CN109405649B - Foldable coaxial reverse-propeller unmanned aerial vehicle and striking method - Google Patents
Foldable coaxial reverse-propeller unmanned aerial vehicle and striking method Download PDFInfo
- Publication number
- CN109405649B CN109405649B CN201811341735.5A CN201811341735A CN109405649B CN 109405649 B CN109405649 B CN 109405649B CN 201811341735 A CN201811341735 A CN 201811341735A CN 109405649 B CN109405649 B CN 109405649B
- Authority
- CN
- China
- Prior art keywords
- rotor wing
- aerial vehicle
- unmanned aerial
- target
- power
- 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
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
- F41H11/00—Defence installations; Defence devices
-
- 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
- B64C27/12—Rotor drives
- B64C27/14—Direct drive between power plant and rotor hub
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/38—Adjustment of complete wings or parts thereof
- B64C3/56—Folding or collapsing to reduce overall dimensions of aircraft
Abstract
The invention relates to a foldable coaxial counter-rotating unmanned aerial vehicle and a striking method, wherein the unmanned aerial vehicle comprises: the system comprises a data chain antenna, an upper rotor wing paddle clamp, a driving module, a lower rotor wing paddle clamp, a lower rotor wing, a power and flight control module, an image load, an end sensitive bullet and an end sensitive bullet sensor; the upper rotor wing and the lower rotor wing are respectively connected with the driving module through an upper rotor wing paddle clamp and a lower rotor wing paddle clamp, and the upper rotor wing and the lower rotor wing are driven by the driving module to rotate to generate lift force; the power and flight control module provides power for the driving module, and the data link antenna is electrically connected to the power and flight control module to realize data and instruction transmission between the power and flight control module and the ground control station; the image load is arranged on the outer side of the power and flight control module and used for collecting the image of the attack target, and the dead sensitive bullet and the sensor for sensing the attack target are arranged at the bottom of the unmanned aerial vehicle.
Description
Technical Field
The invention belongs to the technical field of aircrafts, and particularly relates to a foldable coaxial anti-propeller unmanned aerial vehicle and an anti-tank attack method using the same.
Background
With the development of high and new technologies such as microelectronics, computers, automatic driving, artificial intelligence and the like. Make unmanned aerial vehicle obtain quick comprehensive development. At present, the field of the small unmanned aerial vehicle is developed rapidly, and the design can be developed according to task demands to complete various tasks.
At present, the direct-aiming weapons used for individual anti-tank weapons at home and abroad are mainly individual portable rocket projectiles, guided missiles and the like. These weapons are generally characterized by excessive cost, significant launch characteristics, and inadequate front-side attack penetration depth. When in use, a shooter is needed to perform striking after winding or on the side of a clack. The difficulty of shooter operation and the probability of finding are increased. And with the development of 4 generations of tanks, the active defense system of the tank is gradually improved, which greatly reduces the use efficiency of the traditional individual weapon. Therefore, aiming at the disadvantages of the traditional individual anti-tank weapon, the concept of the individual intelligent anti-tank weapon system is provided by combining an unmanned flight platform.
Disclosure of Invention
The invention aims to: the defects of the prior art are overcome, the foldable coaxial anti-propeller unmanned aerial vehicle and the anti-tank attack method adopting the foldable coaxial anti-propeller unmanned aerial vehicle are provided, and the method is suitable for being carried by individual soldiers and has the characteristic of low cost.
The technical solution of the invention is as follows:
a foldable coaxial counter-rotating drone, comprising: the system comprises a data chain antenna, an upper rotor wing paddle clamp, a driving module, a lower rotor wing paddle clamp, a lower rotor wing, a power and flight control module, an image load, an end sensitive bullet and an end sensitive bullet sensor;
the upper rotor wing and the lower rotor wing are respectively connected with the driving module through an upper rotor wing paddle clamp and a lower rotor wing paddle clamp, and the upper rotor wing and the lower rotor wing are driven by the driving module to rotate to generate lift force; the power and flight control module provides power for the driving module, and the data link antenna is electrically connected to the power and flight control module to realize data and instruction transmission between the power and flight control module and the ground control station;
the image load is installed on the outer side of the power and flight control module and used for collecting images of an attack target, the end sensitive bullet and the end sensitive bullet sensor are installed at the bottom of the unmanned aerial vehicle, and the end sensitive bullet sensor is used for sensing the attack target.
The upper rotor wing and the lower rotor wing are made of composite materials.
The upper rotor wing and the lower rotor wing are the same in size, coaxially rotate and are opposite in rotation direction.
The distance H between the upper rotor wing and the lower rotor wing and the diameter D of the rotor wing satisfy the following relation: h is more than or equal to 0.324D.
Under the state of storing or carrying, it is folding all along the fuselage axis with lower rotor to go up the rotor, and all is parallel with the fuselage axis.
Under the flight state, go up rotor and lower rotor and rotate under drive module's effect and expand, all be perpendicular with the fuselage axis after completely expanding.
An anti-tank system of a coaxial antipodal unmanned aerial vehicle, comprising: ground measurement and control equipment and unmanned platform, ground measurement and control equipment remote control unmanned platform attacks the tank, unmanned platform adopts collapsible coaxial anti-oar unmanned aerial vehicle realizes.
A hitting method based on the foldable coaxial counter-rotating unmanned aerial vehicle comprises the following steps:
(1) the upper rotor wing and the lower rotor wing of the unmanned aerial vehicle rotate and unfold under the action of the driving module to generate lift force to enable the unmanned aerial vehicle to take off vertically;
(2) after the unmanned aerial vehicle takes off and reaches the target height, the image load starts to work and search the target, and after the target is found, the target image is transmitted back to the ground measurement and control equipment through the data link antenna;
(3) the target is discriminated through the returned target image, and after the target is confirmed, a control instruction is sent to the unmanned aerial vehicle, and the unmanned aerial vehicle receives the control instruction through the data link antenna and transmits the control instruction to the power and flight control module;
(4) the power and flight control module calculates a target direction and a target distance and transmits the target direction and the target distance to the ground measurement and control equipment, whether a throwing condition is met is judged according to the target direction and the target distance, and after the throwing condition is met, a throwing instruction is issued by the ground side control equipment; if the throwing condition is not met, controlling the unmanned aerial vehicle to maneuver until the throwing condition is met;
(5) after the unmanned aerial vehicle receives the throwing instruction, the dead-sensitive bullet is thrown, the brake parachute is opened after the dead-sensitive bullet is thrown, meanwhile, the dead-sensitive bullet sensor starts to sense the target, and the dead-sensitive bullet triggers and damages the target after the target is detected;
(6) after the unmanned aerial vehicle puts in the terminal sensitive bullet, descend and retrieve under the control of ground controlgear.
The image load is realized by adopting a photoelectric camera. The target height is 300-400 m.
Compared with the prior art, the invention has the following advantages:
(1) the dead-sensitive ammunition is carried to a target area through the unmanned platform which vertically takes off and lands, and after the target orientation is determined in a loop through a person, the bullet is released and hit by the bullet.
(2) The use of end sensitive bullets for striking reduces the need for end guidance. Is a low cost, high efficiency and cost-effective striking mode.
(3) The battery is adopted for driving, and the characteristics of low characteristics and low detectability are achieved;
(4) the end sensitive bullet is adopted for through-top attack, the precision requirement of the flight platform on end guiding is reduced, and low cost is realized;
(5) compared with the conventional antitank weapon, the device has certain regional control capability;
(6) the use is simple, the carrying is convenient, the vertical take-off and landing capability is realized, and the rapid intervention in a battlefield is convenient; direct aiming is not needed, and the probability of finding the operator is reduced.
Drawings
Fig. 1 is a schematic view of a coaxial drone architecture;
fig. 2 is a perspective view of a coaxial drone;
FIG. 3 is a schematic diagram of an anti-tank system;
FIG. 4 is a schematic view of a coaxial drone strike;
FIG. 5 is a flow chart of the striking method.
Detailed Description
The invention provides a foldable coaxial counter-rotating unmanned aerial vehicle and a striking method. The single soldier is mainly used for carrying, and the rotor wing can be folded, so that the device can be used for hard targets such as tanks and armored vehicles within the range of 3-5 km. The tail sensitive ammunition is carried by the flight platform to fly to a target area, a bullet is released after a target tank or an armored vehicle is found, and through-top attack is realized by the tail sensitive bullet. The flight platform adopts a foldable coaxial rotor design, has vertical take-off and landing capacity, is driven by a battery, has a flight height of 300-400m and a maximum flight radius of 6 km.
As shown in fig. 1 and 2, the present invention provides a foldable coaxial counter-rotating unmanned aerial vehicle, comprising: the device comprises a data chain antenna 1, an upper rotor 2, an upper rotor blade clamp 3, a driving module 4, a lower rotor blade clamp 5, a lower rotor 6, a power and flight control module 7, an image load 8, an end sensitive bullet 9 and an end sensitive bullet sensor 10;
the upper rotor wing 2 and the lower rotor wing 6 are respectively connected with the driving module 4 through an upper rotor wing paddle clamp 3 and a lower rotor wing paddle clamp 5, and the upper rotor wing 2 and the lower rotor wing 6 are driven by the driving module 4 to rotate to generate lift force; the power and flight control module 7 provides power for the driving module 4, and the data link antenna 1 is electrically connected to the power and flight control module 7, so that data and instruction transmission between the power and flight control module 7 and the ground control station is realized;
the image load 8 is arranged on the outer side of the power and flight control module 7 and used for collecting images of an attack target, the dead-sensitive bullet 9 and the dead-sensitive bullet sensor 10 are arranged at the bottom of the unmanned aerial vehicle, and the dead-sensitive bullet sensor 10 is used for sensing the attack target.
The distance H between the upper rotor 2 and the lower rotor 6 and the rotor diameter D satisfy the following relationship: h is more than or equal to 0.324D.
For weight reduction, the upper rotor wing 2 and the lower rotor wing 6 are made of composite materials. The upper rotor 2 and the lower rotor 6 are the same size, rotate coaxially and rotate in opposite directions. In the storage or carrying state, the upper rotor 2 and the lower rotor 6 are both folded along the axis of the fuselage and are both parallel to the axis of the fuselage. In a flying state, the upper rotor wing 2 and the lower rotor wing 6 are unfolded in a rotating mode under the action of the driving module 4, and are perpendicular to the axis of the airplane body after being unfolded completely.
As shown in fig. 3, a coaxial anti-oar unmanned aerial vehicle anti-tank system, its characterized in that includes: ground measurement and control equipment and unmanned platform, unmanned platform of ground measurement and control equipment remote control attacks the tank, unmanned platform adopts above-mentioned collapsible coaxial anti-oar unmanned aerial vehicle to realize, and this collapsible coaxial anti-oar unmanned aerial vehicle can be subdivided into rotor structure, driving system, link system, image load again, flies accuse and electrical system, terminal quick bullet. The terminal sensitive bullet is mounted on the unmanned aerial vehicle and can be regarded as a part of the unmanned aerial vehicle.
The unmanned aerial vehicle carries the dead sensitive ammunition to fly to a target area, the bullet is released after a target tank or an armored vehicle is found, and the penetration attack is realized by the dead sensitive bullet. The flying platform adopts a coaxial rotor design, has vertical take-off and landing capability, is driven by a battery, has the flying height of 300-400m and the maximum flying radius of 6 km. And after the target direction and distance are determined to reach the damage radius of the dead sensitive ammunition, the bullet is thrown. The target is struck by an end-sensitive bullet. The action distance of the end sensitive bullet is 100-150 m. The effective coverage area radius is 85 m.
The rotor wing can be folded towards the body direction and stored in the storage and transportation cylinder in a carrying state, the launching bracket is taken out and opened when the rotor wing needs to take off, the propeller is unfolded under the action of centrifugal force after the motor is started, and the rotor wing platform takes off to execute a search striking task after the rotating speed reaches a certain value.
After the unmanned aerial vehicle takes off, the visual angle of the unmanned aerial vehicle platform is returned to the value ground measurement and control equipment through a link and an image load, and the flight path of the unmanned aerial vehicle platform is controlled by a person in a loop. When the target is found, the terminal sensitive bullet is thrown in, and the rotor platform can land.
As shown in fig. 4 and 5, based on the foldable coaxial counter-rotating unmanned aerial vehicle, the invention further provides a striking method, which comprises the following steps:
1. the upper rotor 2 and the lower rotor 6 of the unmanned aerial vehicle are rotated and unfolded under the action of the driving module 4 to generate lift force to enable the unmanned aerial vehicle to take off vertically;
2. after the unmanned aerial vehicle takes off and reaches the target height, the image load 8 starts to work and search the target, and after the target is found, the target image is transmitted back to the ground measurement and control equipment through the data link antenna 1; the image load is realized by adopting a photoelectric camera.
3. The target is discriminated through the returned target image, and after the target is confirmed, a control instruction is sent to the unmanned aerial vehicle, and the unmanned aerial vehicle receives the control instruction through the data link antenna 1 and transmits the control instruction to the power and flight control module 7;
4. the power and flight control module 7 calculates a target position and a target distance and transmits the target position and the target distance to the ground measurement and control equipment, judges whether a throwing condition is met according to the target position and the target distance, and sends a throwing instruction by the ground side control equipment after the throwing condition is met; if the throwing condition is not met, controlling the unmanned aerial vehicle to maneuver until the throwing condition is met;
5. after receiving a throwing instruction, the unmanned aerial vehicle throws the dead-sensitive bullet 9, after the dead-sensitive bullet 9 is thrown, the brake parachute 11 is opened, meanwhile, the dead-sensitive bullet sensor 10 starts to sense a target, and after the target is detected, the dead-sensitive bullet triggers and damages the target;
6. after the unmanned aerial vehicle puts in the terminal sensitive bullet 9, it descends and recovers under the control of the ground control equipment.
The end sensitive ammunition mainly consists of infrared or millimeter wave sensor, explosive forming-self-forging fragment warhead and speed reducing mechanism. During the released deceleration detection process, the detected track forms an Archimedes spiral closed from outside to inside. Once the end sensitive bomb detects the target, the warhead is detonated to form self-forging fragments (hollow energy-gathered explosive forming pills), and the armor of the tank is punctured from the upper side.
The main indexes of the unmanned aerial vehicle realized by the invention are as follows:
the unmanned platform has a takeoff weight of 20kg and can carry 6-8kg of terminal sensitive ammunition. The navigation lasts for 10min, and the area within the range of the radius of 3km can be covered. The thickness of the effective penetration armor attacked by the penetrating top of the end-sensitive bullet is 60-80 mm. At present, the thickness of the mainstream main battle tank top armor is 20-40 mm. Therefore, the tank and other armored targets can be effectively damaged by adopting the mode.
The main advantages are the following:
a. the battery is adopted for driving, and the characteristics of low characteristics and low detectability are achieved;
b. the terminal sensitive bullet is adopted for striking, the requirement of a flight platform on bullet throwing precision is lowered, and low cost is realized;
c. the use is simple, the carrying is convenient, the vertical take-off and landing capability is realized, and the rapid intervention in a battlefield is convenient;
d. direct aiming is not needed, and the probability of finding the operator is reduced.
This description is not intended to be exhaustive or to limit the invention to the precise form disclosed.
Claims (2)
1. A collapsible coaxial anti-oar unmanned aerial vehicle, its characterized in that includes: the device comprises a data chain antenna (1), an upper rotor (2), an upper rotor blade clamp (3), a driving module (4), a lower rotor blade clamp (5), a lower rotor (6), a power and flight control module (7), an image load (8), an end sensitive bullet (9) and an end sensitive bullet sensor (10);
the upper rotor wing (2) and the lower rotor wing (6) are respectively connected with the driving module (4) through an upper rotor wing paddle clamp (3) and a lower rotor wing paddle clamp (5), and the upper rotor wing (2) and the lower rotor wing (6) are driven by the driving module (4) to rotate to generate lift force; the power and flight control module (7) provides power for the driving module (4), and the data link antenna (1) is electrically connected to the power and flight control module (7) to realize data and instruction transmission between the power and flight control module (7) and the ground control station;
the image load (8) is arranged on the outer side of the power and flight control module (7) and used for collecting images of an attack target, the dead sensitive bullet (9) and the dead sensitive bullet sensor (10) are arranged at the bottom of the unmanned aerial vehicle, and the dead sensitive bullet sensor (10) is used for sensing the attack target;
the upper rotor wing (2) and the lower rotor wing (6) are made of composite materials;
the upper rotor wing (2) and the lower rotor wing (6) have the same size, coaxially rotate and have opposite rotating directions;
the distance H between the upper rotor wing (2) and the lower rotor wing (6) and the diameter D of the rotor wing satisfy the following relation: h is more than or equal to 0.324D;
in a storage or carrying state, the upper rotor wing (2) and the lower rotor wing (6) are folded along the axis of the machine body and are parallel to the axis of the machine body;
in a flying state, the upper rotor wing (2) and the lower rotor wing (6) are unfolded in a rotating mode under the action of the driving module (4), and are perpendicular to the axis of the airplane body after being unfolded completely;
the main indexes of the foldable coaxial counter-rotating unmanned aerial vehicle are as follows:
the takeoff quality is as follows: 20 kg;
carrying state size: phi 140 x 900 mm;
duration: 10 min;
control radius: 3-5 km;
cruising height: 200-300 m;
maximum voyage: 6 km;
the control mode is as follows: program control and remote control
Enveloping bullets: phi 100 x 360mm
Bullet weight: 6-8 kg;
depth of penetration: 60-80 mm;
target speed characteristics: less than or equal to 8 m/s;
throwing height: 200-300 m;
through collapsible coaxial anti-oar unmanned aerial vehicle strikes, specifically is:
(1) the upper rotor (2) and the lower rotor (6) of the unmanned aerial vehicle are rotated and unfolded under the action of the driving module (4) to generate lift force to enable the unmanned aerial vehicle to take off vertically; the flying height is 300-400m, and the maximum flying radius is 6 km;
(2) after the unmanned aerial vehicle takes off and reaches the target height, the image load (8) starts to work to search the target, and after the target is found, the target image is transmitted back to the ground control station through the data link antenna (1);
(3) the target is discriminated through the returned target image, and a control instruction is sent to the unmanned aerial vehicle after the target is confirmed, and the unmanned aerial vehicle receives the control instruction through the data link antenna (1) and transmits the control instruction to the power and flight control module (7);
(4) the power and flight control module (7) calculates a target position and a target distance and transmits the target position and the target distance to the ground control station, whether a throwing condition is met is judged according to the target position and the target distance, and a throwing instruction is issued by the ground control station after the throwing condition is met; if the throwing condition is not met, controlling the unmanned aerial vehicle to maneuver until the throwing condition is met;
(5) after receiving a throwing instruction, the unmanned aerial vehicle throws the dead-sensitive bullet (9), after the dead-sensitive bullet (9) is thrown, the brake parachute is opened, meanwhile, the dead-sensitive bullet sensor (10) starts to sense a target, and after the target is detected, the dead-sensitive bullet triggers and damages the target; the action distance of the end sensitive bullet is 100-150 m; effective coverage area radius 85 m;
(6) after the unmanned aerial vehicle puts in the terminal sensitive bullet (9), it lands and retrieves under the control of the ground control station.
2. An antitank system of coaxial antipodal unmanned aerial vehicle, its characterized in that includes: the tank is attacked by a ground control station and an unmanned platform, wherein the ground control station remotely controls the unmanned platform to attack the tank, and the unmanned platform is realized by adopting the foldable coaxial counter-rotating unmanned aerial vehicle as claimed in claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811341735.5A CN109405649B (en) | 2018-11-12 | 2018-11-12 | Foldable coaxial reverse-propeller unmanned aerial vehicle and striking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811341735.5A CN109405649B (en) | 2018-11-12 | 2018-11-12 | Foldable coaxial reverse-propeller unmanned aerial vehicle and striking method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109405649A CN109405649A (en) | 2019-03-01 |
| CN109405649B true CN109405649B (en) | 2021-03-26 |
Family
ID=65473144
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811341735.5A Active CN109405649B (en) | 2018-11-12 | 2018-11-12 | Foldable coaxial reverse-propeller unmanned aerial vehicle and striking method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109405649B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3842340A4 (en) * | 2019-05-21 | 2021-10-27 | SZ DJI Technology Co., Ltd. | Unmanned aerial vehicle |
| WO2020232645A1 (en) * | 2019-05-21 | 2020-11-26 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle |
| CN111806682B (en) * | 2020-06-19 | 2023-10-03 | 中国科学院地理科学与资源研究所 | Flying method of unmanned aerial vehicle |
| CN115703547B (en) * | 2022-11-03 | 2023-04-07 | 北京瀚科智翔科技发展有限公司 | Automatic take-off control system and method for folding coaxial double-propeller unmanned aerial vehicle |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2491129B (en) * | 2011-05-23 | 2014-04-23 | Blue Bear Systems Res Ltd | Air vehicle |
| CN102991671A (en) * | 2011-09-13 | 2013-03-27 | 刘宾 | Compound coaxial contra-rotating helicopter |
| CN102530255A (en) * | 2011-12-13 | 2012-07-04 | 江西洪都航空工业集团有限责任公司 | Accurate parachute landing device for traction type unmanned plane and method |
| US10093417B2 (en) * | 2014-11-10 | 2018-10-09 | Ascent Aerosystems Inc. | Unmanned flying device |
| CN205293082U (en) * | 2015-12-14 | 2016-06-08 | 深圳市沈氏彤创航天模型有限公司 | Coaxial unmanned aerial vehicle's assembly structure |
| CN106347651B (en) * | 2016-11-21 | 2018-07-13 | 北京瀚科瑞杰科技发展有限公司 | A kind of miniature drone of column coaxial double-oar layout |
| CN106970559A (en) * | 2017-03-31 | 2017-07-21 | 芜湖博高光电科技股份有限公司 | The anti-pick up Terminal munition control system of one kind air-drop and its control method |
| CN108545178B (en) * | 2018-06-12 | 2023-05-16 | 西北工业大学 | Coaxial double-rotor unmanned aerial vehicle based on vector mechanism |
| CN108750085A (en) * | 2018-08-02 | 2018-11-06 | 西安君晖航空科技有限公司 | A kind of attack unmanned plane using Terminal Sensitive Projectile medicine |
-
2018
- 2018-11-12 CN CN201811341735.5A patent/CN109405649B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109405649A (en) | 2019-03-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109405649B (en) | Foldable coaxial reverse-propeller unmanned aerial vehicle and striking method | |
| US9074858B2 (en) | Projectile-deployed countermeasure system | |
| US20220170725A1 (en) | Visual guidance system for barrel-fired projectiles | |
| CN112224412B (en) | Onboard anti-armor adsorbable warhead | |
| CN111879180A (en) | Low-altitude low-speed small target low-cost interception system and method | |
| WO2006091240A2 (en) | Infantry combat weapons system | |
| RU2514324C1 (en) | Portable surface-to-air missile system /versions/ | |
| RU2382313C2 (en) | Antiaircraft self-contained complex of submarine self-defense (sds "spider") and method of its use | |
| RU184881U1 (en) | Unmanned aerial vehicle | |
| CN110763090B (en) | Combinable and deformable primary-secondary type patrol and play integrated flying bomb and working method thereof | |
| CN212340051U (en) | Multi-connected barrel shooting patrol missile and system | |
| CN110940236B (en) | Non-aiming intelligent patrol projectile | |
| CN103712524A (en) | Combined type air-defense equipment | |
| US20220097843A1 (en) | Incoming threat protection system and method of using same | |
| RU105422U1 (en) | RECOGNITION-FIRE COMPLEX OF TANK WEAPONS | |
| RU70359U1 (en) | RECOGNITION-FIRE COMPLEX OF TANK WEAPONS | |
| CN111156865A (en) | Coaxial multi-rotor patrol missile | |
| CN110595293B (en) | Working method of fixed wing-rotor wing composite unmanned aerial vehicle | |
| WO2021203162A1 (en) | A glide bomb and method of use thereof | |
| CN110567326B (en) | Fixed wing-rotor wing composite unmanned aerial vehicle | |
| CN113562170A (en) | Bulletproof shock-absorbing unmanned aerial vehicle and method | |
| RU150809U1 (en) | MODULAR UNMANNED AIRCRAFT FOR A SUBMARINE | |
| CN217969933U (en) | Omnidirectional bullet rack for scouting and beating airplane | |
| CN212253846U (en) | Low-altitude low-speed small target low-cost interception system | |
| CN220829147U (en) | Antitank intelligent mine with flyer ammunition |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |