CN110733635B - 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
- Publication number
- CN110733635B CN110733635B CN201910949658.XA CN201910949658A CN110733635B CN 110733635 B CN110733635 B CN 110733635B CN 201910949658 A CN201910949658 A CN 201910949658A CN 110733635 B CN110733635 B CN 110733635B
- Authority
- CN
- China
- Prior art keywords
- air
- unmanned aerial
- aerial vehicle
- air bag
- pneumatic
- 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
-
- 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
- B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
Abstract
The invention discloses an unmanned aerial vehicle with falling self-protection capability and a falling self-protection method thereof. If the unmanned aerial vehicle falls due to system faults or human factors, huge potential safety hazards and property loss can be caused. The invention discloses an unmanned aerial vehicle with falling self-protection capability. The gas accuse room is fixed with the bottom of unmanned aerial vehicle fuselage. The inner ends of the n pneumatic cantilevers are all fixed with the pneumatic control chamber. The outer ends of the n pneumatic cantilevers are all fixed with motors. And the output shaft of each motor is fixed with a propeller. The pneumatic cantilever includes a rigid adjustment bar, a bending bladder and a twisting bladder. The bending air bag and the twisting air bag are sleeved on the rigid adjusting strip. The bending air bag is positioned between the air control chamber and the twisting air bag. 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.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle with falling self-protection capability and a self-protection method thereof.
Background
Unmanned aerial vehicles are 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. Most existing unmanned aerial vehicle on the existing market, for reducing manufacturing cost and fuselage weight, only do not do the protection to the fuselage and handle for the screw blade sets up the protection casing.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle with falling self-protection capability and a falling self-protection method thereof.
The invention discloses an unmanned aerial vehicle with falling self-protection capability. The air control chamber is fixed with the bottom of the unmanned aerial vehicle body. The inner ends of the n pneumatic cantilevers are all fixed with the pneumatic control chamber, and n is more than or equal to 4 and less than or equal to 8. The outer ends of the n pneumatic cantilevers are all fixed with motors. And the output shaft of each motor is fixed with a propeller. The pneumatic cantilever comprises a rigid adjusting strip, a bending air bag and a twisting air bag. The rigid regulating strip consists of a strip-shaped sac and rigid regulating particles. The strip-shaped capsule is filled with rigid regulating particles. The bending air bag and the twisting air bag are sleeved on the rigid adjusting strip. The bending air bag is positioned between the air control chamber and the twisting air bag.
Preferably, the unmanned aerial vehicle with the falling self-protection capability further comprises a camera and a landing gear. The bottom of the pneumatic control chamber is provided with a camera through a cradle head. Four undercarriage and four angles of unmanned aerial vehicle fuselage bottom are fixed respectively.
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 inflation pump and three reversing valves are arranged in the pneumatic control chamber. The reversing valve adopts a two-position three-way reversing valve. The air inlets of the three reversing valves are connected with the air outlet of the inflator pump, and the air return ports are connected with the external environment. The working air port of the first reversing valve is connected with the upper cavities in the eight bent air bags; the working air port of the second reversing valve is connected with the lower cavities in the eight bending air bags; the working air port of the second reversing valve is connected with the spiral air bags in the eight torsion air bags. Control interfaces of the inflator pump and the three reversing valves are connected with a control module in the unmanned aerial vehicle body.
Preferably, the pneumatic control chamber is internally provided with a gas generator and three one-way valves. The air inlets of the upper cavities in the bent air bags are connected together and connected to the output port of the first one-way valve; the air inlets of the lower cavities in the bent air bags are connected together and connected to the output port of the second one-way valve; the air inlets of the torsional air bags are connected together and connected to the output port of the third one-way valve. 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 check valves and a common check valve are arranged in the pneumatic control chamber. The air inlets of the upper cavities in the bent air bags are connected together and connected to the output port of the first electromagnetic one-way valve; the air inlets of the torsional air bags are connected together and connected to the output port of the second electromagnetic one-way valve. The air inlets of the lower cavities in the bent air bags are connected together 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 below with reference to the accompanying drawings.
Example 1
As shown in fig. 1 and 2, an unmanned aerial vehicle with falling self-protection capability comprises an unmanned aerial vehicle body 4, a pneumatic cantilever 3, a motor base 1, a propeller 2, a pneumatic control chamber 5, a camera 6 and an undercarriage 7. The appearance of the unmanned aerial vehicle body 4 is an octagonal body, a light waterproof material (specifically plastic) is adopted, and main components of a general unmanned aerial vehicle are arranged in the unmanned aerial vehicle body and comprise a battery module, a communication module, a control module and a sensing module. The air control chamber 5 is fixed with the bottom of the unmanned aerial vehicle body 4. The bottom of the pneumatic control chamber is provided with a camera 6 through a tripod head. Four undercarriage 7 are fixed respectively with four angles of unmanned aerial vehicle fuselage 4 bottom. The landing gear 7 is mounted around the camera to protect the camera from impact.
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 valve adopts a two-position three-way reversing valve. The air inlets of the three reversing valves are connected with the air outlet of the inflator pump, and the air return ports are connected with the external environment. The working air port of the first reversing valve is connected with the upper cavities in the eight bent air bags 9; the working air port of the second reversing valve is connected with the lower cavities in the eight bending air bags 9; the working air port of the second reversing valve is connected with the spiral air bags in the eight torsion air bags 10. Control interfaces of the inflator pump and the three reversing valves are connected with a control module in the unmanned aerial vehicle body 4. The control module adopts a singlechip.
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:
step one, when the unmanned aerial vehicle breaks down and cannot keep a 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
This example differs from example 1 in that: the pneumatic cantilever 3 is a pre-inflating type support. The pneumatic control chamber 5 is not provided with an inflator pump and three reversing valves. A gas generator is arranged in the gas control chamber 5. The air inlets of the upper cavities in the bent air bags 9 are connected together and connected to the output port of the first one-way valve; the air inlets of the lower cavities in the bent air bags 9 are connected together and connected to the output port of the second one-way valve; the air inlets of the torsion air bags 10 are connected together and connected to the output port of the third one-way valve. 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.
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
This example differs from example 1 in that: the pneumatic cantilever 3 is a pre-inflating type support. The pneumatic control chamber 5 is not provided with an inflator pump and three reversing valves. The air inlets of the upper cavities in the bent air bags 9 are connected together and are connected to the output port of the first electromagnetic one-way valve; the air inlets of the torsion air bags 10 are connected together and connected to the output port of the second electromagnetic one-way valve. The air inlets of the lower cavities in the bent air bags 9 are connected together and 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 first electromagnetic one-way valve and the second electromagnetic one-way valve are switched to a two-way circulation state; 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 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)
1. An unmanned aerial vehicle with falling self-protection capability comprises an unmanned aerial vehicle body, a propeller and a pneumatic control chamber; the method is characterized in that: the device also comprises a pneumatic cantilever; the air control chamber is fixed with the bottom of the unmanned aerial vehicle body; the inner ends of the n pneumatic cantilevers are all fixed with the pneumatic control chamber, and n is more than or equal to 4 and less than or equal to 8; the outer ends of the n pneumatic cantilevers are all fixed with motors; the output shaft of each motor is fixed with a propeller; the pneumatic cantilever comprises a rigid adjusting strip, a bending air bag and a twisting air bag; the rigid adjusting strip consists of a strip-shaped sac and rigid adjusting particles; the strip-shaped capsules are filled with rigid adjusting particles; the bending air bag and the twisting air bag are sleeved on the rigid adjusting strip; the bending air bag is positioned between the air control chamber and the twisting air bag.
2. The unmanned aerial vehicle with falling self-protection capability of claim 1, wherein: the system also comprises a camera and a landing gear; the bottom of the pneumatic control chamber is provided with a camera through a tripod head; four undercarriage and four angles of unmanned aerial vehicle fuselage bottom are fixed respectively.
3. The unmanned aerial vehicle with falling self-protection capability of claim 1, wherein: the pneumatic control chamber is in a regular n-edge shape; cantilever mounting holes are formed in n side faces of the pneumatic control chamber; 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.
4. The unmanned aerial vehicle with falling self-protection capability of claim 1, wherein: the bent air bag is in a circular column shape, and two diaphragms are arranged inside the bent air bag; the two diaphragms divide the inner cavity of the bent 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 semi-circular column shapes; the torsion air bag consists of an outer film and a spiral air bag; the outer membrane is cylindrical; the spiral air bag is arranged in 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.
5. The unmanned aerial vehicle with falling self-protection capability of claim 4, wherein: an inflation pump and three reversing valves are arranged in the pneumatic control chamber; the reversing valve adopts a two-position three-way reversing valve; the air inlets of the three reversing valves are all connected with the air outlet of the inflator pump, and the air return ports are all connected with the external environment; the working air port of the first reversing valve is connected with the upper cavities in the eight bent air bags; the working air port of the second reversing valve is connected with the lower cavities in the eight bending air bags; the working air port of the second reversing valve is connected with the spiral air bags in the eight torsion air bags; control interfaces of the inflator pump and the three reversing valves are connected with a control module in the unmanned aerial vehicle body.
6. The unmanned aerial vehicle with falling self-protection capability of claim 4, wherein: a gas generator and three one-way valves are arranged in the pneumatic control chamber; the air inlets of the upper cavities in the bent air bags are connected together and connected to the output port of the first one-way valve; the air inlets of the lower cavities in the bent air bags are connected together and connected to the output port of the second one-way valve; the air inlets of the torsion air bags are connected together and connected to the output port of the third one-way valve; 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.
7. The unmanned aerial vehicle with falling self-protection capability of claim 4, wherein: two electromagnetic one-way valves and a common one-way valve are arranged in the pneumatic control chamber; the air inlets of the upper cavities in the bent air bags are connected together and connected to the output port of the first electromagnetic one-way valve; the air inlets of the torsion air bags are connected together and connected to the output port of the second electromagnetic one-way valve; the air inlets of the lower cavities in the bent air bags are connected together and connected to the output port of the common one-way valve.
8. The unmanned aerial vehicle with falling self-protection capability of claim 5, wherein: and electromagnetic pressure reducing valves are arranged at the working air ports of the three reversing valves.
9. The unmanned aerial vehicle with falling self-protection capability of claim 5, wherein: an air suction 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.
10. The method of claim 4, wherein the method comprises the following steps: when the unmanned aerial vehicle fails and cannot keep a flight state, releasing gas in an upper cavity of the bent airbag or filling gas into a lower cavity of the bent airbag, so that each pneumatic cantilever bends upwards to wrap the body of the unmanned aerial vehicle; 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910949658.XA CN110733635B (en) | 2019-10-08 | 2019-10-08 | Unmanned aerial vehicle with falling self-protection capability and falling self-protection method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910949658.XA CN110733635B (en) | 2019-10-08 | 2019-10-08 | Unmanned aerial vehicle with falling self-protection capability and falling self-protection method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110733635A CN110733635A (en) | 2020-01-31 |
| CN110733635B true CN110733635B (en) | 2020-12-29 |
Family
ID=69268553
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910949658.XA Active CN110733635B (en) | 2019-10-08 | 2019-10-08 | Unmanned aerial vehicle with falling self-protection capability and falling self-protection method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110733635B (en) |
Family Cites Families (5)
| 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 |
| US10501164B2 (en) * | 2016-02-02 | 2019-12-10 | 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 |
-
2019
- 2019-10-08 CN CN201910949658.XA patent/CN110733635B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110733635A (en) | 2020-01-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108025815A (en) | Inflatable parachute air bag system | |
| US3944169A (en) | Hang glider | |
| US9260192B2 (en) | Active vent and re-inflation system for a crash attentuation airbag | |
| CA2827394C (en) | Device and method for rescuing from a high-rise facility | |
| CA2828084A1 (en) | High efficiency external airbag for crash attenuation | |
| KR101266903B1 (en) | Personal emergency device for lowering people from high rise objects | |
| CN110733635B (en) | Unmanned aerial vehicle with falling self-protection capability and falling self-protection method thereof | |
| US20080179462A1 (en) | Inflatable parasail jump suit combination | |
| RU2766643C2 (en) | Aircraft emergency buoyancy inflatable device | |
| CN206336428U (en) | A kind of inflatable unmanned plane | |
| CN110001932A (en) | It is a kind of to be prevented from falling the unmanned plane of taking photo by plane of damage based on aerodynamic decelerator | |
| EP2944724A1 (en) | Obstacle protector | |
| US5944282A (en) | Landing shock absorber | |
| JP2010280375A (en) | External pressurization system for lighter than air vehicle | |
| JP3362018B2 (en) | airship | |
| CN109263865B (en) | Many rotor unmanned aerial vehicle's activity undercarriage | |
| CN208102353U (en) | It is a kind of to equip airborne multi-stage gasbag collaboration buffer unit | |
| CN2590868Y (en) | High-building life-saving parachute with air-filling protection bag | |
| CN209795843U (en) | Unmanned aerial vehicle landing buffering gasbag | |
| CN112224381B (en) | Variant airship and variant device | |
| CN211164030U (en) | Inflatable flexible light mechanical arm | |
| CN106390483A (en) | Product structure capable of being rapidly filled with fluid in labor-saving way | |
| CN218913564U (en) | Large-scale gasbag that little air charge was filled soon | |
| CN220374802U (en) | Skeleton type buffer air bag | |
| CN206446786U (en) | Support meanss |
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 | ||
| CB03 | Change of inventor or designer information |
Inventor after: Xu Ming Inventor after: Zhang Jiaqi Inventor after: Chen Guojin Inventor before: Xu Ming Inventor before: Sun Sen Inventor before: Chen Guojin |
|
| CB03 | Change of inventor or designer information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |