CN111891349A - Four-rotor-flapping-wing hybrid layout aircraft - Google Patents
Four-rotor-flapping-wing hybrid layout aircraft Download PDFInfo
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- CN111891349A CN111891349A CN202010768421.4A CN202010768421A CN111891349A CN 111891349 A CN111891349 A CN 111891349A CN 202010768421 A CN202010768421 A CN 202010768421A CN 111891349 A CN111891349 A CN 111891349A
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 56
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 4
- 239000004917 carbon fiber Substances 0.000 claims description 4
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000035899 viability Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
- B64C27/28—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft with forward-propulsion propellers pivotable to act as lifting rotors
-
- 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
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/102—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for vertical take-off of aircraft
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Toys (AREA)
Abstract
The invention discloses a four-rotor-flapping wing hybrid layout aircraft, which comprises a hybrid layout aircraft fuselage and a hybrid layout aircraft control system, wherein the hybrid layout aircraft fuselage is provided with a first rotor wing and a second rotor wing; the mixed layout aircraft body is formed by embedding a four-rotor aircraft framework and a bird-like flapping wing aircraft body together, the four-rotor aircraft framework comprises a four-rotor support and four rotors, the four-rotor support comprises a support main body, four rotor support rods are arranged around the support main body, and rotor motors of the four rotors are fixed at the end parts of the four rotor support rods of the support main body; the bracket main body of the four-rotor bracket is embedded into the body of the bird-like flapping-wing aircraft, and the left flapping wing and the right flapping wing of the bird-like flapping-wing aircraft are respectively positioned between the front rotor wing and the rear rotor wing on the side; the hybrid layout aircraft control system comprises an aircraft remote controller, a four-rotor flight control system, a bird-like flapping wing flight control system and a flight mode controller. The aircraft has the characteristics of strong flight environment adaptability, safety, reliability, convenience in operation and the like.
Description
Technical Field
The invention relates to the technical field of aircrafts.
Background
The bird-like flapping-wing aircraft has very important application prospect in national defense and military, in the actual use process, the energy carried by the bird-like flapping-wing aircraft is limited, the environment in which the bird-like flapping-wing aircraft is located is complex and changeable, and the improvement of the environmental adaptability can improve the utilization value of the bird-like flapping-wing aircraft to a great extent, so that the bird-like flapping-wing aircraft is required to have the capability of autonomous take-off and landing in a narrow space. However, most of the bird-like flapping wing air vehicles in the prior art are thrown by hands, and in the published reports, the bird-like flapping wing air vehicle which can take off and land autonomously does not appear, so that the bird-like flapping wing air vehicle becomes a great obstacle to the practical road.
Disclosure of Invention
The invention aims to provide a four-rotor-flapping wing hybrid layout aircraft which has the characteristics of strong flight environment adaptability, safety, reliability, convenience in operation and the like.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a four-rotor-flapping wing hybrid layout aircraft comprises a hybrid layout aircraft body and a hybrid layout aircraft control system;
the mixed layout aircraft body is formed by embedding a four-rotor aircraft framework and a bird-like flapping-wing aircraft body together, the four-rotor aircraft framework comprises a four-rotor support and four rotors, the four-rotor support comprises a support main body, four rotor support rods are arranged around the support main body, the rotors comprise rotor motors and rotor paddles fixed on the rotor motors, and the rotor motors of the four rotors are fixed at the end parts of the four rotor support rods of the support main body, so that the four rotor paddles are bilaterally symmetrical relative to the longitudinal center line of the support main body and are bilaterally symmetrical relative to the transverse center line of the support main body; the bracket main body of the four-rotor bracket is embedded into the fuselage of the bird-like flapping-wing aircraft, the longitudinal central line of the bracket main body of the four-rotor bracket and the axial line of the fuselage of the bird-like flapping-wing aircraft are positioned in the same vertical plane and are arranged in parallel or coincide with each other, the tension center of the bracket main body of the four-rotor bracket is positioned in a sphere formed by taking the gravity center of the fuselage of the mixed layout aircraft as the spherical center and taking 6 percent of the width of the fuselage of the mixed layout aircraft as the radius, and the left and right flapping wings of the bird-like flapping-wing aircraft are respectively positioned between the front and rear rotors on the side, so that;
the hybrid layout aircraft control system comprises an aircraft remote controller, a four-rotor flight control system, a bird-like flapping wing flight control system and a flight mode controller;
the aircraft remote controller is provided with a flight mode conversion take-off/landing control button, a switching signal generated by the flight mode conversion take-off/landing control button is transmitted to the aircraft remote controller single-chip microcomputer MCU through the I/O interface, the aircraft remote controller single-chip microcomputer MCU respectively generates corresponding take-off or landing control instructions according to the received switching value signal, transmits the corresponding take-off or landing control instructions to the wireless communication module through the I/O interface, and converts the corresponding take-off or landing control instructions into wireless transmission signals through the wireless communication module to send out take-off or landing wireless control instructions;
the flight mode controller comprises a flight mode controller single chip microcomputer MCU, a GPS module for receiving altitude signals, and an airspeed meter for detecting the flight speed of the aircraft, the flight mode controller single chip microcomputer MCU is provided with a wireless communication module which is wirelessly connected with an aircraft remote controller and is used for receiving take-off or landing wireless control instructions sent by the aircraft remote controller, the flight mode controller single chip microcomputer MCU respectively collects the altitude signals sent by the GPS module, the flight speed signals sent by the airspeed meter and the take-off or landing wireless control instructions received by the wireless communication module through corresponding I/O ports, the flight mode controller single chip microcomputer MCU is also provided with a start-stop control I/O port and a plane-flight control I/O port which are connected with the four-rotor flight control system single chip microcomputer MCU so as to send start-stop control signals and plane-flight control signals to the four-rotor flight control system single chip microcomputer, the flight mode controller single chip microcomputer MCU is also provided with a start-stop control I/O port which is connected with the bird-flapping-wing-imitating flight control system single chip microcomputer MCU so as to send a take-off or stop control signal to the flight mode controller single chip microcomputer MCU;
the four-rotor flight control system single chip microcomputer MCU is respectively provided with a start-stop control I/O port and a plane flight control I/O port which are used for being connected with the flight mode controller single chip microcomputer MCU and are respectively used for receiving start-stop control signals and plane flight control signals sent by the flight mode controller single chip microcomputer MCU;
the bird-like flapping wing flight control system single chip microcomputer MCU is provided with a start-stop control I/O port which is used for being connected with the flight mode controller single chip microcomputer MCU and used for receiving a take-off or stop control signal sent by the flight mode controller single chip microcomputer MCU.
The invention further improves that:
the safe height threshold is 30 meters.
The time threshold value of the flight mode switching is 0-1 second.
The flight mode switching speed threshold is 8 m/s.
The four-rotor aircraft framework is made of carbon fiber.
The rotor oar is a pair of positive and negative oar, and the oar footpath size is the same.
The GPS module and the airspeed in the flight mode controller are elements used in a four-rotor flight control system or a bird-like flapping wing flight control system.
Adopt the produced beneficial effect of above-mentioned technical scheme to lie in:
the bird-like flapping-wing aircraft is easy to operate, the problem that the bird-like flapping-wing aircraft is lack of autonomous take-off and landing capability can be effectively solved, and meanwhile, by adopting the layout form, when the flapping-wing flight mode breaks down, the bird-like flapping-wing aircraft can be switched to the rotor wing mode to continue flying, so that the viability of the aircraft is increased.
The aircraft has the characteristics of strong flight environment adaptability, safety, reliability, convenience in operation and the like.
Drawings
FIG. 1 is a schematic structural view of the present invention;
figure 2 is a schematic diagram of the configuration of the quad-rotor pylon of figure 1;
FIG. 3 is a schematic diagram of a hybrid layout aircraft control system.
In the drawings: 1. a stent body; 2. a rotor wing support bar; 3. a rotor motor; 4. a rotor blade; 5. a bird-like ornithopter fuselage; 6. flapping wings.
Detailed Description
The aircraft remote controller, the four-rotor flight control system and the bird-like flapping wing flight control system are all in the prior art and are necessary components of the four-rotor aircraft and the bird-like flapping wing aircraft.
In the embodiment, the aircraft remote controller, the four-rotor flight control system and the bird-like flapping wing flight control system are all logic control circuits which are added between the prior art and the flight mode controller, and part of the circuits in the prior art are not shown in the figure;
all elements related in the technical scheme are universal parts of a four-rotor aircraft and a bird-like flapping wing aircraft, and the model specification is not repeated.
The invention will be described in further detail below with reference to the figures and specific examples.
The standard parts used in the invention can be purchased from the market, the special-shaped parts can be customized according to the description and the description of the attached drawings, and the specific connection mode of each part adopts the conventional means of mature bolts, rivets, welding, sticking and the like in the prior art, and the detailed description is not repeated.
As can be seen from the embodiments shown in FIGS. 1-3, the present embodiment includes a hybrid layout aircraft fuselage and a hybrid layout aircraft control system;
the mixed layout aircraft body is formed by embedding a four-rotor aircraft framework and a bird-like flapping-wing aircraft body 5 together, the four-rotor aircraft framework comprises a four-rotor support and four rotors, the four-rotor support comprises a support main body 1, four rotor support rods 2 are arranged around the support main body 1, the rotors comprise rotor motors 3 and rotor paddles 4 fixed on the rotor motors 3, and the rotor motors 3 of the four rotors are fixed at the end parts of the four rotor support rods 2 of the support main body 1, so that the four rotor paddles 4 are bilaterally symmetrical relative to the longitudinal center line of the support main body 1 and are symmetrical front and back relative to the transverse center line of the support main body 1; the bracket main body 1 of the four-rotor bracket is embedded into the fuselage 5 of the bird-like flapping-wing aircraft, the longitudinal central line of the bracket main body 1 of the four-rotor bracket and the axial line of the bird-like flapping-wing aircraft fuselage 5 are positioned in the same vertical plane and are arranged in parallel or coincide with each other, the tension center of the bracket main body 1 of the four-rotor bracket is positioned in a sphere formed by taking the gravity center of the fuselage of the mixed layout aircraft as the sphere center and taking 6 percent of the width of the fuselage of the mixed layout aircraft as the radius, and the left and right flapping wings 6 of the bird-like flapping-wing aircraft are respectively positioned between the front and rear rotors at the side, so that the fuselage of;
the hybrid layout aircraft control system comprises an aircraft remote controller, a four-rotor flight control system, a bird-like flapping wing flight control system and a flight mode controller;
the aircraft remote controller is provided with a flight mode conversion take-off/landing control button, a switching signal generated by the flight mode conversion take-off/landing control button is transmitted to the aircraft remote controller single-chip microcomputer MCU through the I/O interface, the aircraft remote controller single-chip microcomputer MCU respectively generates corresponding take-off or landing control instructions according to the received switching value signal, transmits the corresponding take-off or landing control instructions to the wireless communication module through the I/O interface, and converts the corresponding take-off or landing control instructions into wireless transmission signals through the wireless communication module to send out take-off or landing wireless control instructions;
the flight mode controller comprises a flight mode controller single chip microcomputer MCU, a GPS module for receiving altitude signals, and an airspeed meter for detecting the flight speed of the aircraft, the flight mode controller single chip microcomputer MCU is provided with a wireless communication module which is wirelessly connected with an aircraft remote controller and is used for receiving take-off or landing wireless control instructions sent by the aircraft remote controller, the flight mode controller single chip microcomputer MCU respectively collects the altitude signals sent by the GPS module, the flight speed signals sent by the airspeed meter and the take-off or landing wireless control instructions received by the wireless communication module through corresponding I/O ports, the flight mode controller single chip microcomputer MCU is also provided with a start-stop control I/O port and a plane-flight control I/O port which are connected with the four-rotor flight control system single chip microcomputer MCU so as to send start-stop control signals and plane-flight control signals to the four-rotor flight control system single chip microcomputer, the flight mode controller single chip microcomputer MCU is also provided with a start-stop control I/O port which is connected with the bird-flapping-wing-imitating flight control system single chip microcomputer MCU so as to send a take-off or stop control signal to the flight mode controller single chip microcomputer MCU;
the four-rotor flight control system single chip microcomputer MCU is respectively provided with a start-stop control I/O port and a plane flight control I/O port which are used for being connected with the flight mode controller single chip microcomputer MCU and are respectively used for receiving start-stop control signals and plane flight control signals sent by the flight mode controller single chip microcomputer MCU;
the bird-like flapping wing flight control system singlechip MCU is provided with a start-stop control I/O port which is connected with the flight mode controller singlechip MCU and is used for receiving a take-off or stop control signal sent by the flight mode controller singlechip MCU;
after the flight mode controller single chip microcomputer MCU receives a take-off wireless control instruction sent by an aircraft remote controller through the wireless communication module, the flight mode controller single chip microcomputer MCU sends a high-level take-off control signal to the four-rotor flight control system single chip microcomputer MCU through the start-stop control I/O port, so that the four-rotor flight control system can occupy the aircraft control right and control the four rotors to rotate and take off vertically; when the flight mode controller single chip microcomputer MCU detects that the flight altitude value sent by the GPS module reaches a set safe altitude threshold value (which is to ensure that once an attitude control error occurs to the aircraft, enough altitude redundancy can be used for correction), the flight mode controller single chip microcomputer MCU sends a level flight control signal to the four-rotor flight control system single chip microcomputer MCU through a level flight control I/O port, and the four-rotor flight control system controls the four rotors to rotate and level flight after receiving the level flight control signal; when the flight mode controller single chip microcomputer MCU detects that the flight speed value sent by the airspeed meter reaches a set flight mode switching speed threshold value (the speed required by the flapping wing 6 during flying), the flight mode controller single chip microcomputer MCU sends a low-level stop control signal to the four-rotor flight control system single chip microcomputer MCU through the start-stop control I/O port so that the four-rotor flight control system releases the control right of the aircraft and the four rotors stop rotating; meanwhile, the flight mode controller single chip microcomputer MCU counts time, when the time interval reaches a set flight mode switching time threshold value (the air disturbance generated by four rotors is prevented from influencing the flight of the flapping wings 6), the flight mode controller single chip microcomputer MCU sends a high-level starting control signal to the bird-like flapping wing flight control system single chip microcomputer MCU through a start-stop control I/O port, so that the bird-like flapping wing flight control system occupies the control right of the aircraft and controls the two flapping wings 6 to flap and fly;
when the flight mode controller single chip microcomputer MCU receives a landing wireless control instruction sent by an aircraft remote controller through the wireless communication module, the flight mode controller single chip microcomputer MCU sends a low-level stop control signal to the bird-like flapping wing flight control system single chip microcomputer MCU through the start-stop control I/O port so that the bird-like flapping wing flight control system releases the control right of the aircraft and the two flapping wings 6 stop flapping; the flight mode controller single chip microcomputer MCU sends a high-level takeoff control signal to the four-rotor flight control system single chip microcomputer MCU through the start-stop control I/O port, so that the four-rotor flight control system occupies the control right of the aircraft and controls the four rotors to rotate and land.
The safe height threshold is 30 meters.
The time threshold value of the flight mode switching is 0-1 second.
The flight mode switching speed threshold is 8 m/s.
The four-rotor aircraft framework is made of carbon fiber.
The rotor oar 4 is a pair of positive and negative oar, and the oar footpath size is the same.
The time threshold value of the flight mode switching is 0-1 second.
The flight mode switching speed threshold is 8 m/s.
The four-rotor aircraft framework is made of carbon fiber.
The rotor oar 4 is a pair of positive and negative oar, and the oar footpath size is the same.
The GPS module and the airspeed meter in the flight mode controller are original elements used in a four-rotor flight control system or a bird-like flapping wing flight control system, namely, a single chip microcomputer MCU of the flight mode controller acquires a height signal of the GPS module in the four-rotor flight control system or the bird-like flapping wing flight control system and a flight speed signal of the airspeed meter.
Claims (7)
1. The utility model provides a four rotors-flapping wing hybrid layout aircraft which characterized in that: the hybrid layout aircraft comprises a hybrid layout aircraft fuselage and a hybrid layout aircraft control system;
the mixed layout aircraft fuselage is formed by embedding a four-rotor aircraft framework and a bird-like flapping-wing aircraft fuselage (5), the four-rotor aircraft framework comprises a four-rotor support and four rotors, the four-rotor support comprises a support main body (1), four rotor support rods (2) are arranged around the support main body (1), the rotors comprise rotor motors (3) and rotor paddles (4) fixed on the rotor motors (3), and the rotor motors (3) of the four rotors are fixed at the end parts of the four rotor support rods (2) of the support main body (1), so that the four rotor paddles (4) are bilaterally symmetrical relative to the longitudinal center line of the support main body (1) and are symmetrical front and back relative to the transverse center line of the support main body (1); the bracket main body (1) of the four-rotor bracket is embedded into the bird-like flapping-wing aircraft body (5), the longitudinal center line of the bracket main body (1) of the four-rotor bracket and the axial lead of the bird-like flapping-wing aircraft body (5) are arranged in parallel or coincide with each other on the same vertical plane, the tension center of the bracket main body (1) of the four-rotor bracket is positioned in a ball formed by taking the gravity center of the mixed layout aircraft body as the center of the ball and taking 6% of the width of the mixed layout aircraft body as the radius, and the left and right flapping wings (6) of the bird-like flapping-wing aircraft are respectively positioned between the front and rear rotors on the side, so that the mixed layout aircraft body is formed;
the hybrid layout aircraft control system comprises an aircraft remote controller, a four-rotor flight control system, a bird-like flapping wing flight control system and a flight mode controller;
the aircraft remote controller is provided with a flight mode conversion take-off/landing control button, a switching signal generated by the flight mode conversion take-off/landing control button is transmitted to the aircraft remote controller single-chip microcomputer MCU through the I/O interface, the aircraft remote controller single-chip microcomputer MCU respectively generates corresponding take-off or landing control instructions according to the received switching value signal, the take-off or landing control instructions are transmitted to the wireless communication module through the I/O interface, and the wireless communication module converts the signals into wireless transmission signals to send out take-off or landing wireless control instructions;
the flight mode controller comprises a flight mode controller single chip microcomputer MCU, a GPS module for receiving altitude signals and an airspeed meter for detecting the flight speed of the aircraft, the flight mode controller single chip microcomputer MCU is provided with a wireless communication module which is wirelessly connected with an aircraft remote controller and is used for receiving a take-off or landing wireless control instruction sent by the aircraft remote controller, the flight mode controller single chip microcomputer MCU is respectively used for collecting the altitude signals sent by the GPS module, the flight speed signals sent by the airspeed meter and the take-off or landing wireless control instruction received by the wireless communication module through corresponding I/O ports, the flight mode controller single chip microcomputer MCU is also provided with a start-stop control I/O port and a plane-flight control I/O port which are connected with the four-rotor flight control system single chip microcomputer MCU so as to send start-stop control signals and plane-flight control signals to the four-rotor flight control system single chip microcomputer MCU, the flight mode controller single chip microcomputer MCU is also provided with a start-stop control I/O port which is connected with the bird-like flapping wing flight control system single chip microcomputer MCU so as to send a take-off or stop control signal to the flight mode controller single chip microcomputer MCU;
the four-rotor flight control system single-chip microcomputer MCU is respectively provided with a start-stop control I/O port and a level flight control I/O port which are used for being connected with the flight mode controller single-chip microcomputer MCU and are respectively used for receiving start-stop control signals and level flight control signals sent by the flight mode controller single-chip microcomputer MCU;
the bird-like flapping wing flight control system single chip microcomputer MCU is provided with a start-stop control I/O port which is connected with the flight mode controller single chip microcomputer MCU and used for receiving a takeoff or stop control signal sent by the flight mode controller single chip microcomputer MCU.
2. A quad-rotor-flapping-wing hybrid configuration aircraft according to claim 1, wherein: the safe height threshold is 30 meters.
3. A four-rotor-flapping-wing hybrid geometry aircraft according to claim 1 or 2, wherein: the flight mode switching time threshold is 0-1 second.
4. A quad-rotor-flapping-wing hybrid configuration aircraft according to claim 3, wherein: the flight mode switching speed threshold is 8 m/s.
5. The hybrid quad-rotor-flapping-wing aircraft of claim 4, wherein: the four-rotor aircraft framework is made of carbon fiber.
6. The hybrid quad-rotor-flapping-wing aircraft of claim 5, wherein: the rotor wing oar (4) is a pair of positive and negative oar, and the oar footpath size is the same.
7. The hybrid quad-rotor-flapping-wing aircraft of claim 5, wherein: and a GPS module and an airspeed in the flight mode controller are elements used in the four-rotor flight control system or the bird-like flapping wing flight control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010768421.4A CN111891349A (en) | 2020-08-03 | 2020-08-03 | Four-rotor-flapping-wing hybrid layout aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010768421.4A CN111891349A (en) | 2020-08-03 | 2020-08-03 | Four-rotor-flapping-wing hybrid layout aircraft |
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| Publication Number | Publication Date |
|---|---|
| CN111891349A true CN111891349A (en) | 2020-11-06 |
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| CN202010768421.4A Pending CN111891349A (en) | 2020-08-03 | 2020-08-03 | Four-rotor-flapping-wing hybrid layout aircraft |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112278261A (en) * | 2020-11-26 | 2021-01-29 | 广东国士健科技发展有限公司 | Hybrid energy-saving four-wing flapping wing aircraft with auxiliary lifting device |
| CN113247246A (en) * | 2021-06-29 | 2021-08-13 | 北京科技大学 | Flapping wing aircraft cruise control system based on asynchronous multiple cameras |
| CN113306715A (en) * | 2021-07-06 | 2021-08-27 | 西北农林科技大学 | Novel micro bionic aircraft and simulation analysis method thereof |
| CN113460296A (en) * | 2021-07-22 | 2021-10-01 | 南京航空航天大学 | Flapping wing-double rotor wing hybrid aircraft |
-
2020
- 2020-08-03 CN CN202010768421.4A patent/CN111891349A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112278261A (en) * | 2020-11-26 | 2021-01-29 | 广东国士健科技发展有限公司 | Hybrid energy-saving four-wing flapping wing aircraft with auxiliary lifting device |
| CN113247246A (en) * | 2021-06-29 | 2021-08-13 | 北京科技大学 | Flapping wing aircraft cruise control system based on asynchronous multiple cameras |
| CN113306715A (en) * | 2021-07-06 | 2021-08-27 | 西北农林科技大学 | Novel micro bionic aircraft and simulation analysis method thereof |
| CN113460296A (en) * | 2021-07-22 | 2021-10-01 | 南京航空航天大学 | Flapping wing-double rotor wing hybrid aircraft |
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