to first jointed shaft, inclines
Turn driver drives support frame 30 to swing, and then drive rotary wing unit 20 to rotate so that rotary wing unit 20 is cruising
It is flat to fly to switch between state and landing state；Or first jointed shaft be not provided with the motor that verts, controlled rotary wing unit
20 generation pulling force drive support frames 30 rotates, and then the lift of rotary wing unit 20 gradate for it is preceding to thrust.
In another embodiment of the invention, incorporated by reference to Fig. 1 to Fig. 3, the first connector 31, the second connector the 33, the 3rd
It is flat stripe shape that connector 35, which is preferably, and the first connector 31 and the 3rd connector 35 be arranged in parallel positioned at unmanned plane main body 10
Opposite sides, two first linking arms 21 for being connected with rotary wing unit 20 are respectively symmetrically vertically connected at the He of the first connector 31
3rd connector 35 and the setting of isometric stripe shape, support frame 30 ensure that two groups of synchronous same-speeds of rotary wing unit 20 rotate, rotation
Support frame 30 between switch rotor unit 20 and unmanned plane main body 10 has a diversified forms, the first connector 31, the second connector 33,
Close to U-shaped setting, unmanned plane 100 lands when horizontal plane the connection shape of the three of 3rd connector 35, the He of the first connector 31
3rd connector 35 extends towards the afterbody 13 of unmanned plane 100 and exceedes afterbody 13, the second connector 33 and the first connector 31 and
3rd connector 35 exceedes the part vertical connection of afterbody 13, and certainly, the second connector 33 may not be linear pattern, and overall is in U
Type has certain housing region, and the both ends of U-shaped second connector 33 are connected respectively with the first connector 31 and the 3rd connector 35,
Unmanned plane 100 lands when horizontal plane, and the first connector 31 and the 3rd connector 35 form connector plane, the second connector 33
The surface after unmanned plane main body 10, therefore without limiting the expanded range of the first connector 31 and the 3rd connector 35
It is fixed.
It should be understood that support frame 30 can also be other structures, support frame 30 is one flat plate, positioned at aircraft body
Top, flat board left and right ends connect two the first linking arms 21 for being provided with rotary wing unit 20 respectively, and flat board is close to aircraft
The one end of head 11 is articulated with aircraft body.
In embodiments of the invention, in order to realize the lift required for the landing state of unmanned plane 100 and cruising level flight state
With the free switching of forward direction thrust, the type of drive that driving support frame 30 rotates is as follows：
1) it is driven by the driver that verts, one of jointed shaft of unmanned plane 100 first, or, two first is be hinged
Axle is provided with the driver that verts, and the controlled driver that verts drives the first connector 31, and/or, the 3rd connector 35 rotates, support
Frame 30 turns to appropriate location, and the driver that verts controllably stops driving, the turned position of lock support frame 30, and then realizes nothing
Man-machine 100 switch in cruising level flight state and landing state two states.
Certainly, the driver that verts can be stepper motor, steering wheel etc., and the driver that verts driving support frame 30 drives rotary wing
Unit 20 deploys or collapsed, and the locking rotated to support frame 30 relative to fuselage can be realized when driver stops operating.Driver
Number can be with multiple, as long as can ensure that for two groups of rotary wing units 20 of synchronous driving be horizontal in landing condition conversion
Conversion is carried out between state enough power is provided.
2) pulling force is produced to drive support frame 30 to rotate by the propeller rotation of rotary wing unit 20, unmanned plane 100
When needing to be transitioned into flat winged state by VTOL state, flight control system is released to rotate support frame 30 and locked, and utilizes rotation
Pulling force caused by switch rotor unit 20 drives support frame 30 to rotate relative to rotating torque caused by the first jointed shaft, two groups of rotation rotations
Wing unit 20 produces pulling force and gradated to be preceding to thrust.When cruising level flight state needs to be transitioned into landing state, two groups of rotations
Switch rotor unit 20 adjust revolution speed of propeller, i.e., rotating speed reduce or go to zero so that two groups of rotary wing units 20 do not produce or
The pulling force that convergence is zero, and unmanned plane now does and suitably accelerated so that support frame 30 is relative to the court of unmanned plane main body 10
Rearwardly 13 run and rotated down around the first jointed shaft, and then support frame 30 drives two groups of rotary wing units 20 to go to water
Flat or near-horizontal state, can so as to realize that two groups of rotary wing units 20 switch in cruising level flight state and landing state
To understand ground, for above-mentioned second of type of drive, the junction of support frame 30 and unmanned plane main body 10 can be by provided with limit
The position device (not shown) control slewing area of support frame 30, and then realize rotary wing unit 20 with cruising level flight state and landing
Switching in state, limiter has been that prior art is not done introduce one by one herein, while provided with being used cooperatively together with limiter
Locking device (not shown), when support frame 30 drives rotary wing unit 20 to turn to the spacing angle of limiter, locking
Device is locked to support frame 30, when rotary wing unit 20 needs to carry out in cruising level flight state and landing state
During switching, locking device unclamps to it, so as to realize 30 turns of the support frame in cruising level flight state and landing state of unmanned plane 100
The locking of dynamic position.
Further, aircraft also includes two group of second fixation rotor unit 53 and two second linking arms 55, and one second connects
Connect the one end of arm 55 connection one second and fix rotor unit 53, the other end is connected to aircraft body, is provided with the second fixation rotor
Two second linking arms 55 of unit 53 are symmetrically disposed in aircraft body opposite sides, aircraft lands when level ground,
One rotary wing unit 20 and one second fixation rotor unit are stacked about 53, and second fixes rotor unit 53 revolves compared to rotation
Wing unit 20 is set close to level ground.
Further, incorporated by reference to referring to figs. 1 to Fig. 3, aircraft includes two group of the 3rd fixation rotor list again, and two group the 3rd solid
Determine rotor unit 51 and be symmetrically disposed in aircraft body opposite sides, the 3rd of aircraft body the same side fixes rotor unit
51 be connecteds one first linking arm, 21 same one end jointly with the first fixation rotor unit 50, and first fix rotor unit 50 with accordingly
The 3rd fix rotor unit and be stacked about 51, the 3rd fixes rotor unit 51 compared to the first fixation rotor unit 50 close to water
Plane earth is set；For aircraft lands when level ground, two group first is fixed the propeller Plane of rotation of rotor unit 50 and two groups
The propeller Plane of rotation of rotary wing unit 20 is located at or is located approximately at same plane, and two group second is fixed the spiral of rotor unit 53
Oar Plane of rotation and two group of the 3rd propeller Plane of rotation for fixing rotor unit 51 are located at or are located approximately at same plane；Flight
Device main body has head 11 and afterbody 13, and two groups of rotary wing units 20 close on winged relative to two group of first fixation rotor unit 50
Row device body tail section 13 is set.
Certainly, the 3rd fixation rotor unit 51, which with first fixes rotor unit 50 and can not also be commonly connected to first, is connected
Arm 21, such as increase by the 3rd linking arm, the 3rd fixation rotor unit 51 is connected to one end of the 3rd linking arm, and the 3rd linking arm is another
End is connected to aircraft body, and one first linking arm 21 is oppositely arranged up and down with one the 3rd linking arm.
In an embodiment of the present invention, two groups of rotary wing units 20 that unmanned plane 100 is described in detail below and six groups are consolidated
Determine the specific mechanism of rotor unit：
1), when unmanned plane 100 is in landing state or floating state, the propeller rotation of two groups of rotary wing units 20
Plane is parallel or is approximately parallel to horizontal plane, and two groups of rotary wing units 20 and six groups of fixation rotor units are simultaneously unmanned plane
100 provide lift.
2), during the landing status transition horizontality of unmanned plane 100, controlled support frame 30 drives two groups of rotary wings
Unit 20 rotates simultaneously, and the propeller Plane of rotations of two groups of rotary wing units 20 and level ground form angle, and angle by
Cumulative big up to propeller Plane of rotation is vertical with level ground or near normal, the pulling force of rotary wing unit 20 is all or big
To thrust before being partially converted into, switching of the landing state to horizontality is completed, six groups of fixation rotor units are provided which lift,
During verting, flight control system can pass through turn for the propeller for increasing six groups or a few groups fixation rotor units simultaneously
Speed, increase lift effect, ensures that aircraft altitude is stable.
3), when aircraft cruising level flight, the propeller Plane of rotation and horizontal plane of two groups of rotary wing units 20
Or near normal, the rotating speed of two groups of propellers is identical, turns on the contrary, being acted on offsetting mutual reaction torque, it is necessary to increase
Or when reducing horizontal flight forward acceleration, while increase or reduce the rotating speed of the propeller of two groups of rotary wing units 20, from
And increase or reduce horizontal flight forward acceleration, and then controlled level flight forward speed size.Six groups of fixation rotor units
Simultaneously lift is provided for unmanned plane 100.
Further, aircraft also includes the lift wing 70, support column 71, the first driver, one end of the support column 71
It is articulated with the lower surface of the lift wing 70 and there is the second jointed shaft, the other end of support column 71 is fixed on the aircraft master
The afterbody 13 of body, first driver drives second jointed shaft to rotate, so as to drive the lift wing 70 to rotate, so as to
Change the angle of attack of the relative incoming of the lift wing 70.
Further, the another embodiment of the aircraft lift wing 70, aircraft also include the lift wing 70, support column 71,
One end of the support column 71, the support column are fixed in aerodynamic control surface and the second driver, the lower surface of the lift wing 70
71 other ends are fixed on the afterbody 13 of the aircraft body, after the aerodynamic control surface is while be articulated with the lift wing 70
Edge, second driver drives the aerodynamic control surface to deflect downward or upward, so as to change or reduce the lift wing 70
Camber.
In the present embodiment, the aerofoil profile of the lift wing 70 uses the type of the low speed lift wing 70.The profile of support column 71 hinders for low profile
It is streamlined, aerodynamic drag during reducing cruising level flight.In 100 cruising level flight of unmanned plane, the lift wing 70 is in two groups of rotations
The rear of rotor unit 20, i.e., in wake flow caused by rotary wing unit 20, the lift of the lift wing 70 can be adjusted, and pass through two
Kind mode realizes that the first is rotated by the servo driving lift wing 70 around the second jointed shaft, and it is big to adjust the angle of attack of the lift wing 70 with this
It is small, in addition it is also possible to which installing monolithic aerodynamic control surface additional in the back edge of the lift wing 70 and connect steering wheel has the 3rd jointed shaft, now
The lift wing 70 is fixedly connected with support frame 30, and steering wheel can drive aerodynamic control surface to be deflected around the 3rd jointed shaft, is thus changed and is risen
The camber of the power wing 70 so that the lift suffered by the lift wing 70 changes.
The lift wing 70 produces aerodynamic lift in aircraft cruising level flight state, to improve the power service efficiency of flight,
Extend cruising time.Internal space is due to that away from electromagnetic interference sources such as fuselages, can place GPS receiving antenna, magnetic compass simultaneously
Deng the Aerial Electronic Equipment sensitive to electromagnetic interference.
In addition, the lift wing 70 is arranged in into aircraft afterbody 13 is advantageous in that：
The high speed wake flow of the rotary wing unit 20 deployed when the firstth, operatively utilizing aircraft cruising level flight state,
The speed of incoming flow of the lift wing 70 is improved, thus adds additional aerodynamic lift caused by the lift wing 70,
Secondth, compared to aircraft body both sides are arranged in, the transverse width of aircraft is substantially reduced, is advantageous to fly
Device is in the limited place landing in space.
3rd, the lift wing 70 and second, which is fixed rotor unit 53 and provided jointly, makes the negative sense pitching moment that aircraft is bowed,
To mitigate the second workload for fixing rotor unit 53.
In order to protect fixed rotor unit, aircraft is additionally provided with bumper frame 15, and the head 11 of aircraft body connects anticollision
The frame of the side of frame 15, afterbody 13 connect the frame of the opposite side of bumper frame 15, can increase branch between the lift wing 70 and bumper frame 15
Dagger 71 connects, and then strengthens the structural strength of aircraft, and for aircraft lands when level ground, bumper frame 15 is in level ground
Interior orthographic projection surrounds fixed rotor unit in the orthographic projection in horizontal plane.
In an embodiment of the present invention, bumper frame 15 is preferably quadrangle, as long as six groups of fixation rotor units can be protected
, the frame of bumper frame 15 can be flat plate, naturally it is also possible to be designed as other shapes, for example be truss, or engrave
Empty frame structure, to reduce the interference of drag effects and fitful wind to aircraft caused by fly flat to aircraft.Bumper frame 15
Protect rotor unit and strengthen the support strength to the lift wing 70, the length of the lift wing 70 can be slightly larger than unmanned plane 100
The transverse width of bumper frame 15, so that the lift wing 70 can produce larger lift.
In order to protect rotary wing unit 20, support frame 30 also includes being used to protect the first of rotary wing unit 20 to protect
Part 37, and/or, the second guard member 39, one end of the first guard member 37 is fixedly connected on the first connector 31 and the other end is hinged
In the side frame of bumper frame 15, and/or, one end of the second guard member 39 is fixedly connected on the 3rd connector 35 and the other end is hinged
In the side frame of the same side bumper frame 15；Aircraft lands when level ground, the first connector 31 and the first guard member 37 in
Orthographic projection in level ground is by the rotary wing unit 20 of homonymy and the first corresponding linking arm 21 in level ground
Orthographic projection is surrounded, and/or, the 3rd connector 35 and the second guard member 39 are in the orthographic projection in horizontal plane by the rotary wing of homonymy
Unit 20 and the first corresponding linking arm 21 surround in the orthographic projection in horizontal plane.
In an embodiment of the present invention, guard member increase to rotary wing unit 20 playing a protective role upon deployment,
Other rotary wing unit 20 can increase the linking arm with the guard member, to strengthen the support strength to rotary wing unit 20.
Invention additionally discloses suitable for two groups of rotary wing units 20 as described above and six groups of fixation rotor units and liter
The power wing 70 collectively constitutes a kind of cruising level flight method of aircraft of the total arrangement of unmanned plane 100, the cruising level flight method of aircraft
Following one or several kinds of combinations：
One, when aircraft cruising level flight, the propeller Plane of rotation of two groups of rotary wing units 20 hangs down with horizontal plane
Straight or near normal, the rotating speed of two groups of propellers is identical, turns on the contrary, being acted on offsetting mutual reaction torque, it is necessary to increase
During big or reduction horizontal flight forward acceleration, while increase or reduce the rotating speed of the propeller of two groups of rotary wing units 20,
So as to increase or reduce horizontal flight forward acceleration, and then controlled level flight forward speed size；
Secondly, when needing to adjust flying height, increase or reduce two group second of lower horizontal plane and fix the He of rotor unit 53
Two group the 3rd is fixed the rotating speed of rotor unit 51, solid so as to increase or reduce the second of lower horizontal plane the fixation rotor unit 53 and the 3rd
Determine the propeller pulling force of rotor unit 51, and/or, the propeller of the first fixation rotor unit 50 of increase or reduction upper horizontal plane
Rotating speed and deflect downward or upward the lift wing 70 aerodynamic control surface or, increase or decrease the angle of attack of the lift wing 70, so as to
Increase reduces the first of the upper horizontal plane aerodynamic lift for fixing the pulling force of rotor unit 50 and the lift wing 70, realizes the tune of height
It is whole；
Thirdly, when needing to adjust the angle of pitch, increase or reduce two group first of upper horizontal plane and fix rotor unit 50, and/or,
Two group of the 3rd revolution speed of propeller for fixing rotor unit 51 of lower horizontal plane, so as to increase or reduce the first fixation rotor unit 50,
And/or the 3rd fix rotor unit 51 propeller pulling force, while the spiral of the second fixation rotor unit 53 is decreased or increased
Oar rotating speed, and/or, deflect up or down the lift wing 70 aerodynamic control surface or, reduce or the angle of attack of the increase lift wing 70,
So as to which the propeller pulling force of the second fixation rotor unit 53 be decreased or increased, and/or, the lift of the lift wing 70, realize the angle of pitch
Adjustment；
When four, needing to adjust roll angle, increase or the second fixation rotation for reducing aircraft body the same side lower horizontal plane
Wing unit 53 and the 3rd fixation rotor unit 51 revolution speed of propeller, so as to increase or reduce the pulling force of the aircraft side.Together
When to be decreased or increased the second of aircraft body opposite side lower horizontal plane fixing rotor unit 53 and the 3rd fix rotor unit
The rotating speed of 51 propeller, so as to which the aircraft side draw be decreased or increased, realize the adjustment of roll angle；
When five, needing to adjust yaw angle, the fixation of rotor unit 53 and the 3rd is fixed by adjusting the second of lower horizontal plane
The rotating speed of rotor unit 51, gone off course using the difference of the anti-twisted torque suffered by different fixed rotor unit propellers.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the scope of the invention, it is every at this
Under the inventive concept of invention, the equivalent structure transformation made using description of the invention and accompanying drawing content, or directly/use indirectly
It is included in other related technical areas in the scope of patent protection of the present invention.
Claims (10)
1. a kind of aircraft, it is characterised in that including aircraft body and support frame, the aircraft also includes：
The fixed rotor unit of at least one set, each fixed rotor unit are fixedly connected on the aircraft body；And
At least one set of rotary wing unit, each rotary wing unit is fixedly connected on the aircraft support frame, described
Aircraft has at least two kinds of flight attitudes in flight course, one cruising level flight state, secondly landing state,
Support frame as described above is rotationally connected with the aircraft body, and support frame as described above is swung relative to the aircraft body, with
Folding drives the rotary wing unit rotational between cruising level flight state and landing state in the aircraft body
Switching；Or support frame as described above is fixed on the aircraft body, the aircraft is in cruising level flight state, the rotation
Rotor unit for the aircraft provide before to thrust.
2. aircraft as claimed in claim 1, it is characterised in that the aircraft include two group first fix rotor unit,
Rotary wing unit, four the first linking arms described in two groups；
The one rotor unit connects first linking arm, is provided with the two described first of the first fixation rotor unit
Linking arm is symmetrically disposed in aircraft body opposite sides, and the first fixation rotor unit provides rising for the aircraft
Driving force, two first linking arms for being provided with the rotary wing unit are fixedly connected on support frame as described above and are located at institute
State aircraft body opposite sides, the rotary wing unit the cutting in cruising level flight state and landing state that be the aircraft
Rising, advancing at least one driving force are provided during changing.
3. aircraft as claimed in claim 2, it is characterised in that support frame as described above be provided with the first connector, the second connector,
3rd connector, second connector are connected to first connector and the 3rd connector, first connector
The aircraft body opposite sides is hingedly connected to the 3rd connector and there is the first jointed shaft；
One of the rotary wing unit first linking arm is installed and is fixedly connected on first connector, is pacified
Another first linking arm equipped with the rotary wing unit is fixedly connected on the 3rd connector；
At least one is provided with the driver that verts to first jointed shaft, and the driver drives support frame as described above that verts turns
It is dynamic, and then drive the rotary wing unit so that the rotary wing unit rotational is with cruising level flight state and landing shape
Switch in state；Or first jointed shaft be not provided with the motor that verts, the controlled rotary wing unit produces pulling force and drives institute
State support frame rotation, and then the rotary wing unit pulling force gradate for it is preceding to thrust.
4. aircraft as claimed in claim 3, it is characterised in that the aircraft also includes two group of second fixation rotor unit
With two second linking arms；
Rotor unit is fixed in one second linking arm one end connection one second, and the other end is connected to the aircraft body, pacifies
Two second linking arms equipped with the described second fixation rotor unit are symmetrically disposed in aircraft body opposite sides, described
For aircraft lands when level ground, a rotary wing unit and one described second fixes stacked above and below rotor unit, institute
The second fixation rotor unit is stated to set close to level ground compared to the rotary wing unit.
5. aircraft as claimed in claim 4, it is characterised in that aircraft again include two group the 3rd fixation rotor unit, two
The fixation rotor unit of group the 3rd is symmetrically disposed in aircraft body opposite sides, and the described 3rd of aircraft body the same side is solid
Determine rotor unit and be connected one first same one end of linking arm jointly with the described first fixation rotor unit, and described first fixes rotor
Unit is fixed rotor unit with the corresponding described 3rd and is stacked up and down, and the described 3rd fixes rotor unit consolidates compared to described first
Determine rotor unit to set close to level ground；
For the aircraft lands when level ground, first fixes rotor unit propeller Plane of rotation and two groups of institutes described in two groups
State rotary wing unit propeller Plane of rotation and be located at or be located approximately at same plane, second fixes rotor unit spiral shell described in two groups
The propeller Plane of rotation for revolving the 3rd fixation rotor unit described in oar Plane of rotation and two groups is located at or is located approximately at same plane；
The aircraft body has head and afterbody, and rotary wing unit described in two groups is fixed relative to described in two groups first to be revolved
Wing unit closes on the aircraft body afterbody and set.
6. the aircraft as described in any one of claim 1 to 5, it is characterised in that the aircraft also includes the lift wing, support
Post, the first driver, one end of the support column are articulated with the lift wing lower surface and have the second jointed shaft, the support
The post other end is fixed on the afterbody of the aircraft body, and first driver drives second jointed shaft to rotate, so as to
Drive the lift wing to rotate, and then increase or decrease the angle of attack of the lift wing with respect to incoming.
7. the aircraft as described in any one of claim 1 to 5, it is characterised in that aircraft also include the lift wing, support column,
One end of the support column is fixed in aerodynamic control surface and the second driver, the lift wing lower surface, and the support column is another
The afterbody of the aircraft body is fixed at end, and the aerodynamic control surface is while be articulated with the lift wing trailing edge, and described second
Driver drives the aerodynamic control surface to deflect downward or upward, so as to increase or decrease the camber of the lift wing.
8. aircraft as claimed in claim 6, it is characterised in that the aircraft is additionally provided with bumper frame, aircraft body
Head connects the frame of the bumper frame side, and afterbody connects the frame of the bumper frame opposite side, the increase of the described lift wing
The support column being fixedly connected with bumper frame, for aircraft lands when level ground, the bumper frame is in the positive throwing in level ground
Shadow surrounds fixed rotor unit in the orthographic projection in horizontal plane.
9. aircraft as claimed in claim 8, it is characterised in that support frame as described above also includes being used to protect the rotary wing
First guard member of unit, and/or, the second guard member, one end of the first guard member is fixedly connected on the first connector and another
End is articulated with the side frame of the same side bumper frame, and/or, one end of the second guard member is fixedly connected on the 3rd connector and another
End is articulated with the side frame of the same side bumper frame；
For the aircraft lands when level ground, the first connector and the first guard member will be same in the orthographic projection in level ground
The rotary wing unit of side and the first corresponding linking arm surround in the orthographic projection in level ground, and/or, the 3rd connector
With the second guard member in the orthographic projection in horizontal plane by the rotary wing unit of homonymy and the first corresponding linking arm in level
Orthographic projection in face is surrounded.
10. a kind of cruising level flight method of aircraft using described in claim 6 to 9, it is characterised in that specific method is as follows
One or several kinds combination：
One, when aircraft cruising level flight, the propeller Plane of rotations of two groups of rotary wing units and horizontal plane or near
Like vertically, the rotating speed of two groups of propellers is identical, turns on the contrary, being acted on offsetting mutual reaction torque, it is necessary to increase or subtract
During small horizontal flight forward acceleration, while increase or reduce the rotating speed of the propeller of two groups of rotary wing units, so as to increase
Or reduce horizontal flight forward acceleration, and then controlled level flight forward speed size；
Secondly, when needing to adjust flying height, increase or reduce two group second of lower horizontal plane and fix rotor unit and two groups the
Three fix rotor unit rotating speed, and rotor unit is fixed so as to increase or reduce the second of lower horizontal plane the fixation rotor unit and the 3rd
Propeller pulling force, and/or, increase or reduce the first of the upper horizontal plane rotating speed and downward or upward for fixing propeller aircraft
Deflect the lift wing aerodynamic control surface or, the angle of attack of the lift wing is increased or decreased, so as to increase or reduce the of upper horizontal plane
One fixes the aerodynamic lift of rotor unit pulling force and the lift wing, realizes the adjustment of height；
Thirdly, when needing to adjust the angle of pitch, increase or reduce two group first of upper horizontal plane fixation rotor unit, and/or, lower level
The revolution speed of propeller of two group of the 3rd fixation rotor unit in face, so as to increase or reduce the first fixation rotor unit, and/or, the 3rd
The pulling force of the propeller of fixed rotor unit, while the revolution speed of propeller of the second fixation rotor unit is decreased or increased, and/or,
Deflect up or down the lift wing aerodynamic control surface or, reduce or the angle of attack of the increase lift wing, so as to be decreased or increased the
Two fix the propeller pulling force of rotor unit, and/or, the lift of the lift wing, realize the adjustment of the angle of pitch；
When four, needing to adjust roll angle, increase or the second fixation rotor list for reducing aircraft body the same side lower horizontal plane
Member and the 3rd revolution speed of propeller for fixing rotor unit, so as to increase or reduce the pulling force of the aircraft side, at the same reduce or
Increase the second of aircraft body opposite side lower horizontal plane and fix rotor unit and the 3rd fixation rotor unit propeller
Rotating speed, so as to which the aircraft side draw be decreased or increased, realize the adjustment of roll angle；
When five, needing to adjust yaw angle, rotor unit and the 3rd fixation rotor list are fixed by adjusting the second of lower horizontal plane
The rotating speed of member, is gone off course using the difference of the anti-twisted torque suffered by different fixed rotor unit propellers.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116560412A (en) * | 2023-07-10 | 2023-08-08 | 四川腾盾科技有限公司 | Test flight planning method for verifying maximum flat flight speed index of low-speed unmanned aerial vehicle |
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