CN109335004B - Micro unmanned aerial vehicle equipped with hybrid power - Google Patents
Micro unmanned aerial vehicle equipped with hybrid power Download PDFInfo
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- CN109335004B CN109335004B CN201811449509.9A CN201811449509A CN109335004B CN 109335004 B CN109335004 B CN 109335004B CN 201811449509 A CN201811449509 A CN 201811449509A CN 109335004 B CN109335004 B CN 109335004B
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- control module
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- 239000000446 fuel Substances 0.000 claims abstract description 42
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 37
- 239000004449 solid propellant Substances 0.000 claims abstract description 15
- 238000002485 combustion reaction Methods 0.000 claims description 47
- 239000007921 spray Substances 0.000 claims description 15
- 238000009413 insulation Methods 0.000 claims description 11
- 239000002828 fuel tank Substances 0.000 claims description 7
- 239000003999 initiator Substances 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 5
- 230000009189 diving Effects 0.000 claims description 3
- 238000002347 injection Methods 0.000 claims description 3
- 239000007924 injection Substances 0.000 claims description 3
- 238000007664 blowing Methods 0.000 claims 1
- 238000004200 deflagration Methods 0.000 claims 1
- 239000007788 liquid Substances 0.000 abstract description 7
- 239000013589 supplement Substances 0.000 abstract description 2
- 239000003380 propellant Substances 0.000 description 6
- 238000012423 maintenance Methods 0.000 description 3
- 239000002360 explosive Substances 0.000 description 2
- 238000010304 firing Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 229910052581 Si3N4 Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005336 cracking Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000003721 gunpowder Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
- HQVNEWCFYHHQES-UHFFFAOYSA-N silicon nitride Chemical compound N12[Si]34N5[Si]62N3[Si]51N64 HQVNEWCFYHHQES-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
-
- 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
- B64D27/16—Aircraft characterised by the type or position of power plants of jet type
- B64D27/20—Aircraft characterised by the type or position of power plants of jet type within, or attached to, fuselages
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention provides a miniature unmanned aerial vehicle with mixed power, which comprises a flight control module, a multi-rotor propulsion mechanism, a jet propulsion mechanism and a strip-shaped machine body, wherein the flight control module is arranged on the machine body; the flight control module is arranged at the machine body and interacts with the multi-rotor propulsion mechanism and the jet propulsion mechanism; the multi-rotor propulsion mechanism comprises a plurality of electric rotors arranged around the body; the jet propulsion mechanism is arranged at the machine body, and the nozzle is arranged at the tail end of the machine body; when the unmanned aerial vehicle flies at a low speed, the electric rotor spins to generate flying power and adjusts the flying attitude of the unmanned aerial vehicle under the control of the flight control module; when the unmanned aerial vehicle needs to fly at a high speed, the jet propulsion mechanism jets working media to push the unmanned aerial vehicle to fly; the flight control module controls the direction and thrust of a nozzle of the jet propulsion mechanism; according to the invention, the high-efficiency propeller made of liquid fuel or solid fuel can be used as the power supplement of the micro unmanned aerial vehicle according to the actual requirement, so as to increase the voyage endurance or instantly burst enough power to complete the expected target.
Description
Technical Field
The invention relates to the technical field of aircrafts, in particular to a miniature unmanned aerial vehicle with hybrid power.
Background
The micro-drone (Miniature Unmanned AERIAL VEHICLE, MUAV for short) refers to an aircraft that is smaller in size relative to a large military drone or fixed wing drone.
Numerous technical and engineering problems are faced with developing a micro-unmanned aerial vehicle that can function as intended for long voyages. The greatest difficulty is the power problem. It must generate enough energy in a very small volume to convert it into thrust, support enough range or dead time for the micro-unmanned aerial vehicle and provide enough power for the onboard equipment without adding excessive weight to the entire fuselage.
In order to reduce equipment cost and maintenance cost, the current micro unmanned aerial vehicle mostly adopts a multi-rotor unmanned aerial vehicle, and the current micro multi-rotor unmanned aerial vehicle mostly adopts a battery driving motor to obtain lifting force and advancing and retreating power, so that a large-capacity battery cannot be equipped in a self-takeoff weight-limiting condition and a space so small, and the range or the endurance of the micro unmanned aerial vehicle are limited.
With the current technical condition, the miniature multi-rotor unmanned aerial vehicle can not adopt the conventional oil gas engine driven by liquid or gas fuel to work to obtain power, and further has high cost and complex maintenance, and can not meet the contradiction between the take-off weight limit and the voyage and endurance.
The current micro unmanned aerial vehicle cannot simply increase the voyage or the endurance by increasing the battery capacity based on the existing battery size, because the self weight of the battery capacity is increased, and the micro unmanned aerial vehicle is limited by various self conditions and has strict take-off weight limitation.
Current battery-powered micro-drones cannot instantaneously burst enough power in a certain direction to accomplish high speed actions such as dive.
Disclosure of Invention
The invention provides a miniature unmanned aerial vehicle with mixed power, which can use a high-efficiency propeller made of liquid fuel or solid fuel as the power supplement of the miniature unmanned aerial vehicle according to the actual requirement so as to increase the voyage endurance or instantly burst enough power to complete the expected target.
The invention adopts the following technical scheme.
A miniature unmanned aerial vehicle configured with hybrid power, the unmanned aerial vehicle comprising a flight control module, a multi-rotor propulsion mechanism, a jet propulsion mechanism and a strip-shaped airframe; the flight control module is arranged at the machine body and interacts with the multi-rotor propulsion mechanism and the jet propulsion mechanism; the multi-rotor propulsion mechanism comprises a plurality of electric rotors arranged around the machine body; the jet propulsion mechanism is arranged at the machine body, and the nozzle is arranged at the tail end of the machine body; when the unmanned aerial vehicle flies at a low speed, the electric rotor spins to generate flying power and adjusts the flying attitude of the unmanned aerial vehicle under the control of the flight control module; when the unmanned aerial vehicle needs to fly at a high speed, the jet propulsion mechanism jets working media to push the unmanned aerial vehicle to fly; the flight control module controls the nozzle orientation and thrust of the jet propulsion mechanism.
When unmanned aerial vehicle needs high-speed flight, electronic rotor is rotatory under the windward stream blows, provides auxiliary lift for unmanned aerial vehicle according to gyroplane lift principle.
The jet propulsion mechanism is provided with a tubular propulsion casing; the nozzle is arranged at one end of the tubular propulsion casing; a fuel cabin and a spray pipe are arranged in the propulsion casing; two ends of the spray pipe are respectively communicated with the fuel cabin and the spray nozzle to form a propulsion unit; when the propulsion unit of the injection propulsion mechanism is operated, the flight control module sends instructions to ignite the fuel in the fuel tank to deflagrate the propulsion medium that can be injected from the nozzles to generate thrust.
Storing fuel in a plurality of microcombustions in the fuel tank; an explosion-proof heat insulation mechanism for isolating the combustion environment is arranged at the chamber wall of the micro combustion chamber; when the explosion-proof heat-insulating mechanism of the micro combustion chamber is opened, the fuel in the micro combustion chamber is in a state to be ignited.
The flight control module controls the thrust generated when the jet propulsion mechanism ignites by changing the number of micro-combustors in a state to be ignited.
The fuel cabin is in a cylindrical shape with a unidirectional opening, and the opening of the cylindrical fuel cabin is communicated with the spray pipe; the micro-combustion chambers are arranged in a straight line in the fuel cabin; the firing sequence of each microcombustor is from the open end of the cartridge to the closed end of the cartridge.
The explosion-proof heat-insulating mechanism of the micro combustion chamber is provided with a micro initiator, and the micro combustion chamber is internally provided with an electronic ignition device; the miniature exploder and the electronic ignition device are provided with control address codes and can be started in an electric control mode by the flight control module; the flight control module controls the micro-initiator to detonate so as to open the explosion-proof heat insulation mechanism, so that the micro-combustion chamber can be communicated with the spray pipe through the cavity of the fuel cabin, and the fuel in the micro-combustion chamber can be ignited by the electronic ignition device controlled by the flight control module.
The fuel is solid fuel; the wall of the micro combustion chamber is formed by a high-strength heat-insulating explosion-proof material.
The jet propulsion mechanism is attached to the unmanned aerial vehicle body to form a combination; the outer shape of the combination body is similar to the bullet streamline shape or the dripping streamline shape of the high-speed rail train so as to reduce air resistance; more than one propulsion unit is arranged in the jet propulsion mechanism.
The head of the unmanned aerial vehicle body is provided with an image recognition module; when the jet propulsion mechanism pushes the unmanned aerial vehicle to fly at a high speed and the unmanned aerial vehicle body is required to be precisely pointed at a target, the flight control module controls the unmanned aerial vehicle to be in a diving flight attitude.
The invention has the beneficial effects that; the device has the advantages of mature and feasible scheme, simple and easy use and humanization; the device provided by the invention has unique design and high feasibility, and can effectively solve the problems that the micro unmanned aerial vehicle is insufficient in voyage and navigation and cannot move at a high speed instantaneously. The micro unmanned aerial vehicle can be widely applied, especially in military and anti-terrorism aspects.
Drawings
The invention is described in further detail below with reference to the attached drawings and detailed description:
FIG. 1 is a schematic illustration of the present invention;
FIG. 2 is a schematic cut-away view of a jet propulsion unit;
In the figure: 1-an electric rotor; 2-a fuselage; 3-jet propulsion mechanism; 4-nozzles; 5-microcombustion chamber; 6-an explosion-proof heat insulation mechanism; 7-an electronic ignition device; 8-miniature detonators; 9-fuel.
Detailed Description
As shown in fig. 1-2, a hybrid-equipped micro-unmanned aerial vehicle comprises a flight control module, a multi-rotor propulsion mechanism, a jet propulsion mechanism 3 and a strip-shaped airframe 2; the flight control module is arranged at the machine body and interacts with the multi-rotor propulsion mechanism and the jet propulsion mechanism; the multi-rotor propulsion mechanism comprises a plurality of electric rotors 1 arranged around a fuselage; the jet propulsion mechanism 3 is arranged at the machine body 2, and the nozzle 4 is arranged at the tail end of the machine body; when the unmanned aerial vehicle flies at a low speed, the electric rotor spins to generate flying power and adjusts the flying attitude of the unmanned aerial vehicle under the control of the flight control module; when the unmanned aerial vehicle needs to fly at a high speed, the jet propulsion mechanism jets working media to push the unmanned aerial vehicle to fly; the flight control module controls the nozzle orientation and thrust of the jet propulsion mechanism.
When unmanned aerial vehicle needs high-speed flight, electronic rotor is rotatory under the windward stream blows, provides auxiliary lift for unmanned aerial vehicle according to gyroplane lift principle.
The jet propulsion mechanism is provided with a tubular propulsion casing; the nozzle is arranged at one end of the tubular propulsion casing; a fuel cabin and a spray pipe are arranged in the propulsion casing; two ends of the spray pipe are respectively communicated with the fuel cabin and the spray nozzle to form a propulsion unit; when the propulsion unit of the injection propulsion mechanism is operated, the flight control module sends instructions to pilot the fuel 9 in the fuel tank, deflagrating the propulsion working fluid that can be injected from the nozzles 4 to generate thrust.
Storing fuel in a plurality of microcombustions 5 in the fuel tank; an explosion-proof heat insulation mechanism 6 for isolating the combustion environment is arranged at the chamber wall of the micro combustion chamber; when the explosion-proof heat-insulating mechanism of the micro combustion chamber is opened, the fuel in the micro combustion chamber is in a state to be ignited.
The flight control module controls the thrust generated when the jet propulsion mechanism ignites by changing the number of micro-combustors in a state to be ignited.
The fuel cabin is in a cylindrical shape with a unidirectional opening, and the opening of the cylindrical fuel cabin is communicated with the spray pipe; the micro-combustion chambers are arranged in a straight line in the fuel cabin; the firing sequence of each microcombustor is from the open end of the cartridge to the closed end of the cartridge.
The explosion-proof heat-insulating mechanism of the micro combustion chamber is provided with a micro initiator 8, and the micro combustion chamber is internally provided with an electronic ignition device 7; the miniature exploder and the electronic ignition device are provided with control address codes and can be started in an electric control mode by the flight control module; the flight control module controls the micro-initiator to detonate so as to open the explosion-proof heat insulation mechanism, so that the micro-combustion chamber can be communicated with the spray pipe through the cavity of the fuel cabin, and the fuel in the micro-combustion chamber can be ignited by the electronic ignition device controlled by the flight control module.
The fuel is solid fuel; the wall of the micro combustion chamber is formed by a high-strength heat-insulating explosion-proof material.
The jet propulsion mechanism is attached to the unmanned aerial vehicle body to form a combination; the outer shape of the combination body is similar to the bullet streamline shape or the dripping streamline shape of the high-speed rail train so as to reduce air resistance; more than one propulsion unit is arranged in the jet propulsion mechanism.
The head of the unmanned aerial vehicle body is provided with an image recognition module; when the jet propulsion mechanism pushes the unmanned aerial vehicle to fly at a high speed and the unmanned aerial vehicle body is required to be precisely pointed at a target, the flight control module controls the unmanned aerial vehicle to be in a diving flight attitude.
Examples:
conventionally, a micro unmanned aerial vehicle is lifted, flown or steered by a battery driven motor. When the battery is used up quickly (a value can be set as if the unmanned aerial vehicle on the market can automatically return to the home when the preset battery still remains 10 percent) or after a remote control instruction of a control hand is received, the liquid fuel (or solid fuel) driven propeller of the unmanned aerial vehicle can start to ignite an ignition device (electronic ignition device) of the first combustion chamber, and detonate an explosion-proof heat insulation plate (explosion-proof heat insulation mechanism) positioned between the combustion chambers and ignite the ignition device as required, and a single or a plurality of liquid or solid fuel bins can be detonated and ignited as required, and the direction of the nozzle is regulated. The flight control system on the unmanned aerial vehicle coordinates the operation of each part of the unmanned aerial vehicle according to a preset planned route or a preset flight direction target and the energy output by the propeller.
The invention can be provided with one or more sets of propellers at different angles according to the requirements. The propellants used in the present invention may be classified as liquid fuels or solid fuels, and include those that may use gunpowder as a source of motive force for the propulsion.
The miniature ignition devices positioned in the micro combustion chambers and the miniature detonators positioned between the combustion chambers are provided with address codes, all adopt an electronic starting mode, and an explosion-proof heat insulation device is arranged between the micro combustion chambers and can be opened after the miniature detonators positioned between the explosion-proof heat insulation devices of the combustion chambers are detonated by electrons. When the battery is used up quickly (a value can be set as if the unmanned aerial vehicle on the market can automatically return to the home when the preset battery still remains 10 percent) or a remote control instruction is received, the ignition device in the first combustion chamber of the unmanned aerial vehicle solid fuel-driven propeller can be ignited electronically, the propellant is ignited, the pressure in the combustion chamber is increased, and the generated high-temperature and high-pressure fluid is rapidly increased in speed after being expanded through the convergent-divergent nozzle, so that thrust and impulse are generated. The first micro-initiator positioned between the first combustion chamber heat-insulating explosion-proof plate and the second combustion chamber heat-insulating explosion-proof plate can be automatically or remotely initiated according to the requirement, and the second ignition device of the second combustion chamber can be electronically ignited, and a plurality of micro-combustion chambers can be initiated and ignited by the same so as to obtain enough flying power and high-speed impulse.
The flight control system on the hybrid unmanned aerial vehicle of the device can coordinate the operation of each part of the unmanned aerial vehicle according to a preset planned route or a preset flight direction target and the energy output by the propeller, so that the high-precision azimuth maintenance, attitude control, speed adjustment, gravity compensation and route adjustment of the micro unmanned aerial vehicle are realized.
The present invention preferably uses a solid fuel, the combustion of which is a simple way to obtain high levels of energy from a small volume. The energy density of a typical solid propellant is about 5 times that of a typical conventional lithium battery. Therefore, the solid propellant is particularly suitable for being used as a filling fuel of the unmanned aerial vehicle propeller, and meets the requirement that a micro propulsion system can rapidly provide thrust and impulse in a short time. In addition, the solid fuel propeller does not need complex equipment such as pumps, valves, fuel pipelines and the like required by the liquid or gas propellant propeller, and the whole system has simple and compact structure. Because of no moving parts, friction loss is small, the possibility of propellant leakage is low, and the integration of the whole system is facilitated. The required thrust and impulse can be obtained by setting the structure and the size of the micro-propeller and the type and the content of the propellant.
The micro-combustion chamber of the device needs to be made of materials with high temperature resistance, small heat conductivity and light weight. The propellant in the microcombustion chamber is subjected to a continuous combustion and high pressure and high temperature environment in the microcombustion chamber, which requires a high strength of the wall surface of the microcombustion chamber to prevent cracking. The material can be silicon, heat-resistant glass, silicon nitride, etc.
The front end and body of the solid fuel propeller in the device of the invention can be designed to resemble the streamline shape of high-speed rail 'bullet' and 'drip', which is more aerodynamic. The lifting and forward flight of the hybrid unmanned aerial vehicle are facilitated.
The propeller in the device can be designed into various shapes according to the requirement, a plurality of micro-combustors, micro-detonators, micro-igniters and nozzles in two or more directions are densely distributed in the middle, and the propeller is controlled by a program and is detonated and ignited electronically so as to generate thrust and impulsive force in different directions.
The device can be provided with a face recognition system and a trace explosive, the target is locked after face recognition, the solid fuel propulsion system is started, and the trace explosive is shot towards the target and detonated at a high speed. Has great effect in the fields of military and anti-terrorism.
Claims (2)
1. A micro-unmanned aerial vehicle configured with hybrid power, characterized in that: the unmanned aerial vehicle comprises a flight control module, a multi-rotor propulsion mechanism, a jet propulsion mechanism and a strip-shaped airframe; the flight control module is arranged at the machine body and interacts with the multi-rotor propulsion mechanism and the jet propulsion mechanism; the multi-rotor propulsion mechanism comprises a plurality of electric rotors arranged around the machine body; the jet propulsion mechanism is arranged at the machine body, and the nozzle is arranged at the tail end of the machine body; when the unmanned aerial vehicle flies at a low speed, the electric rotor spins to generate flying power and adjusts the flying attitude of the unmanned aerial vehicle under the control of the flight control module; when the unmanned aerial vehicle needs to fly at a high speed, the jet propulsion mechanism jets working media to push the unmanned aerial vehicle to fly; the flight control module controls the direction and thrust of a nozzle of the jet propulsion mechanism;
when the unmanned aerial vehicle needs to fly at a high speed, the electric rotor rotates under the blowing of the windward air flow, and auxiliary lift force is provided for the unmanned aerial vehicle according to the lift force principle of the rotor;
The jet propulsion mechanism is provided with a tubular propulsion casing; the nozzle is arranged at one end of the tubular propulsion casing; a fuel cabin and a spray pipe are arranged in the propulsion casing; two ends of the spray pipe are respectively communicated with the fuel cabin and the spray nozzle to form a propulsion unit; when a propulsion unit of the jet propulsion mechanism works, the flight control module sends an instruction to ignite fuel in the fuel cabin, and propulsion working medium which can be jetted from the jet nozzle is generated in a deflagration mode to generate thrust;
Storing fuel in a plurality of microcombustions in the fuel tank; an explosion-proof heat insulation mechanism for isolating the combustion environment is arranged at the chamber wall of the micro combustion chamber; when the explosion-proof heat-insulating mechanism of the micro combustion chamber is opened, the fuel in the micro combustion chamber is in a state to be ignited;
the flight control module controls the thrust generated when the injection propulsion mechanism ignites by changing the number of micro combustion chambers in a state to be ignited;
the fuel cabin is in a cylindrical shape with a unidirectional opening, and the opening of the cylindrical fuel cabin is communicated with the spray pipe; the micro-combustion chambers are arranged in a straight line in the fuel cabin; the ignition sequence of each micro combustion chamber is from the open end of the cylindrical fuel tank to the closed end of the cylindrical fuel tank;
The explosion-proof heat-insulating mechanism of the micro combustion chamber is provided with a micro initiator, and the micro combustion chamber is internally provided with an electronic ignition device; the miniature exploder and the electronic ignition device are provided with control address codes and can be started in an electric control mode by the flight control module; the flight control module controls the micro-detonator to detonate so as to open the explosion-proof heat insulation mechanism, so that the micro-combustion chamber can be communicated with the spray pipe through the cavity of the fuel cabin, and the fuel in the micro-combustion chamber can be ignited by the electronic ignition device controlled by the flight control module;
the fuel is solid fuel; the wall of the micro combustion chamber is formed by a high-strength heat-insulating explosion-proof material;
the jet propulsion mechanism is attached to the unmanned aerial vehicle body to form a combination; the outer shape of the combination body is similar to the bullet streamline shape or the dripping streamline shape of the high-speed rail train so as to reduce air resistance;
The jet propulsion mechanism is provided with nozzles in two or more directions and is controlled by a program, electronically detonated and ignited to generate thrust and impulse forces in different directions.
2. The hybrid-equipped micro-unmanned aerial vehicle of claim 1, wherein: the head of the unmanned aerial vehicle body is provided with an image recognition module; when the jet propulsion mechanism pushes the unmanned aerial vehicle to fly at a high speed and the unmanned aerial vehicle body is required to be precisely pointed to a target, the flight control module controls the unmanned aerial vehicle to be in a diving flight attitude.
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| CN201811449509.9A CN109335004B (en) | 2018-11-30 | 2018-11-30 | Micro unmanned aerial vehicle equipped with hybrid power |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811449509.9A CN109335004B (en) | 2018-11-30 | 2018-11-30 | Micro unmanned aerial vehicle equipped with hybrid power |
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| Publication Number | Publication Date |
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| CN109335004A CN109335004A (en) | 2019-02-15 |
| CN109335004B true CN109335004B (en) | 2024-04-26 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IL78454A0 (en) * | 1985-04-09 | 1986-08-31 | Dei Tech Inc | Super agile tactical fighter aircraft and method of flying it in supernormal flight |
| RU2012512C1 (en) * | 1993-09-07 | 1994-05-15 | Фирма "ВИСТ" | Hybrid flying vehicle |
| CN105235892A (en) * | 2015-10-21 | 2016-01-13 | 北京航空航天大学 | Multimodal flight conversion control method for hybrid layout rotary-wing unmanned aerial vehicle |
| CN108263604A (en) * | 2018-01-29 | 2018-07-10 | 宿迁永泰邦辰知识产权运营管理有限公司 | A kind of semi-ring rotor aircraft |
| CN108473199A (en) * | 2015-12-18 | 2018-08-31 | 塔泊苏·约瑟夫 | Aircraft and its operating method with vertical landing ability |
| CN209617518U (en) * | 2018-11-30 | 2019-11-12 | 福建星图智控科技有限公司 | A kind of miniature drone configuring hybrid power |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10850835B2 (en) * | 2017-03-30 | 2020-12-01 | Qualcomm Incorporated | Unmanned aerial vehicle with monolithic wing and twin-rotor propulsion/lift modules |
-
2018
- 2018-11-30 CN CN201811449509.9A patent/CN109335004B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IL78454A0 (en) * | 1985-04-09 | 1986-08-31 | Dei Tech Inc | Super agile tactical fighter aircraft and method of flying it in supernormal flight |
| RU2012512C1 (en) * | 1993-09-07 | 1994-05-15 | Фирма "ВИСТ" | Hybrid flying vehicle |
| CN105235892A (en) * | 2015-10-21 | 2016-01-13 | 北京航空航天大学 | Multimodal flight conversion control method for hybrid layout rotary-wing unmanned aerial vehicle |
| CN108473199A (en) * | 2015-12-18 | 2018-08-31 | 塔泊苏·约瑟夫 | Aircraft and its operating method with vertical landing ability |
| CN108263604A (en) * | 2018-01-29 | 2018-07-10 | 宿迁永泰邦辰知识产权运营管理有限公司 | A kind of semi-ring rotor aircraft |
| CN209617518U (en) * | 2018-11-30 | 2019-11-12 | 福建星图智控科技有限公司 | A kind of miniature drone configuring hybrid power |
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| CN109335004A (en) | 2019-02-15 |
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