CN110733635A - unmanned aerial vehicle with falling self-protection capability and falling self-protection method thereof - Google Patents
unmanned aerial vehicle with falling self-protection capability and falling self-protection method thereof Download PDFInfo
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- CN110733635A CN110733635A CN201910949658.XA CN201910949658A CN110733635A CN 110733635 A CN110733635 A CN 110733635A CN 201910949658 A CN201910949658 A CN 201910949658A CN 110733635 A CN110733635 A CN 110733635A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- 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
- B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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Abstract
The invention discloses unmanned aerial vehicles with self-protection capability and a self-protection method for falling, which can cause huge potential safety hazard and property loss if the unmanned aerial vehicles fall due to system failure or human factors.A unmanned aerial vehicle with self-protection capability for falling comprises an unmanned aerial vehicle body, a pneumatic cantilever, propellers and a pneumatic control chamber, wherein the pneumatic control chamber is fixed with the bottom of the unmanned aerial vehicle body, the inner ends of n pneumatic cantilevers are fixed with the pneumatic control chamber, the outer ends of n pneumatic cantilevers are fixed with motors, the output shafts of the motors are fixed with the propellers, the pneumatic cantilevers comprise a rigid adjusting strip, a bending air bag and a torsion air bag, the bending air bag and the torsion air bag are sleeved on the rigid adjusting strip, and the bending air bag is positioned between the pneumatic control chamber and the torsion air bag.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to unmanned aerial vehicles with falling self-protection capability and a self-protection method thereof.
Background
The unmanned aerial vehicle is widely applied in the fields of aerial photography, detection, plant protection and the like, and the maximum flying height of the unmanned aerial vehicle is 500m in the temporary regulations of the management of the drivers of the civil unmanned aerial vehicle system, so that huge potential safety hazards and property loss can be caused if the unmanned aerial vehicle falls due to system faults or human factors.
Disclosure of Invention
The invention aims to provide unmanned aerial vehicles with falling self-protection capability and a falling self-protection method thereof.
The unmanned aerial vehicle with the falling self-protection capability comprises an unmanned aerial vehicle body, pneumatic cantilevers, propellers and a pneumatic control chamber, wherein the pneumatic control chamber is fixed with the bottom of the unmanned aerial vehicle body, the inner ends of n pneumatic cantilevers are fixed with the pneumatic control chamber, n is more than or equal to 4 and less than or equal to 8, motors are fixed at the outer ends of the n pneumatic cantilevers, the propellers are fixed on output shafts of the motors, each pneumatic cantilever comprises a rigid adjusting strip, a bending gasbag and a torsion gasbag, each rigid adjusting strip comprises a strip-shaped gasbag and rigid adjusting particles, the strip-shaped gasbag is filled with the rigid adjusting particles, the bending gasbag and the torsion gasbag are sleeved on the rigid adjusting strip, and the bending gasbag is positioned between the pneumatic control chamber and the torsion gasbag.
Preferably, the unmanned aerial vehicle with the falling self-protection capability further comprises a camera and landing gears, the camera is mounted at the bottom of the pneumatic control chamber through a tripod head, and the four landing gears are respectively fixed at the four corners of the bottom of the unmanned aerial vehicle body.
Preferably, the pneumatic control chamber is in a regular n-polygon shape. The n side faces of the pneumatic control chamber are provided with cantilever mounting holes. The inner ends of the n pneumatic cantilevers are respectively inserted into the cantilever mounting holes on the pneumatic control chamber and fixed with the pneumatic control chamber.
Preferably, the curved airbag has a circular column shape, and two diaphragms are provided therein. The two diaphragms divide the inner cavity of the bending air bag into an upper cavity and a lower cavity which are not communicated with each other. The upper cavity and the lower cavity are both in a semi-circular column shape. The torsion air bag consists of an outer film and a spiral air bag. The outer membrane is cylindrical. The helical balloon is disposed within the outer membrane. The spiral air bag is wound at the outer end of the rigid adjusting strip, and both ends of the spiral air bag are fixed with the outer side surface of the rigid adjusting strip.
Preferably, an inflator pump and three reversing valves are arranged in the air control chamber, the reversing valves adopt two-position three-way reversing valves, air inlets of the three reversing valves are all connected with air outlets of the inflator pump, air return ports are all connected with the external environment, working air ports of the th reversing valve are connected with upper chambers in the eight bent air bags, working air ports of the second reversing valve are connected with lower chambers in the eight bent air bags, working air ports of the second reversing valve are connected with spiral air bags in the eight twisted air bags, and control interfaces of the inflator pump and the three reversing valves are all connected with a control module in the unmanned aerial vehicle body.
Preferably, the gas control chamber is internally provided with a gas generator and three one-way valves, the gas inlet of the upper cavity in each bent air bag is connected with and connected to the output port of the th one-way valve, the gas inlet of the lower cavity in each bent air bag is connected with and connected to the output port of the second one-way valve, the gas inlet of each twisted air bag is connected with and connected to the output port of the third one-way valve, and the gas outlet of the gas generator is connected with the input ports of the second one-way valve and the third one-way valve.
Preferably, two electromagnetic one-way valves and common one-way valves are arranged in the pneumatic control chamber, the air inlet of the upper chamber in each bending air bag is connected with and connected to the output port of the th electromagnetic one-way valve, the air inlet of each twisting air bag is connected with and connected to the output port of the second electromagnetic one-way valve, and the air inlet of the lower chamber in each bending air bag is connected with and connected to the output port of the common one-way valve.
Preferably, electromagnetic pressure reducing valves are arranged at the working air ports of the three reversing valves;
preferably, an air pump and a fourth reversing valve are further arranged in the air control chamber. The air inlet of the fourth reversing valve is communicated with the external environment, the air return port is connected with the air suction port of the air suction pump, and the working air port is communicated with the inner cavity of the rigid adjusting strip.
The falling self-protection method of the unmanned aerial vehicle with the falling self-protection capability comprises the following specific steps:
when the unmanned aerial vehicle breaks down and cannot keep a flight state, gas in the upper cavity of the bent air bag is released or gas is filled into the lower cavity of the bent air bag, so that the airframe of the unmanned aerial vehicle is wrapped by the pneumatic cantilevers in an upward bending mode. Meanwhile, gas is filled into the torsion air bag or discharged from the torsion air bag, so that each motor is twisted under the action of the torsion air bag, and each propeller is prevented from interfering when the pneumatic cantilever is bent upwards.
The invention has the beneficial effects that:
1. the pneumatic cantilever can be turned upwards to wrap the body of the unmanned aerial vehicle in the falling process of the unmanned aerial vehicle, so that the body is protected. In addition, the unmanned aerial vehicle adopts a plurality of soft body structures, and the soft body material has light weight, so that the cruising ability of the unmanned aerial vehicle is improved.
2. In the embodiments 2 and 3 of the invention, the support frame adopts a pre-inflation type, and an air pump does not need to be carried, so that the weight of the machine body is greatly reduced.
3. The pneumatic cantilever achieves the rigidity changing effect through passive negative pressure, so that the support frame has enough rigidity to support flying during flying, and can be quickly bent and deformed during falling.
4. The support frame can be independently assembled and disassembled, and the number of shafts can be installed according to specific requirements.
Drawings
FIG. 1 is a schematic view of the present invention in a normal flight condition;
FIG. 2 is a schematic structural diagram of the present invention in a flight fault condition;
FIG. 3 is a schematic diagram of the pneumatic arm of the present invention in a straightened state;
fig. 4 is a schematic structural diagram of the pneumatic cantilever in a bending torsion state in the invention.
Detailed Description
The invention is further described with reference to the following figures.
Example 1
As shown in figures 1 and 2, unmanned aerial vehicles with self preservation ability of falling, including unmanned aerial vehicle fuselage 4, pneumatic cantilever 3, motor cabinet 1, screw 2, gas accuse room 5, camera 6 and undercarriage 7. unmanned aerial vehicle fuselage 4 appearance is the octagon body, adopts light-duty waterproof material (specifically plastics), embeds like unmanned aerial vehicle's main component, including battery module, communication module, control module and sensing module. gas accuse room 5 is fixed with the bottom of unmanned aerial vehicle fuselage 4. the camera 6 is installed through the cloud platform in the bottom of gas accuse room.four undercarriage 7 are fixed respectively with four angles of unmanned aerial vehicle fuselage 4 bottom, undercarriage 7 are installed around the camera, protect the camera not collided.
The pneumatic control chamber 5 is in a regular octagon shape. And cantilever mounting holes are formed in eight side surfaces of the pneumatic control chamber. The inner ends of the eight pneumatic cantilevers 3 are respectively inserted into cantilever mounting holes on the pneumatic control chamber 5 and fixed with the pneumatic control chamber 5, and the outer ends are all fixed with the motor base 1. The motor base 1 is provided with a motor. The output shaft of each motor is fixed with a propeller 2.
As shown in fig. 3 and 4, the pneumatic suspension arm 3 includes a rigid adjustment strap 8, a bending bladder 9, and a twisting bladder 10. The rigid regulation strip 8 consists of strip-shaped sacs and rigid regulation particles. The strip-shaped capsule is filled with rigid regulating particles. The strip-shaped bag adopts a rubber film. When the air pressure outside the strip-shaped bag is larger than the air pressure inside the strip-shaped bag, the volume in the strip-shaped bag is compressed, and the gaps among the rigid adjusting particles are reduced, so that the rigidity of the strip-shaped bag is increased under the blocking principle (the effect is similar to the effect that the rigidity of the bag filled with the particles is increased after the air bag is vacuumized), and the effect of adjusting the rigidity of the pre-filling type soft mechanical arm is achieved.
The bending airbag 9 and the torsion airbag 10 are both sleeved on the rigid adjusting strip 8. The bending airbag 9 is located between the pneumatic control chamber 5 and the twisting airbag 10. The bending air bag 9 is in a circular column shape, and two diaphragms are arranged inside the bending air bag. The two diaphragms divide the inner cavity of the bending air bag 9 into an upper cavity and a lower cavity which are not communicated with each other. The upper cavity and the lower cavity are both in a semi-circular column shape. Under the state that crooked gasbag 9 unbends, two diaphragms all set up horizontally (be perpendicular to the central axis of unmanned aerial vehicle fuselage 4 promptly). When the air pressure of the upper cavity and the lower cavity in the bent air bag 9 is equal, the bent air bag 9 is straightened; when the pressure of the upper cavity in the bending air bag 9 is greater than that of the lower cavity, the bending air bag 9 bends downwards; when the air pressure of the upper cavity in the bending air bag 9 is less than that of the lower cavity, the bending air bag 9 bends upwards.
The twist balloon 10 is composed of an outer membrane and a helical balloon. The outer membrane is cylindrical. The helical balloon is disposed within the outer membrane. The spiral air bag is wound at the outer end of the rigid adjusting strip 8, and both ends of the spiral air bag are fixed with the outer side surface of the rigid adjusting strip 8. When the spiral air bag is inflated or exhausted, the spiral air bag tends to be straightened or wound, so that the rigid adjusting strip 8 is twisted, and the effect of twisting the motor base 1 around the axis of the outer end of the pneumatic cantilever 3 is achieved.
An inflator pump and three reversing valves are arranged in the pneumatic control chamber 5, the reversing valves adopt two-position three-way reversing valves, air inlets of the three reversing valves are all connected with air outlets of the inflator pump, air return ports are all connected with the external environment, working air ports of the th reversing valve are connected with upper chambers in the eight bent air bags 9, working air ports of the second reversing valve are connected with lower chambers in the eight bent air bags 9, working air ports of the second reversing valve are connected with spiral air bags in the eight twisted air bags 10, control interfaces of the inflator pump and the three reversing valves are all connected with a control module in the unmanned aerial vehicle body 4, and the control module adopts a single chip microcomputer.
In normal flight conditions, the upper and lower chambers in the bending airbag 9 and the helical airbag in the torsion airbag 10 are filled with gas. At this time, the twist airbag 10 turns the corresponding propeller to a vertically upward state, and the air pressure in the bend airbag 9 and the twist airbag 10 is larger than the air pressure in the rigid adjustment strip 8, so that the rigidity of the rigid adjustment strip 8 is increased, and the lift force of the propeller 2 can be borne.
In the flight fault state, the gas in the upper cavity in the bending air bag 9 and the spiral air bag in the torsion air bag 10 is exhausted, and the rigidity of the rigid adjusting strip 8 is reduced; each pneumatic cantilever 3 is bent upwards to wrap the unmanned aerial vehicle body 4; the motor bases are twisted under the action of the twisting air bags 10, so that interference of propellers is avoided when the pneumatic cantilever 3 bends upwards.
The falling self-protection method of the unmanned aerial vehicle with the falling self-protection capability comprises the following specific steps:
and step , when the unmanned aerial vehicle fails and cannot keep the flight state, the camera shoots a picture below the unmanned aerial vehicle and transmits the picture to the control module.
And step two, the control module judges whether the lower part is the water surface or the ground according to the received picture.
If the lower part is the water surface, the air pump continues to be inflated for the bent air bag 9 and the twisted air bag 10, so that the bent air bag 9 and the twisted air bag 10 are expanded as much as possible, and the buoyancy of the unmanned aerial vehicle in the water is increased. Thereafter, the drone will land in the water.
If the lower part is the ground, the reversing valves corresponding to the upper cavity of the bent air bag 9 and the twisted air bag 10 are switched, so that the gas in the upper cavity of the bent air bag 9 and the gas in the twisted air bag 10 are discharged, and each pneumatic cantilever 3 is bent upwards to wrap the unmanned aerial vehicle body 4; the motor bases are twisted under the action of the twisting air bags 10, so that interference of propellers is avoided when the pneumatic cantilever 3 bends upwards. At the moment, each pneumatic cantilever 3 plays a role in protecting the body of the unmanned aerial vehicle; in addition, the pneumatic cantilever 3 is filled with gas, so that the pneumatic cantilever can play a role in buffering.
Example 2
The difference between the embodiment and the embodiment 1 is that the pneumatic cantilever 3 is a pre-inflation type bracket, an inflator pump and three reversing valves are not arranged in the pneumatic control chamber 5, a gas generator is arranged in the pneumatic control chamber 5, a gas inlet of an upper chamber in each bending air bag 9 is connected with and connected to an output port of a th one-way valve, a gas inlet of a lower chamber in each bending air bag 9 is connected with and connected to an output port of a second one-way valve, a gas inlet of each twisting air bag 10 is connected with and connected to an output port of a third one-way valve, and a gas outlet of the gas generator is connected with input ports of the second one-way valve and the third one-way valve.
Before the unmanned aerial vehicle takes off, the upper cavity and the lower cavity in the bent air bag 9 and the spiral air bags in the torsion air bag 10 are filled with gas in advance, so that the torsion air bags 10 enable the corresponding propellers to be turned to a vertically upward state, the air pressure in the bent air bag 9 and the torsion air bags 10 is larger than the air pressure in the rigid adjusting strips 8, the rigidity of the rigid adjusting strips 8 is increased, and the lifting force of the propellers 2 can be borne.
When the unmanned aerial vehicle falls, the gas generator rapidly generates gas, and the gas is filled into the lower cavity 16 in the bent air bag 9 and the torsion air bag 10 through the one-way valve; each pneumatic cantilever 3 is bent upwards to wrap the unmanned aerial vehicle body 4; each motor cabinet twists reverse under the effect of twisting gasbag 10, and each screw takes place to interfere when avoiding pneumatic cantilever 3 to upwards crooked, and each pneumatic cantilever 3 plays the effect of protection unmanned aerial vehicle fuselage.
Example 3
The difference between the embodiment and the embodiment 1 is that the pneumatic cantilever 3 is a pre-inflation type bracket, an inflation pump and three reversing valves are not arranged in the pneumatic control chamber 5, the air inlet of the upper cavity in each bending air bag 9 is connected with and is connected to the output port of the th electromagnetic one-way valve, the air inlet of each twisting air bag 10 is connected with and is connected to the output port of the second electromagnetic one-way valve, the air inlet of the lower cavity in each bending air bag 9 is connected with and is connected to the output port of the common one-way valve;
before the unmanned aerial vehicle takes off, the upper cavity and the lower cavity in the bent air bag 9 and the spiral air bags in the torsion air bag 10 are filled with gas in advance, so that the torsion air bags 10 enable the corresponding propellers to be turned to a vertically upward state, the air pressure in the bent air bag 9 and the torsion air bags 10 is larger than the air pressure in the rigid adjusting strips 8, the rigidity of the rigid adjusting strips 8 is increased, and the lifting force of the propellers 2 can be borne.
When the unmanned aerial vehicle falls, the th electromagnetic one-way valve and the second electromagnetic one-way valve are switched to a two-way circulation state, each pneumatic cantilever 3 bends upwards to wrap the unmanned aerial vehicle body 4, each motor base twists under the action of the twisting air bag 10 to avoid interference of each propeller when the pneumatic cantilever 3 bends upwards, and each pneumatic cantilever 3 plays a role in protecting the unmanned aerial vehicle body.
Example 4
This example differs from example 1 in that: electromagnetic pressure reducing valves are arranged at the working gas ports of the three reversing valves; the electromagnetic pressure reducing valve can enable the control module to independently control the air pressure in the upper cavity and the lower cavity of the bending air bag 9 and the air pressure in the twisting air bag 10.
Example 5
This example differs from example 1 in that: an air pump and a fourth reversing valve are also arranged in the air control chamber 5. The air inlet of the fourth reversing valve is communicated with the external environment, the air return port is connected with the air suction port of the air suction pump, and the working air port is communicated with the inner cavity of the rigid adjusting strip 8. The air pump can reduce the air pressure in the rigid adjusting strip 8 and improve the rigidity changing effect.
Claims (10)
- The unmanned aerial vehicles with the falling self-protection capability comprise an unmanned aerial vehicle body, propellers and a pneumatic control chamber, and are characterized by further comprising pneumatic cantilevers, wherein the pneumatic control chamber is fixed to the bottom of the unmanned aerial vehicle body, the inner ends of n pneumatic cantilevers are fixed to the pneumatic control chamber, n is larger than or equal to 4 and smaller than or equal to 8, motors are fixed to the outer ends of the n pneumatic cantilevers, propellers are fixed to output shafts of the motors, each pneumatic cantilever comprises a rigid adjusting strip, a bending air bag and a torsion air bag, each rigid adjusting strip comprises a strip-shaped bag and rigid adjusting particles, the strip-shaped bags are filled with the rigid adjusting particles, the bending air bags and the torsion air bags are sleeved on the rigid adjusting strips, and the bending air bags are located between the pneumatic control chamber and the torsion air bags.
- 2. The unmanned aerial vehicle with self-protection capability against falling of claim 1, further comprising a camera and landing gears, wherein the camera is mounted on the bottom of the pneumatic control chamber through a pan-tilt head, and the four landing gears are fixed to four corners of the bottom of the unmanned aerial vehicle body respectively.
- 3. The unmanned aerial vehicle with falling self-protection capability of claim 1, wherein the pneumatic control chamber is regular n-shaped, cantilever mounting holes are formed in n side surfaces of the pneumatic control chamber, and the inner ends of n pneumatic cantilevers are respectively inserted into the cantilever mounting holes in the pneumatic control chamber and fixed with the pneumatic control chamber.
- 4. The unmanned aerial vehicle with self-protection capability against falling of claim 1, wherein the curved airbag is in the shape of a circular cylinder and has two diaphragms disposed therein, the two diaphragms divide an inner cavity of the curved airbag into an upper cavity and a lower cavity which are not communicated with each other, the upper cavity and the lower cavity are both in the shape of a semicircular cylinder, the torsion airbag is composed of an outer membrane and a spiral airbag, the outer membrane is in the shape of a cylinder, the spiral airbag is disposed in the outer membrane, the spiral airbag is wound around the outer end of the rigid adjustment strip, and both ends of the spiral airbag are fixed to the outer side surface of the rigid adjustment strip.
- 5. The unmanned aerial vehicle with self-protection capability against falling of claim 1, wherein an inflator pump and three reversing valves are arranged in the air control chamber, the reversing valves are two-position three-way reversing valves, air inlets of the three reversing valves are all connected with air outlets of the inflator pump, air return ports of the three reversing valves are all connected with the external environment, a working air port of the th reversing valve is connected with an upper chamber in the eight curved air bags, a working air port of the second reversing valve is connected with a lower chamber in the eight curved air bags, a working air port of the second reversing valve is connected with spiral air bags in the eight curved air bags, and control interfaces of the inflator pump and the three reversing valves are all connected with a control module in a fuselage of the unmanned aerial vehicle.
- 6. The unmanned aerial vehicle with self-protection capability against falling as claimed in claim 1, wherein a gas generator and three check valves are arranged in the pneumatic control chamber, the inlet of the upper chamber in each curved air bag is connected to and connected to the output port of the th check valve, the inlet of the lower chamber in each curved air bag is connected to and connected to the output port of the second check valve, the inlet of each torsion air bag is connected to and connected to the output port of the third check valve, and the outlet of the gas generator is connected to the input ports of the second check valve and the third check valve.
- 7. The unmanned aerial vehicle with self-protection capability against falling as claimed in claim 1, wherein two electromagnetic check valves and common check valves are disposed in the pneumatic control chamber, the inlet of the upper chamber in each curved air bag is connected to and connected to the output port of the th electromagnetic check valve, the inlet of each twisted air bag is connected to and connected to the output port of the second electromagnetic check valve, and the inlet of the lower chamber in each curved air bag is connected to and connected to the output port of the common check valve.
- 8. The UAV with self-protection function for people falling down as claimed in claim 1, wherein electromagnetic pressure reducing valves are arranged at working air ports of the three directional valves.
- 9. The unmanned aerial vehicle with self-protection capability against falling as claimed in claim 1, wherein an air pump and a fourth reversing valve are further disposed in the air control chamber, an air inlet of the fourth reversing valve is communicated with the external environment, an air return port is connected with an air suction port of the air pump, and a working air port is communicated with an inner cavity of the rigid adjusting bar.
- 10. The method of self-protection for unmanned aerial vehicle against falling as claimed in claim 1, wherein when the unmanned aerial vehicle fails to maintain a flight status, releasing the air in the upper cavity of the curved airbag or inflating the air in the lower cavity of the curved airbag to make each pneumatic arm bend upward to wrap the fuselage of the unmanned aerial vehicle, and simultaneously inflating the air in the torsional airbag or exhausting the air in the torsional airbag to make each motor twist under the action of the torsional airbag to avoid interference of each propeller when the pneumatic arm bends upward.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910949658.XA CN110733635B (en) | 2019-10-08 | 2019-10-08 | Unmanned aerial vehicle with falling self-protection capability and falling self-protection method thereof |
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| CN201910949658.XA CN110733635B (en) | 2019-10-08 | 2019-10-08 | Unmanned aerial vehicle with falling self-protection capability and falling self-protection method thereof |
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| DE4125425A1 (en) * | 1991-08-01 | 1993-02-04 | Schubert Werner | Pneumatic device for improving lift co-efficient of aircraft wing - is inflated with compressed air stored in pressure vessel in aircraft, air flowing in flexible duct forming leading edge of wing |
| CN205574272U (en) * | 2016-05-03 | 2016-09-14 | 深圳市科卫泰实业发展有限公司 | Many rotor crafts with crooked horn |
| US20170217562A1 (en) * | 2016-02-02 | 2017-08-03 | James Schalla | Unmanned inflatable aircraft |
| CN107933918A (en) * | 2017-12-20 | 2018-04-20 | 江苏航丰智控无人机有限公司 | Search and rescue unmanned plane and cluster cooperative system and its method of work |
| CN207257986U (en) * | 2017-08-10 | 2018-04-20 | 四川沃洛佳科技有限公司 | A kind of curved boom multi-rotor unmanned aerial vehicle |
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2019
- 2019-10-08 CN CN201910949658.XA patent/CN110733635B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4125425A1 (en) * | 1991-08-01 | 1993-02-04 | Schubert Werner | Pneumatic device for improving lift co-efficient of aircraft wing - is inflated with compressed air stored in pressure vessel in aircraft, air flowing in flexible duct forming leading edge of wing |
| US20170217562A1 (en) * | 2016-02-02 | 2017-08-03 | James Schalla | Unmanned inflatable aircraft |
| CN205574272U (en) * | 2016-05-03 | 2016-09-14 | 深圳市科卫泰实业发展有限公司 | Many rotor crafts with crooked horn |
| CN207257986U (en) * | 2017-08-10 | 2018-04-20 | 四川沃洛佳科技有限公司 | A kind of curved boom multi-rotor unmanned aerial vehicle |
| CN107933918A (en) * | 2017-12-20 | 2018-04-20 | 江苏航丰智控无人机有限公司 | Search and rescue unmanned plane and cluster cooperative system and its method of work |
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