CN112977865A - Unmanned aerial vehicle water surface auxiliary recovery system, unmanned aerial vehicle and water surface recovery method thereof - Google Patents
Unmanned aerial vehicle water surface auxiliary recovery system, unmanned aerial vehicle and water surface recovery method thereof Download PDFInfo
- Publication number
- CN112977865A CN112977865A CN202110383170.2A CN202110383170A CN112977865A CN 112977865 A CN112977865 A CN 112977865A CN 202110383170 A CN202110383170 A CN 202110383170A CN 112977865 A CN112977865 A CN 112977865A
- Authority
- CN
- China
- Prior art keywords
- aerial vehicle
- unmanned aerial
- water surface
- controller
- recovery system
- 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.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/02—Arresting gear; Liquid barriers
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
- G05D1/0653—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
- G05D1/0676—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing
- G05D1/0684—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing on a moving platform, e.g. aircraft carrier
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to the field of unmanned aerial vehicle control, in particular to an unmanned aerial vehicle water surface auxiliary recovery system, an unmanned aerial vehicle and a water surface recovery method of the unmanned aerial vehicle. The unmanned aerial vehicle water surface auxiliary recovery system comprises a total thrust controller, a total thrust controller and a total thrust controller, wherein the total thrust controller is used for controlling the lift force of the unmanned aerial vehicle so that the unmanned aerial vehicle can float on the water surface and move; the attitude controller is used for controlling the moving attitude of the unmanned aerial vehicle; the total thrust controller is in signal connection with the attitude controller. Unmanned aerial vehicle includes the supplementary recovery system of aforementioned unmanned aerial vehicle surface of water. The unmanned aerial vehicle water surface recovery method is characterized in that after the unmanned aerial vehicle lands on the water surface, the position of the unmanned aerial vehicle is adjusted through the unmanned aerial vehicle water surface auxiliary recovery system, and after the unmanned aerial vehicle moves to a ship side or a bank side, the unmanned aerial vehicle is directly recovered or recovered by using a recovery rod. When the unmanned aerial vehicle is recovered, a large space is not needed on a ship or on the shore, the unmanned aerial vehicle can be recovered by landing on the water surface or the sea surface, and the unmanned aerial vehicle recovery device is simple, convenient and quick to use.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle control, in particular to an unmanned aerial vehicle water surface auxiliary recovery system, an unmanned aerial vehicle and a water surface recovery method of the unmanned aerial vehicle.
Background
The existing commercial unmanned aerial vehicle only has a few types to support water surface and sea surface application and has the ability of landing and floating on the sea surface. Based on safety considerations, the unmanned aerial vehicle should land on an open field with a certain distance from operators and peripheral personnel.
In actual surface of water and sea are used, to miniature leisure fish boat, leisure sailing boat, do not possess enough spacious, safe space and let unmanned aerial vehicle descend on the deck for unmanned aerial vehicle's the recovery degree of difficulty promotes by a wide margin, is unfavorable for the user to use.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle water surface auxiliary recovery system, an unmanned aerial vehicle and a water surface recovery method of the unmanned aerial vehicle, which can facilitate the recovery of the unmanned aerial vehicle on the water surface or the sea surface in a small space.
The embodiment of the invention is realized by the following steps:
in a first aspect, the present invention provides an unmanned aerial vehicle water surface auxiliary recovery system, including:
the total thrust controller is used for controlling the lift force of the unmanned aerial vehicle, so that the unmanned aerial vehicle can float on the water surface and move;
an attitude controller for controlling a movement attitude of the drone;
and the total thrust controller is in signal connection with the attitude controller.
In an optional embodiment, the system further comprises an information processor, and the information processor is in signal connection with the total thrust controller and the attitude controller respectively.
In an alternative embodiment, the total thrust controller comprises a speed control module for controlling the speed of rotation of the rotor of the drone.
In an alternative embodiment, the total thrust controller further comprises a thrust limit module and a ground effect estimation module;
the thrust limiting module is used in combination with the ground effect estimation module for adjusting the waterline of the drone.
In an alternative embodiment, the attitude controller includes a differential control module for controlling a difference in rotational speed of each rotor on the drone.
In an alternative embodiment, the attitude controller further comprises an angle detection module and an angle limiting module;
the angle detection module is used for detecting the angle of the unmanned aerial vehicle, and the angle limiting module is used for limiting the angle of the unmanned aerial vehicle and ensuring that a power system of the unmanned aerial vehicle works on the water surface.
In a second aspect, the invention provides a drone comprising a drone surface auxiliary recovery system according to any one of the preceding embodiments.
In an alternative embodiment, the drone arm structure is adapted to be captured by a retrieval boom.
In a third aspect, the present invention provides a method for recovering a water surface of an unmanned aerial vehicle according to the foregoing embodiment, where after the unmanned aerial vehicle lands on a water surface, the position of the unmanned aerial vehicle is adjusted by the unmanned aerial vehicle water surface auxiliary recovery system, and after the unmanned aerial vehicle moves to a ship or a shore, the unmanned aerial vehicle is recovered by using a recovery pole.
In an alternative embodiment, the recovery rod comprises a rod body and a hook body, the hook body is arranged at one end of the rod body;
the coupler body is used for hooking the horn of the unmanned aerial vehicle, the rod body is used for being hooked by the coupler body the unmanned aerial vehicle is pulled up from the water surface.
The embodiment of the invention has the beneficial effects that:
exert the power on the sea surface to unmanned aerial vehicle through total thrust controller, adjust the moving direction of unmanned aerial vehicle on the sea surface through attitude controller, finally retrieve unmanned aerial vehicle to the bank or on the ship through retrieving the pole, reach the recovery purpose to unmanned aerial vehicle.
According to the technical scheme, when the unmanned aerial vehicle is recovered, a large space is not needed on a ship or on the shore, the unmanned aerial vehicle can be recovered by landing on the water surface or the sea surface, and the unmanned aerial vehicle recovery device is simple, convenient and quick to use.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle water surface auxiliary recovery system provided in an embodiment of the present invention;
fig. 2 is a schematic diagram of a floating state of the unmanned aerial vehicle on the water surface according to the embodiment of the present invention;
fig. 3 is a schematic diagram of a state of the unmanned aerial vehicle moving forward on the water surface according to the embodiment of the present invention;
fig. 4 is a schematic state diagram of the unmanned aerial vehicle moving to the right on the water surface according to the embodiment of the present invention;
fig. 5 is a schematic view of a recovery state of a recovery rod in the recovery method of the unmanned aerial vehicle according to the embodiment of the present invention.
Icon:
1-a fuselage; 2-a rotor wing; 3-water line; 4-a connecting rod; 5-hook body; 6-rod body.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Some embodiments of the present invention are described in detail below with reference to fig. 1-5. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
In a first aspect, as shown in fig. 1, the present invention provides an unmanned aerial vehicle water surface auxiliary recovery system, including:
the total thrust controller is used for controlling the lift force and the buoyancy force of the unmanned aerial vehicle so that the unmanned aerial vehicle can float on the water surface;
the attitude controller is used for controlling the moving attitude of the unmanned aerial vehicle;
the total thrust controller is in signal connection with the attitude controller.
In this embodiment, when unmanned aerial vehicle need descend, because the bank does not have sufficient space, or the hull is less, when not having sufficient descending space, can select to descend unmanned aerial vehicle on the surface of water, retrieve on the surface of water again afterwards.
And unmanned aerial vehicle descends behind on the sea, and it is far away from ship or bank, or because the ship or bank are kept away from in the wave influence, can't directly retrieve, starts the supplementary recovery system of unmanned aerial vehicle surface of water this moment, through the cooperation of attitude controller and total thrust controller, removes unmanned aerial vehicle from the sea to ship or bank, is convenient for retrieve unmanned aerial vehicle.
Specifically, total thrust controller control unmanned aerial vehicle's rotor 2, control unmanned aerial vehicle's lift and buoyancy to provide the power of removal, through attitude controller to unmanned aerial vehicle's attitude control, realize the control to unmanned aerial vehicle moving direction, and then under total thrust controller and attitude controller's cooperation, realize the control to unmanned aerial vehicle moving direction and translation rate on the surface of water.
In an optional embodiment, the system further comprises an information processor, and the information processor is respectively in signal connection with the total thrust controller and the attitude controller.
In this embodiment, the information processor coordinates the total thrust controller and the attitude controller in a unified manner, so that the total thrust controller and the attitude controller are more smoothly matched.
In this embodiment, the information processor may be an onboard controller disposed on the body 1 of the unmanned aerial vehicle, or may be a controller disposed on a remote controller, or a controller disposed in a control background, as long as it can play a role in coordinating the total thrust controller and the attitude controller.
In an alternative embodiment, the total thrust controller comprises a speed control module for controlling the speed of rotation of the rotor 2 of the drone.
In this embodiment, total thrust controller is to the control of unmanned aerial vehicle lift and buoyancy, is realized through controlling the rotational speed of unmanned aerial vehicle rotor 2.
When the rotational speed of unmanned aerial vehicle's rotor 2 is higher, unmanned aerial vehicle's lift is bigger, and the resistance in aqueous also can reduce correspondingly.
In an alternative embodiment, the total thrust controller further comprises a thrust limit module and a ground effect estimation module; the thrust limiting module is used in combination with the ground effect estimation module for adjusting the waterline 3 of the drone.
In this embodiment, when unmanned aerial vehicle floats on the surface of water, the floated buoyancy of unmanned aerial vehicle, mainly come from the buoyancy of the fuselage 1 of sealed setting, and rotor 2's rotation, can provide the ascending power of unmanned aerial vehicle, and then change unmanned aerial vehicle buoyancy on the surface of water, through the setting of thrust restriction module, control unmanned aerial vehicle's rotor 2's rotational speed, avoid unmanned aerial vehicle to take off once more on the surface of water, guarantee that unmanned aerial vehicle normally floats on the surface of water, and can provide the power of removal for unmanned aerial vehicle through rotor 2's rotation.
In this embodiment, when restricting thrust, still need consider the ground effect that produces between unmanned aerial vehicle and the surface of water, consequently, set up ground effect estimation module in total thrust controller, under the buoyancy control of difference, unmanned aerial vehicle's waterline 3 is different, can produce different ground effects, and then can provide different power size for unmanned aerial vehicle.
Through the cooperation of thrust restriction module and ground effect estimation module, can realize carrying out the accurate calculation to unmanned aerial vehicle's removal power for the moving speed of output is more accurate, guarantees unmanned aerial vehicle's accurate recovery.
In an alternative embodiment, the attitude controller comprises a differential control module for controlling the difference in the rotational speed of the individual rotors 2 on the drone.
In this embodiment, the attitude control of the drone is achieved by controlling the difference in the rotational speed between the different rotors 2.
Specifically, as shown in fig. 3, when the drone moves forward, the rotation speed of the two front rotors 2 of the drone is lower than that of the two rear rotors 2; as shown in fig. 4, when the drone moves to the right, the two rotors 2 on the right side of the drone rotate at a lower speed than the two rotors 2 on the left side; when the unmanned aerial vehicle moves to the rear or left, the principle is the same as the scheme.
In this embodiment, the inclination angle of the unmanned aerial vehicle can be changed through the control of the differential speed, the larger the differential speed is, the larger the inclination angle is, and the larger the horizontal component force is obtained by the unmanned aerial vehicle under the same power, so that the moving speed is faster.
In an alternative embodiment, the attitude controller further comprises an angle detection module and an angle limiting module; the angle detection module is used for detecting the angle of the unmanned aerial vehicle, and the angle limiting module is used for limiting the angle of the unmanned aerial vehicle and ensuring that a power system of the unmanned aerial vehicle works on the water surface.
According to the invention, the information processor can limit the total thrust of the unmanned aerial vehicle within a certain range, the waterline 3 of the unmanned aerial vehicle is adjusted by utilizing the ground effect and the lift force, the inclination angle of the airplane (the inclination angle is calculated by the height of the waterline and the propeller disc) is limited on the basis, and the propeller disc of the airplane can not enter water. The information processor obtains horizontal component force through the gesture of the aircraft that verts, makes unmanned aerial vehicle can move at the surface of water.
In a second aspect, the invention provides a drone comprising a drone surface assisted recovery system according to any one of the preceding embodiments.
In this embodiment, after the unmanned aerial vehicle is provided with the unmanned aerial vehicle water surface auxiliary recovery system, a water/sea surface auxiliary recovery mode can be added to the controller of the unmanned aerial vehicle.
Under this mode, unmanned aerial vehicle can realize on the surface of water that the minizone, all-round low-speed remove.
The user descends at unmanned aerial vehicle behind the surface of water, as shown in fig. 2, if find that unmanned aerial vehicle is far away from the user, when unable recovering smoothly, can cut into supplementary recovery mode, directly removes unmanned aerial vehicle on the surface of water, retrieves unmanned aerial vehicle through adjustment unmanned aerial vehicle's position.
When having hung the fish finder on unmanned aerial vehicle, also can utilize this mode, the position of accurate adjustment fish finder.
According to the unmanned aerial vehicle, the body 1 is of a fully-closed structure, the designed buoyancy is larger than the self weight, and the power system is above the draft surface in a floating state, so that when the unmanned aerial vehicle is recovered, the unmanned aerial vehicle lands on the water/sea surface at a safe distance from people/objects and can float above the water/sea surface, then the unmanned aerial vehicle is controlled to move in all directions in an auxiliary recovery mode, and the unmanned aerial vehicle can be recovered by adopting a recovery rod or an extending arm after moving to a ship/shore.
In an alternative embodiment, as shown in fig. 5, the horn structure of the drone is provided as a retrieval mast.
In order to retrieve unmanned aerial vehicle through retrieving the pole, be suitable for to be set up to retrieving the hack lever at unmanned aerial vehicle's horn structure, be convenient for hook the back through retrieving the pole and retrieve.
In this embodiment, the recovery mast arm comprises a connecting rod 4 between two rotors 2 on the left of the drone and a connecting rod 4 between two rotors 2 on the right of the drone.
In a third aspect, the invention provides a recovery method for an unmanned aerial vehicle according to the foregoing embodiment, after the unmanned aerial vehicle lands on the water surface, the position of the unmanned aerial vehicle is adjusted by an unmanned aerial vehicle water surface auxiliary recovery system, and after the unmanned aerial vehicle moves to a ship side or a shore side, the unmanned aerial vehicle is recovered by using a recovery rod.
When unmanned aerial vehicle passes through the function of supplementary recovery system, remove to ship or bank after, its still has certain distance apart from the user, can retrieve through retrieving the pole this moment.
The invention provides a recovery method of an unmanned aerial vehicle according to the previous embodiment, the recovery rod comprises a rod body 6 and a hook body 5, and the hook body 5 is arranged at one end of the rod body 6; the coupler body 5 is used for hooking the horn of the unmanned aerial vehicle, and the rod body 6 is used for pulling up the unmanned aerial vehicle hooked by the coupler body 5 from the water surface.
In this embodiment, the front end of retrieving the pole is coupler body 5, can catch on the unmanned aerial vehicle retrieve the hack lever, and then drives unmanned aerial vehicle and remove to user's direction, finally realizes unmanned aerial vehicle's recovery.
In this embodiment, retrieve the pole and can set up to the 6 structures of telescopic body of rod, can enough portable, can realize long distance again and retrieve.
The embodiment of the invention has the beneficial effects that:
exert the power on the sea surface to unmanned aerial vehicle through total thrust controller, adjust the moving direction of unmanned aerial vehicle on the sea surface through attitude controller, finally retrieve unmanned aerial vehicle to the bank or on the ship through retrieving the pole, reach the recovery purpose to unmanned aerial vehicle.
According to the technical scheme, when the unmanned aerial vehicle is recovered, a large space is not needed on a ship or on the shore, the unmanned aerial vehicle can be recovered by landing on the water surface or the sea surface, and the unmanned aerial vehicle recovery device is simple, convenient and quick to use.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides an unmanned aerial vehicle surface of water assists recovery system which characterized in that includes:
the total thrust controller is used for controlling the lift force of the unmanned aerial vehicle and enabling the unmanned aerial vehicle to float on the water surface and move by using the buoyancy of the unmanned aerial vehicle;
an attitude controller for controlling a movement attitude of the drone;
and the total thrust controller is in signal connection with the attitude controller.
2. The unmanned aerial vehicle water surface auxiliary recovery system of claim 1, further comprising an information processor in signal connection with the total thrust controller and the attitude controller, respectively.
3. The unmanned aerial vehicle water surface assisted recovery system of claim 1, wherein the gross thrust controller comprises a speed control module for controlling a speed of rotation of a rotor of the unmanned aerial vehicle.
4. The unmanned aerial vehicle water surface assisted recovery system of claim 3, wherein the gross thrust controller further comprises a thrust limit module and a ground effect estimation module;
the thrust limiting module is used in combination with the ground effect estimation module for adjusting the waterline of the drone.
5. The unmanned aerial vehicle water surface assisted recovery system of claim 1, wherein the attitude controller comprises a differential control module for controlling a difference in rotational speed of respective rotors on the unmanned aerial vehicle.
6. The unmanned aerial vehicle water surface assisted recovery system of claim 4, wherein the attitude controller further comprises an angle detection module and an angle limit module;
the angle detection module is used for detecting the angle of the unmanned aerial vehicle, and the angle limiting module is used for limiting the angle of the unmanned aerial vehicle and ensuring that a power system of the unmanned aerial vehicle works on the water surface.
7. An unmanned aerial vehicle comprising the unmanned aerial vehicle water surface assisted recovery system of any one of claims 1-6.
8. The drone of claim 7, wherein the horn structure of the drone is adapted to be captured by a recovery pole.
9. The method for recovering the water surface of the unmanned aerial vehicle as claimed in claim 7 or 8, wherein after the unmanned aerial vehicle lands on the water surface, the position of the unmanned aerial vehicle is adjusted by the unmanned aerial vehicle water surface auxiliary recovery system, and after the unmanned aerial vehicle moves to a ship side or a shore side, the unmanned aerial vehicle is recovered by using a recovery rod.
10. The surface recovery method of unmanned aerial vehicle of claim 9, wherein the recovery pole comprises a pole body and a hook body, the hook body is arranged at one end of the pole body;
the coupler body is used for hooking the horn of the unmanned aerial vehicle, the rod body is used for being hooked by the coupler body the unmanned aerial vehicle is pulled up from the water surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110383170.2A CN112977865B (en) | 2021-04-09 | 2021-04-09 | Unmanned aerial vehicle water surface auxiliary recovery system, unmanned aerial vehicle and water surface recovery method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110383170.2A CN112977865B (en) | 2021-04-09 | 2021-04-09 | Unmanned aerial vehicle water surface auxiliary recovery system, unmanned aerial vehicle and water surface recovery method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112977865A true CN112977865A (en) | 2021-06-18 |
| CN112977865B CN112977865B (en) | 2023-03-24 |
Family
ID=76339631
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110383170.2A Active CN112977865B (en) | 2021-04-09 | 2021-04-09 | Unmanned aerial vehicle water surface auxiliary recovery system, unmanned aerial vehicle and water surface recovery method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112977865B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113589834A (en) * | 2021-08-11 | 2021-11-02 | 深圳微希科技有限公司 | Multi-level modularized unmanned aerial vehicle flight control system |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106926654A (en) * | 2017-02-22 | 2017-07-07 | 浙江大学 | A kind of amphibious four rotor wing unmanned aerial vehicle |
| CN107323621A (en) * | 2017-06-16 | 2017-11-07 | 上海复亚通信科技有限公司 | Packaged type unmanned plane recycle bin |
| CN108556578A (en) * | 2018-04-25 | 2018-09-21 | 哈尔滨工程大学 | A kind of amphibious DCB Specimen unmanned vehicles of air-sea |
| CN108725780A (en) * | 2018-05-30 | 2018-11-02 | 佛山市神风航空科技有限公司 | A kind of amphibious unmanned vehicle of air-sea for patrol on the sea |
| CN110775265A (en) * | 2019-10-28 | 2020-02-11 | 上海交通大学 | Oil-electricity hybrid driving amphibious aircraft and control method thereof |
| JP2020164166A (en) * | 2020-06-24 | 2020-10-08 | 株式会社自律制御システム研究所 | Unmanned aircraft and method for using the same |
| CN112061395A (en) * | 2020-09-30 | 2020-12-11 | 上海海洋大学 | Self-adaptive attitude-changing air water surface diving unmanned aerial vehicle and control method thereof |
| JP2021041863A (en) * | 2019-09-12 | 2021-03-18 | 鹿島建設株式会社 | Underwater survey apparatus |
-
2021
- 2021-04-09 CN CN202110383170.2A patent/CN112977865B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106926654A (en) * | 2017-02-22 | 2017-07-07 | 浙江大学 | A kind of amphibious four rotor wing unmanned aerial vehicle |
| CN107323621A (en) * | 2017-06-16 | 2017-11-07 | 上海复亚通信科技有限公司 | Packaged type unmanned plane recycle bin |
| CN108556578A (en) * | 2018-04-25 | 2018-09-21 | 哈尔滨工程大学 | A kind of amphibious DCB Specimen unmanned vehicles of air-sea |
| CN108725780A (en) * | 2018-05-30 | 2018-11-02 | 佛山市神风航空科技有限公司 | A kind of amphibious unmanned vehicle of air-sea for patrol on the sea |
| JP2021041863A (en) * | 2019-09-12 | 2021-03-18 | 鹿島建設株式会社 | Underwater survey apparatus |
| CN110775265A (en) * | 2019-10-28 | 2020-02-11 | 上海交通大学 | Oil-electricity hybrid driving amphibious aircraft and control method thereof |
| JP2020164166A (en) * | 2020-06-24 | 2020-10-08 | 株式会社自律制御システム研究所 | Unmanned aircraft and method for using the same |
| CN112061395A (en) * | 2020-09-30 | 2020-12-11 | 上海海洋大学 | Self-adaptive attitude-changing air water surface diving unmanned aerial vehicle and control method thereof |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113589834A (en) * | 2021-08-11 | 2021-11-02 | 深圳微希科技有限公司 | Multi-level modularized unmanned aerial vehicle flight control system |
| CN113589834B (en) * | 2021-08-11 | 2024-03-26 | 深圳微希科技有限公司 | Unmanned aerial vehicle flight control system of multilayer level groupware |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112977865B (en) | 2023-03-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110481777B (en) | Water-air amphibious unmanned rescue platform | |
| US8944866B2 (en) | Wave-powered endurance extension module for unmanned underwater vehicles | |
| US20160167470A1 (en) | Gliding mobile, in particular hydrofoil, propelled by a rotary-wing drone | |
| CN104724284A (en) | Multi-rotor-wing submersible unmanned aerial vehicle and control method thereof | |
| CN107878670B (en) | Solar energy double-body unmanned ship for remote seawater sampling of small-radius box-type connecting bridge | |
| CN113524998B (en) | Sea-air integrated detection platform based on variable rotor and detection method thereof | |
| WO2020056822A1 (en) | Water-surface vehicle and water-surface automatic device | |
| CN113511039B (en) | Detection device with deep diving function and detection method thereof | |
| CN107416203B (en) | Unmanned vehicle driven by water-air amphibious solar energy and capable of continuously residing on water surface | |
| CN112977865B (en) | Unmanned aerial vehicle water surface auxiliary recovery system, unmanned aerial vehicle and water surface recovery method thereof | |
| GB2577335A (en) | Flying apparatus | |
| CN113697077B (en) | Propulsion device for an aircraft, aircraft and control method for an aircraft | |
| CN112389593A (en) | Unmanned sea-air three-dimensional monitoring ship driven by wind energy and solar energy in hybrid mode | |
| WO2023029307A1 (en) | Long-cycle intelligent unmanned vehicle having strong survival power | |
| CN109760807B (en) | Underwater bionic sightseeing camera submersible | |
| CN112428760B (en) | Cross-medium aircraft and navigation method for navigating in complicated water area environment with bottom-close height-fixing function | |
| CN212556696U (en) | High-speed high-sea-condition submersible multi-body unmanned aircraft | |
| CN115675805A (en) | Cross-medium underwater vehicle carrying unmanned aerial vehicle | |
| CN211810220U (en) | Air-drop device for water search and rescue | |
| CN113401316A (en) | Investigation, positioning and lifesaving integrated unmanned aerial vehicle and rescue method thereof | |
| CN117446224B (en) | Unmanned aerial vehicle on water and method for throwing and recycling underwater detector | |
| CN111221344A (en) | Unmanned aerial vehicle landing method on sea based on cobra head raising and eagle fishing boat returning actions in bionics | |
| KR101644184B1 (en) | Motor boat | |
| CN220332917U (en) | Unmanned ship for water surface search and rescue | |
| CN112498678B (en) | Carrier-based vertical take-off and landing unmanned aerial vehicle and flight method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |