CN109383777B - Unmanned aerial vehicle organism - Google Patents
Unmanned aerial vehicle organism Download PDFInfo
- Publication number
- CN109383777B CN109383777B CN201710657259.7A CN201710657259A CN109383777B CN 109383777 B CN109383777 B CN 109383777B CN 201710657259 A CN201710657259 A CN 201710657259A CN 109383777 B CN109383777 B CN 109383777B
- Authority
- CN
- China
- Prior art keywords
- balance
- unmanned aerial
- aerial vehicle
- shaft
- fuselage
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000005484 gravity Effects 0.000 claims abstract description 11
- 230000006698 induction Effects 0.000 claims description 4
- 230000000087 stabilizing effect Effects 0.000 claims description 4
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 230000036544 posture Effects 0.000 claims description 3
- 230000004044 response Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract description 4
- 239000003381 stabilizer Substances 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000084 colloidal system Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 239000011148 porous material Substances 0.000 description 1
Images
Classifications
-
- 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
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
-
- 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
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
- B64D45/06—Landing aids; Safety measures to prevent collision with earth's surface mechanical
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses an unmanned aerial vehicle body, which comprises a body, two side shafts, a tail shaft, a detachable hanging shaft and a landing balance system, wherein an ultrasonic ranging module mounting opening is arranged right ahead the body, a remote control antenna is arranged at the top of the body, a communication antenna is arranged at the tail end of the tail shaft, mounting parts are arranged on the two side shafts, a connecting part is arranged on the tail shaft, a driving motor and a plurality of fixing parts are arranged on the mounting parts and the connecting part, a plurality of rotors are arranged on the driving motor, the landing balance system comprises a landing stable balance shaft and an arc-shaped balance part, a gravity sensing device and a balance control device are arranged in the body, the gravity sensing device is used for sensing the balance state of the landing stable balance shaft, and the balance control device is used for controlling the landing stable balance. The invention solves the problems of low strength of the unmanned aerial vehicle body, heavy weight of the unmanned aerial vehicle body, difficulty in balancing the unmanned aerial vehicle body, high cost and inconvenience in installation in the prior art, and ensures the balance of the unmanned aerial vehicle through the landing stable balance shaft and the arc-shaped balance piece.
Description
Technical Field
The invention relates to an unmanned aerial vehicle body, and belongs to the technical field of unmanned aerial vehicles.
Background
Unmanned aerial vehicle is the unmanned aerial vehicle who utilizes radio remote control equipment and the program control device of self-contained to control, extensive application in military and civilian field, unmanned aerial vehicle's a great variety, mainly include fixed wing unmanned aerial vehicle, flapping wing unmanned aerial vehicle and many rotor unmanned aerial vehicle etc. owing to control simply, the reliability is high, and do not need the runway alright in order to take off and land perpendicularly, can hover in the air after taking off, consequently for fixed wing unmanned aerial vehicle and flapping wing unmanned aerial vehicle, many rotor unmanned aerial vehicle have all obtained wide application in each field.
Many rotor unmanned aerial vehicle, generally including the organism that is located unmanned aerial vehicle central point and puts, a plurality of horn of being connected with the organism and set up in terminal motor and the rotor of each horn, in prior art, the organism wholly is type of cuboid, generally by the upper cover, go to the bottom and enclose into the curb plate triplex of organism side, wherein, set up the mounting hole on the curb plate, through inserting the horn in this mounting hole to adopt sticky realization horn to be connected with the organism between downthehole wall and horn periphery.
For unmanned aerial vehicle, on the one hand, the fuselage weight is required to be as light as possible, on the other hand, the strength of the fuselage needs to be ensured, balance needs to be kept, the fuselage of the cuboid is subjected to large air acting force in the flying process, in order to enhance the strength of the fuselage, the fuselage is usually required to be made of a metal material with certain hardness, or a light-weight and strong-hardness material with high cost is required to be adopted, the fuselage weight is difficult to be reduced and the fuselage cost is reduced, and therefore the fuselage of the structure and the shape becomes the technical bottleneck in the aspects of reducing the fuselage weight and reducing the cost.
In addition, set up the mode that the horn is connected to the mounting hole on the curb plate, on the one hand because aperture and horn diameter difference are less, operation precision requires highly when inserting the horn into the mounting hole to need put into the veneer frock before the structural adhesive is not solidified and fix a position, the installation of horn is not convenient for, on the other hand when the colloid setting between downthehole wall and the horn periphery is inhomogeneous, reach sealed between horn and the mounting hole pore wall, when flying in adverse circumstances, damage the part in the horn easily, above-mentioned technical problem that exists among the prior art, the effectual solution has not been proposed yet at present.
Disclosure of Invention
The invention mainly aims to provide an unmanned aerial vehicle body, and aims to solve the problems that the strength of the unmanned aerial vehicle body is low, the weight of the unmanned aerial vehicle body is large, the unmanned aerial vehicle body is difficult to balance, the cost is high, and the unmanned aerial vehicle body is inconvenient to mount in the prior art.
The purpose of the invention can be achieved by adopting the following technical scheme:
an unmanned aerial vehicle body comprises a body, two side shafts, a tail shaft, a head shaft, a detachable hanging shaft and a landing balance system, wherein the landing balance system is arranged on two sides where the two side shafts are arranged, the two side shafts are symmetrically arranged on two sides of the body, the tail shaft is arranged at the rear part of the body, the detachable hanging shaft is arranged below the body, an ultrasonic ranging module mounting port is arranged right ahead of the body, a remote control antenna is arranged at the top of the body, a communication antenna is arranged at the tail end of the tail shaft, mounting parts are arranged on the two side shafts, an image acquisition module mounting port is arranged on the mounting parts, a connecting part is arranged on the tail shaft, a driving motor and a plurality of fixing parts are arranged on the mounting parts and the connecting part, a plurality of rotor blades are arranged on the driving motor, and rotor stabilizing parts are arranged on the rotor blades, the aircraft is characterized in that a plurality of radiators are arranged on the aircraft body, a control motor is arranged below the detachable hanging shaft, the landing balance system comprises a landing stable balance shaft and an arc balance piece, a sliding groove is formed in the arc balance piece, the landing stable balance shaft is arranged in the sliding groove, a gravity sensing device and a balance control device are arranged in the aircraft body, the gravity sensing device is used for sensing the balance state of the landing stable balance shaft, and the balance control device is used for controlling the landing stable balance shaft to be in a vertical state so as to keep the aircraft body in a balance state.
Further, an inner ring control unit and an outer ring control unit are arranged in the balance control device; the inner ring control unit is used for controlling the postures of the landing stable balance shaft and the arc-shaped balance piece; the outer ring control unit is used for controlling the position of the descending stable balance shaft in the arc-shaped balance piece and the angle of the arc-shaped balance piece.
Further, the inner ring control unit adopts a self-adaptive robust control algorithm and a mahony algorithm, and the outer ring control unit adopts a fuzzy PID control algorithm.
Further, the mahony algorithm is to calculate an error with a gravity vector and a geomagnetic vector corresponding to a reference after converting to a geographical coordinate system according to data of the accelerometer and the geomagnetic meter, the error is used to correct an output of the gyroscope, and then quaternion updating is performed by using data of the gyroscope, and then the data is converted to an euler angle.
Furthermore, the fuselage is the quadrangle fuselage, be equipped with the intelligent interface that charges on four angles of quadrangle fuselage.
Further, be equipped with the memory on four angles of quadrangle fuselage, the memory is used for saving unmanned aerial vehicle instruction and flight control system data, still is used for saving unmanned aerial vehicle's position, speed and gesture.
Furthermore, the landing stable balance shaft is a metal shaft, the end of the landing stable balance shaft is provided with a power-assisted sliding structure, and the power-assisted sliding structure is used for the landing stable balance shaft to smoothly slide in the sliding groove.
Further, the end of descending stable balance axle with the junction of sliding groove is equipped with the dead structure of sliding lock, the dead structure of sliding lock is used for after the fuselage is balanced, right descending stable balance axle locks, prevents descending stable balance axle takes place to sideslip.
Further, the outside of arc balance member is equipped with the shock-absorbing rubber layer, the shock-absorbing rubber layer is used for when unmanned aerial vehicle descends, reduces vibrations.
The invention has the beneficial technical effects that: according to the unmanned aerial vehicle body, the unmanned aerial vehicle body solves the problems of low strength, heavy weight, difficulty in balancing, high cost and inconvenience in installation of the unmanned aerial vehicle body in the prior art, and can well ensure the balance of the unmanned aerial vehicle through the landing stable balance shaft and the arc-shaped balance piece.
Drawings
Fig. 1 is a schematic perspective view of a preferred embodiment of the unmanned aerial vehicle body according to the present invention.
In the figure: 11-ultrasonic ranging module mounting port, 12-image acquisition module mounting port, 14-intelligent charging port, 17-radiator, 19-remote control antenna, 20-fuselage, 21-side shaft, 22-tail shaft, 23-mounting piece, 24-connecting piece, 25-driving motor, 26-rotor stabilizer, 27-rotor blade, 28-fixing piece, 29-detachable hanging shaft, 30-control motor, 31-descending stable balance shaft, 32-arc-shaped balance piece and 33-sliding groove.
Detailed Description
In order to make the technical solutions of the present invention more clear and definite for those skilled in the art, the present invention is further described in detail below with reference to the examples and the accompanying drawings, but the embodiments of the present invention are not limited thereto.
As shown in fig. 1, the unmanned aerial vehicle body provided by this embodiment includes a body 20, two side shafts 21, a head shaft, a tail shaft 22, a detachable mounting shaft 29 and a detachable landing balance system, the landing balance system is disposed on two sides of the side shafts 21, the two side shafts 21 are symmetrically disposed on two sides of the body 20, the tail shaft 22 is disposed behind the body 20, the detachable mounting shaft 29 is disposed below the body 20, an ultrasonic ranging module mounting port 11 is disposed right in front of the body 20, a remote control antenna 19 is disposed on the top of the body 20, a communication antenna is disposed at the end of the tail shaft 22, mounting members 23 are disposed on the two side shafts 21, image collecting module mounting ports 12 are disposed on the mounting members 23, a connecting member 24 is disposed on the tail shaft 22, the mounting members 23 and the connecting member 24 are both provided with a driving motor 25 and a plurality of driving motors 28, be equipped with a plurality of rotor blades 27 on the driving motor 25, be equipped with rotor stabilizer 26 on the rotor blade 27, be equipped with a plurality of radiators 17 on the fuselage 20, the below that can dismantle carry axle 29 is equipped with control motor 30, stabilize balanced axle 31 and arc balance 32 including descending, be equipped with sliding groove 33 in the arc balance 32, it sets up to descend stabilizes balanced axle 31 in sliding groove 33, be equipped with gravity induction system and balance control device in the fuselage 20, gravity induction system is used for the response descend the balanced state of stabilizing balanced axle 31, balance control device is used for control it is in vertical state to descend the stable balanced axle 31, makes fuselage 20 keep balance state.
Further, in this embodiment, an inner ring control unit and an outer ring control unit are provided in the balance control device; the inner ring control unit is used for controlling the postures of the landing stable balance shaft 31 and the arc-shaped balance piece 32; the outer ring control unit is used for controlling the position of the landing stable balance shaft 31 in the arc-shaped balance piece 32 and the angle of the arc-shaped balance piece 32; the inner ring control unit adopts a self-adaptive robust control algorithm and a mahony algorithm, and the outer ring control unit adopts a fuzzy PID control algorithm; the method comprises the steps that after data of an accelerometer and a geomagnetism are converted into a geographic coordinate system, an error is solved with a gravity vector and a geomagnetic vector which correspond to references, the error is used for correcting the output of a gyroscope, then quaternion updating is carried out by using gyroscope data, and then the data are converted into Euler angles.
Further, in the present embodiment, as shown in fig. 1, the body 20 is a quadrangular body, and the four corners of the quadrangular body are provided with the intelligent charging interfaces 14; be equipped with the memory on four angles of quadrangle fuselage, the memory is used for saving unmanned aerial vehicle instruction and flight control system data, still is used for saving unmanned aerial vehicle's position, speed and gesture.
Further, in this embodiment, as shown in fig. 1, the stable descending balance shaft 31 is a metal shaft, and an end of the stable descending balance shaft 31 is provided with a power-assisted sliding structure, and the power-assisted sliding structure is used for the stable descending balance shaft 31 to slide smoothly in the sliding groove 33; a sliding locking structure is arranged at the joint of the end of the descending stable balance shaft 31 and the sliding groove 33, and is used for locking the descending stable balance shaft 31 after the balance of the machine body 20, so as to prevent the descending stable balance shaft 31 from sideslipping; the outside of arc balance member 32 is equipped with the shock-absorbing rubber layer, the shock-absorbing rubber layer is used for when unmanned aerial vehicle descends, reduces vibrations.
To sum up, in this embodiment, according to the unmanned aerial vehicle organism of this embodiment, the unmanned aerial vehicle organism that this embodiment provided has solved among the prior art organism intensity low, organism weight is big, the fuselage is difficult to balance, with high costs and the inconvenient problem of installation, stabilizes balanced axle and the balance of assurance unmanned aerial vehicle that the arc balance piece can be fine through descending.
The above description is only for the purpose of illustrating the present invention and is not intended to limit the scope of the present invention, and any person skilled in the art can substitute or change the technical solution of the present invention and its conception within the scope of the present invention.
Claims (9)
1. An unmanned aerial vehicle organism, its characterized in that: including fuselage (20), both sides axle (21), tail-shaft (22), head-shaft, can dismantle carry axle (29) and descending balanced system, descending balanced system sets up two the both sides at side axle (21) place, two the setting of side axle (21) symmetry is in the both sides of fuselage (20), tail-shaft (22) set up the rear of fuselage (20), the head-shaft sets up the place ahead at fuselage (20), can dismantle carry axle (29) and set up the below of fuselage (20), the dead ahead of fuselage (20) is equipped with ultrasonic ranging module installing port (11), the top of fuselage (20) is equipped with remote control antenna (19), the end of tail-shaft (22) is equipped with communication antenna, both sides all are equipped with installed part (23) on axle (21), be equipped with image acquisition module installing port (12) on installed part (23), be equipped with connecting piece (24) on tail-shaft (22), installed part (23) with all be equipped with driving motor (25) and a plurality of mounting (28) on connecting piece (24), be equipped with a plurality of rotor blade (27) on driving motor (25), be equipped with rotor stabilizing member (26) on rotor blade (27), be equipped with a plurality of radiators (17) on fuselage (20), the below that can dismantle carry axle (29) is equipped with control motor (30), descending balanced system is equipped with in descending stable balance axle (31) and arc balancing member (32), be equipped with in arc balancing member (32) and glide slot (33), descending stable balance axle (31) sets up in glide slot (33), be equipped with gravity induction system and balance controlling means in fuselage (20), gravity induction system is used for the response descend the balanced state of stable balance axle (31), the balance control device is used for controlling the stable landing balance shaft (31) to be in a vertical state, so that the machine body (20) is kept in a balance state.
2. The unmanned aerial vehicle organism of claim 1, characterized in that: an inner ring control unit and an outer ring control unit are arranged in the balance control device; the inner ring control unit is used for controlling the postures of the landing stable balance shaft (31) and the arc-shaped balance piece (32); the outer ring control unit is used for controlling the position of the descending stabilizing balance shaft (31) in the arc-shaped balance piece (32) and the angle of the arc-shaped balance piece (32).
3. The unmanned aerial vehicle organism of claim 2, characterized in that: the inner ring control unit adopts a self-adaptive robust control algorithm and a mahony algorithm, and the outer ring control unit adopts a fuzzy PID control algorithm.
4. The unmanned aerial vehicle organism of claim 3, characterized in that: the method comprises the steps that after data of an accelerometer and a geomagnetism are converted into a geographic coordinate system, an error is solved with a gravity vector and a geomagnetic vector which correspond to references, the error is used for correcting the output of a gyroscope, then quaternion updating is carried out by using gyroscope data, and then the data are converted into Euler angles.
5. The unmanned aerial vehicle organism of claim 1, characterized in that: fuselage (20) are the quadrangle fuselage, be equipped with intelligent interface (14) that charge on four angles of quadrangle fuselage.
6. The unmanned aerial vehicle organism of claim 5, characterized in that: be equipped with the memory on four angles of quadrangle fuselage, the memory is used for saving unmanned aerial vehicle instruction and flight control system data, still is used for saving unmanned aerial vehicle's position, speed and gesture.
7. The unmanned aerial vehicle organism of claim 1, characterized in that: descending stable balance axle (31) is the metal axle, the end of descending stable balance axle (31) is equipped with helps the sliding structure, help the sliding structure be used for descending stable balance axle (31) is in smooth-going slides in sliding groove (33).
8. The unmanned aerial vehicle organism of claim 7, characterized in that: the end of descending stable balance axle (31) with the junction of sliding groove (33) is equipped with the dead structure of sliding lock, the dead structure of sliding lock is used for fuselage (20) is balanced the back, right descending stable balance axle (31) is deadlocked, prevents descending stable balance axle (31) takes place to sideslip.
9. The unmanned aerial vehicle organism of claim 1, characterized in that: the outside of arc balancing piece (32) is equipped with the shock-absorbing rubber layer, the shock-absorbing rubber layer is used for when unmanned aerial vehicle descends, reduces vibrations.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710657259.7A CN109383777B (en) | 2017-08-03 | 2017-08-03 | Unmanned aerial vehicle organism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710657259.7A CN109383777B (en) | 2017-08-03 | 2017-08-03 | Unmanned aerial vehicle organism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109383777A CN109383777A (en) | 2019-02-26 |
| CN109383777B true CN109383777B (en) | 2020-08-21 |
Family
ID=65413075
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710657259.7A Active CN109383777B (en) | 2017-08-03 | 2017-08-03 | Unmanned aerial vehicle organism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109383777B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114415505B (en) * | 2021-12-30 | 2023-08-15 | 天津理工大学 | Tail wing self-adaptive anti-interference control method of flapping wing robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104943858A (en) * | 2015-07-03 | 2015-09-30 | 广西大学 | Multifunctional coaxial double-rotor-wing four-shaft aircraft |
| CN205602093U (en) * | 2016-04-01 | 2016-09-28 | 郑州郑航通用航空工业科技有限公司 | Unmanned plant protection machine undercarriage |
| CN205916325U (en) * | 2016-07-04 | 2017-02-01 | 燕山大学里仁学院 | Automatic unmanned aerial vehicle who patrols line of electric wire netting |
| CN206012957U (en) * | 2016-08-30 | 2017-03-15 | 华斌 | A kind of Multi-axis aircraft |
| CN106741881A (en) * | 2016-12-27 | 2017-05-31 | 天津寰宇地理信息有限公司 | A kind of agricultural machinery unmanned plane undercarriage |
| CN106828889A (en) * | 2017-01-19 | 2017-06-13 | 福州大学 | Unmanned plane protection device and its method of work |
-
2017
- 2017-08-03 CN CN201710657259.7A patent/CN109383777B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104943858A (en) * | 2015-07-03 | 2015-09-30 | 广西大学 | Multifunctional coaxial double-rotor-wing four-shaft aircraft |
| CN205602093U (en) * | 2016-04-01 | 2016-09-28 | 郑州郑航通用航空工业科技有限公司 | Unmanned plant protection machine undercarriage |
| CN205916325U (en) * | 2016-07-04 | 2017-02-01 | 燕山大学里仁学院 | Automatic unmanned aerial vehicle who patrols line of electric wire netting |
| CN206012957U (en) * | 2016-08-30 | 2017-03-15 | 华斌 | A kind of Multi-axis aircraft |
| CN106741881A (en) * | 2016-12-27 | 2017-05-31 | 天津寰宇地理信息有限公司 | A kind of agricultural machinery unmanned plane undercarriage |
| CN106828889A (en) * | 2017-01-19 | 2017-06-13 | 福州大学 | Unmanned plane protection device and its method of work |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109383777A (en) | 2019-02-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107428412B (en) | Adjustable landing gear assembly for unmanned aerial vehicle | |
| CN108698695B (en) | Light regulation control of a camera of an aircraft | |
| US20180327093A1 (en) | Aircraft-retrieval system | |
| US10640204B2 (en) | Unmanned aerial vehicle with a tri-wing configuration | |
| US11524797B2 (en) | Aircraft-retrieval system | |
| US20220137643A1 (en) | Aircraft control method and aircraft | |
| CN103365295B (en) | Based on the autonomous hover control system of four rotor unmanned aircrafts and the method for DSP | |
| US20170283048A1 (en) | Convertable lifting propeller for unmanned aerial vehicle | |
| US20170358099A1 (en) | Selectively paired imaging elements for stereo images | |
| CN106394895B (en) | A kind of polymorphic unmanned plane and its flight control method | |
| CN103144770A (en) | Full-automatic indoor environment control, obstacle avoidance and navigation type micro aerial vehicle | |
| CN109606674A (en) | Tail sitting posture vertical take-off and landing drone and its control system and control method | |
| CN109792513A (en) | The configuration of aircraft optical sensor | |
| WO2022037376A1 (en) | Method for protecting unmanned aerial vehicle, and unmanned aerial vehicle | |
| CN105468010A (en) | Multi-degree of freedom inertial sensor four-axis unmanned aerial vehicle autonomous navigation flight controller | |
| EP3904204B1 (en) | Manned aircraft | |
| CN112986612A (en) | Low-altitude moving type wind speed measuring method based on quad-rotor unmanned aerial vehicle | |
| CN105346709A (en) | Multi-rotor craft capable of transforming combination | |
| CN109383777B (en) | Unmanned aerial vehicle organism | |
| CN205485626U (en) | Multi freedom inertial sensor four -axis unmanned aerial vehicle self -contained navigation flight controller | |
| CN109383835A (en) | A kind of vehicle-mounted unmanned aerial vehicle system | |
| JP2023108065A (en) | Manned flight vehicle | |
| WO2020051757A1 (en) | Wind speed calculation method and device, unmanned aerial vehicle and unmanned aerial vehicle assembly | |
| CN111398522B (en) | Indoor air quality detection system and detection method based on micro unmanned aerial vehicle | |
| CN205366098U (en) | Rectilinear structure of every single move innovation cloud platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 100000 Beijing Road, Haidian District, Lane No. 1, building 5, floor 5-1614, 1 Applicant after: CCCC remote sensing load (Jiangsu) Technology Co.,Ltd. Address before: 100000 Beijing Road, Haidian District, Lane No. 1, building 5, floor 5-1614, 1 Applicant before: ZHONGJIAO REMOTE SENSING LOAD (BEIJING) TECHNOLOGY Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200701 Address after: 214000 Jiangsu Wuxi City Gu Valley Business Park 37-203 Applicant after: CHINA COMMUNICATIONS REMOTE SENSING TIANYU TECHNOLOGY JIANGSU Co.,Ltd. Address before: 100000 Beijing Road, Haidian District, Lane No. 1, building 5, floor 5-1614, 1 Applicant before: CCCC remote sensing load (Jiangsu) Technology Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A kind of UAV body Effective date of registration: 20210122 Granted publication date: 20200821 Pledgee: Wuxi Branch of Bank of Beijing Co.,Ltd. Pledgor: CHINA COMMUNICATIONS REMOTE SENSING TIANYU TECHNOLOGY JIANGSU Co.,Ltd. Registration number: Y2021320010028 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right |