CN113104204B - Single-shaft aircraft and control method - Google Patents
Single-shaft aircraft and control method Download PDFInfo
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- CN113104204B CN113104204B CN202110544488.4A CN202110544488A CN113104204B CN 113104204 B CN113104204 B CN 113104204B CN 202110544488 A CN202110544488 A CN 202110544488A CN 113104204 B CN113104204 B CN 113104204B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
- B64C27/10—Helicopters with two or more rotors arranged coaxially
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C17/00—Aircraft stabilisation not otherwise provided for
- B64C17/02—Aircraft stabilisation not otherwise provided for by gravity or inertia-actuated apparatus
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Abstract
The invention provides a single-axis aircraft, wherein a connecting arm is arranged on the single-axis aircraft, the connecting arm comprises an electromagnetic coil, a track and a counterweight, the track is arranged inside the connecting arm, the electromagnetic coil is wound on the outer side of the track along the length direction of the track, the counterweight can move in the track, the counterweight is made of a magnetic material, the position of the counterweight is controlled through the magnetic field of the electromagnetic coil, the gravity center and the posture of the single-axis aircraft are adjusted, and the single-axis aircraft has the characteristics of convenience in control and stability in control. The invention also provides a control method of the single-shaft aircraft, which controls the position of the counterweight in the track through the electromagnetic coil, is convenient for controlling and adjusting the gravity center of the aircraft, is convenient to realize and has lower cost.
Description
Technical Field
The invention relates to the field of single-shaft aircrafts, in particular to a single-shaft aircraft and a control method.
Background
Document CN105966610A discloses a gravity center offset yaw single-rotor helicopter, which includes a central control unit, a lift unit, a communication unit and a gravity center control unit, wherein the central control unit is a control system formed by a single chip microcomputer, and can lift a counterweight of the gravity center control unit to transfer the gravity center and control the direction; the lift unit provides high-power lift force for the helicopter; the communication unit comprises a WiFi communication module which can be directly connected with user mobile equipment; the gravity center control unit comprises three gravity center controllers provided with balancing weights. The invention shifts the paddle shaft by changing the gravity center, so that the lift force vector shifts, and the resultant force generated by the lift force vector and the gravity becomes a shift yaw vector, thereby solving the shift yaw problem of the single-paddle helicopter under the condition of no auxiliary machine. However, the gravity center adjusting mode of the technical scheme is complex, the gravity center change obtained by the lifting balancing weight is not obvious, and the influence of the gravity center adjustment on the attitude of the aircraft is limited.
Document CN109733597A discloses a remote-controllable coaxial double-propeller single-shaft aircraft, which comprises a power supply device, a first propeller, a second propeller with a rotation direction opposite to that of the first propeller, a control module and a center-of-mass adjusting device, wherein the aircraft is sequentially provided with the first propeller, the second propeller, the power supply device, the control module and the center-of-mass adjusting device from top to bottom; the mass center adjusting device comprises a power supply box, wherein a battery is arranged in the power supply box; the inner wall of the power supply box is provided with a plurality of electromagnetic sheets, and the outer wall of the battery is provided with a plurality of permanent magnetic sheets; the control module controls the size and the direction of the magnetic field of the electromagnetic sheet and changes the position of the mass center of the aircraft. The battery with large mass proportion of the body is used as a mass center adjusting mechanism to change the attitude of the aircraft through electromagnetic field force, so that the movement of the single-shaft aircraft in any spatial direction is realized, and the purpose of controlling the flight is realized. Above-mentioned technical scheme adjusts the battery position through the electromagnetism piece and carries out centrobaric regulation, and the regulation effect is obvious, but the battery removes the in-process and easily appears contact failure scheduling problem and lead to the aircraft outage, and the battery still easily produces other motions such as rotation except the translation simultaneously, influences the stability and the precision of focus skew, causes adverse effect to the aircraft gesture.
Disclosure of Invention
The invention provides a single-shaft aircraft and a control method thereof, aiming at the problems of complex control mode and low attitude control stability in the prior art.
The utility model provides a single-axis aircraft, includes control module, casing, power module, screw module, power supply module, its characterized in that: the control module, the power supply module, the propeller module and the power supply module are arranged on the shell, the power supply module is electrically connected with the control module and the power supply module, the control module is in communication connection with the power supply module, and the power supply module is in transmission connection with the propeller module;
the single-shaft aircraft further comprises connecting arms, the connecting arms are electrically connected with the control module, the number of the connecting arms is at least three, the connecting arms are fixedly connected to the shell, and the connecting arms are uniformly arranged around a rotating shaft of the propeller module;
the connecting arm includes solenoid, track, counter weight, the track set up in inside the connecting arm, solenoid follows orbital length direction twines orbital the outside, the counter weight can the orbital removal, the material of counter weight is magnetic material.
The counterweight is made of a magnetic conductive material.
The counterweight is a sphere, and a gap is reserved between the counterweight and the inner wall of the track.
The connecting arm further comprises a distance sensor arranged inside the track, the distance sensor being configured to measure a distance between the counterweight and the distance sensor, the distance sensor being in communication with the control module.
And a metal sheath is arranged outside the coil.
The counterweight is in a strip shape and is a magnet.
The invention also provides a control method of the single-shaft aircraft, the single-shaft aircraft comprises a track, the outer side of the track is wound with an electromagnetic coil, and the inner side of the track is provided with a movable counterweight, and the control method of the single-shaft aircraft is characterized in that: and changing the position of the counterweight in the track by controlling the electrifying state of the electromagnetic coil.
Preferably, the counterweight is made of a magnetic conductive material, and the position of the counterweight in the track is changed by controlling the energizing position of the electromagnetic coil.
Preferably, the counterweight is a magnet, and the position of the counterweight in the track is changed by controlling at least one of the current position, the current direction and the current supply of the electromagnetic coil.
Preferably, a distance sensor for acquiring the position of the counterweight is arranged on the inner side of the track, and the energizing position of the electromagnetic coil is adjusted according to data acquired by the distance sensor.
The single-shaft aircraft provided by the invention has the following beneficial effects: the posture of the single-shaft aircraft is adjusted by controlling the electromagnetic coil, so that the control is convenient; meanwhile, the counterweight only moves in the track, so that the position of the counterweight is convenient to control, the gravity center of the aircraft is convenient to adjust, and the attitude of the aircraft is convenient to adjust; the position of the counterweight in the track is changed step by step, so that the attitude control of the aircraft is stable.
The single-shaft aircraft control method provided by the invention has the following beneficial effects: the position of the counterweight in the track is controlled through the electromagnetic coil, so that the gravity center of the aircraft can be conveniently controlled and adjusted, the realization is convenient, and the cost is low.
Drawings
FIG. 1 is a schematic overall structural view of one embodiment of a single-axis aircraft.
Fig. 2 is a schematic structural view of a propeller module and a power supply module of an embodiment of a single-axis aircraft.
FIG. 3 is a schematic view of a connecting arm configuration of an embodiment of a single-axis aircraft.
Fig. 4 is a schematic view of a connecting arm structure of another embodiment of a single-axis aircraft.
FIG. 5 is a schematic view of an aircraft for a single-axis aircraft control method.
In the figure: 1. a control module; 2. a connecting arm; 201. an electromagnetic coil; 2011. a first sub-coil; 2012. a second sub-coil; 2013. a third sub-coil; 2014. a fourth sub-coil; 2015. a fifth sub-coil; 2016. a sixth sub-coil; 2017. a seventh sub-coil; 2018. an eighth sub-coil; 2019. a ninth sub-coil; 20110. a tenth sub-coil; 20111. an eleventh sub-coil; 20112. a twelfth sub-coil; 20113. a thirteenth sub-coil; 202. a track; 203. balancing weight; 204. a distance sensor; 3. a housing; 4. a power supply module; 5. a propeller module; 5-1, positive oar; 5-2, reverse paddle; 6. a power supply module; 6-1, a positive paddle driving module; 6-2 and a reverse paddle driving module.
Detailed Description
The invention will be further described with reference to the following detailed description of the drawings.
It should be noted that, without conflict, any combination of the various embodiments or technical features described below may form a new embodiment.
The first embodiment is as follows:
as shown in fig. 1 and 3, the single-shaft aircraft comprises a control module 1, a casing 3, a power module 4, a propeller module 5 and a power supply module 6, and is characterized in that: the control module 1, the power supply module 4, the propeller module 5 and the power supply module 6 are arranged on the machine shell 3, the power supply module 4 is electrically connected with the control module 1 and the power supply module 6, the control module 1 is in communication connection with the power supply module 6, and the power supply module 6 is in transmission connection with the propeller module 5;
the single-shaft aircraft further comprises connecting arms 2, the connecting arms 2 are electrically connected with the control module 1, the number of the connecting arms 2 is at least three, the connecting arms 2 are fixedly connected to the shell 3, and the connecting arms 2 are uniformly arranged around a rotating shaft of the propeller module 5;
the connecting arm 2 comprises an electromagnetic coil 201, a rail 202 and a counterweight 203, wherein the rail 202 is arranged inside the connecting arm 2, the electromagnetic coil 201 is wound on the outer side of the rail 202 along the length direction of the rail 202, the counterweight 203 can move in the rail 202, and the counterweight 203 can move in the rail 202 under the action of the magnetic field of the electromagnetic coil 201.
Specifically, as shown in fig. 2, as an implementation manner of the present invention, the propeller module 5 includes a positive propeller 5-1 and a negative propeller 5-2, the power supply module 6 includes a positive propeller driving module 6-1 and a negative propeller driving module 6-2, the positive propeller driving module 6-1 is in transmission connection with the positive propeller 5-1, the negative propeller driving module 6-2 is in transmission connection with the negative propeller 5-2, the number of the connecting arms 2 is four, and the power supply module 6 is fixedly connected with the casing 3 through the four connecting arms 2. According to the concept of the present invention, the number of link arms 2 can be further increased or decreased, for example, the number of link arms 2 is decreased to 2 and two link arms are perpendicular to each other, the number of link arms 2 is increased to 6 and the link arms 2 are arranged at an angle of 60 degrees with the adjacent link arms 2; or the connecting arm 2 is further arranged in a direction not perpendicular to the rotation axis of the propeller module 5, so that the distance of the counterweight 203 in the connecting arm 2 with respect to the rotation axis can be changed.
Description of the principles of the invention: by controlling the energization position of the electromagnetic coil 201, a magnetic field is generated at the corresponding position; since the counterweight 203 is made of a magnetic material and is subjected to the action of magnetic force due to a magnetic field, the counterweight 203 is subjected to magnetic force of a corresponding magnitude and direction by controlling the energizing position of the electromagnetic coil 201, so that the counterweight 203 moves or stops in the rail 202, and the position of the counterweight 203 in the rail 202 is adjusted. For example, when the weight 203 is a magnetically permeable material, the magnetic field can attract the weight 203, attracting the weight to the vicinity of the coil that generates the magnetic field; when the counterweight 203 is a magnet, the magnetic field generated by the coil interacts with the magnetic field of the counterweight 203 to generate a force for moving the counterweight 203, so that the force applied to the counterweight 203 is adjusted by controlling the position, strength, direction and the like of the magnetic field, and the position of the counterweight 203 is adjusted. Since the rail is provided inside the connecting arm 2, and the connecting arm 2 is fixed to the housing 3, the movement of the counterweight 203 changes the position of the center of gravity of the single-axis aircraft as a whole, thereby adjusting the attitude of the single-axis aircraft. Further, the at least three connecting arms 2 can change the position of the counterweight 203 therein in three directions, thereby enabling the center of gravity of the single-axis aircraft to move around the rotation axis of the propeller module 5, ensuring the effectiveness of attitude adjustment of the single-axis aircraft.
The posture of the single-shaft aircraft is adjusted by controlling the electromagnetic coil 201, so that the control is convenient; meanwhile, the counterweight 203 only moves in the track 202, so that the position of the counterweight 203 is convenient to control, the gravity center of the aircraft is convenient to adjust, and the attitude of the aircraft is convenient to adjust; the counterweight 203 is influenced by the magnetic field and moves in the track 202, the moving speed of the counterweight 203 is convenient to control through the strength of the magnetic field, and meanwhile, the position of the counterweight 203 in the track 202 is continuously changed, so that the gravity center of the aircraft is continuously changed, the sudden change of the gravity center of the aircraft can be prevented, and the attitude control of the aircraft is stable.
The counterweight 203 is made of a magnetic conductive material. For example, the weight 203 may be a metal ball, and the current is applied to the local position of the electromagnetic coil 201, so that the magnetic field is generated at the local position of the electromagnetic coil 201, and the weight 203 moves closer to the local current application position under the influence of the magnetic field.
The counterweight 203 is a sphere, and a gap is reserved between the counterweight 203 and the inner wall of the track 202, so that the counterweight 203 can move in the track 202 conveniently, and the posture adjustment effect and speed are improved.
As shown in fig. 3, the connecting arm 2 further comprises a distance sensor 204, the distance sensor 204 is disposed inside the track 202, the distance sensor 204 is configured to measure the distance between the counterweight 203 and the distance sensor 203, and the distance sensor 204 is in communication with the control module 1. The distance between the counterweight 203 and the distance sensor 203 is measured by the distance sensor 204 to determine the position of the counterweight 203 in the rail 202, which facilitates the control module 1 to calculate the center of gravity of the single-axis aircraft and perform attitude control.
The outside of the coil 201 is provided with a metal sheath, so that the magnetic field of the coil 201 is prevented from influencing other parts of the single-axis aircraft, such as the communication, the positioning and the operation of a power device of the single-axis aircraft, and the operation stability of the single-axis aircraft is improved.
Example two:
in addition to the first embodiment, as shown in fig. 4, the weight 203 is replaced with a bar magnet. At this time, it is not necessary to adjust the current position of the electromagnetic coil 201, but only to adjust the current direction of the electromagnetic coil 201, thereby generating magnetic fields in different directions. Because the magnetic pole of the counterweight 203 is unchanged, the counterweight 203 is subjected to forces in different directions due to the change of the magnetic field defense line where the counterweight 203 is located, and then the counterweight 203 is driven to move in different directions, so that the effects of adjusting the position of the counterweight 203 and further adjusting the gravity center and the posture of the single-axis aircraft are achieved.
Example three:
on the basis of the first embodiment, as shown in fig. 3 or fig. 4, the electromagnetic coil 201 is sequentially subdivided into a plurality of sections along the length direction of the rail 202. In the present embodiment, the electromagnetic coil 201 is subdivided into thirteen sub-coils, which are a first sub-coil 2011, a second sub-coil 2012, a third sub-coil 2013, a fourth sub-coil 2014, a fifth sub-coil 2015, a sixth sub-coil 2016, a seventh sub-coil 2017, an eighth sub-coil 2018, a ninth sub-coil 2019, a tenth sub-coil 20110, an eleventh sub-coil 20111, a twelfth sub-coil 20112, and a thirteenth sub-coil 20113. By providing a multi-segmented solenoid 201, control of the multi-solenoid 201 is facilitated.
Example four:
a control method of a single-axis aircraft including a rail 202 having an electromagnetic coil 201 wound on an outer side and a movable counterweight 203 disposed on an inner side, characterized in that: by controlling the energization state of the electromagnetic coil 201, the position of the weight 203 in the rail 202 is changed.
Preferably, the counterweight 203 is made of a magnetic conductive material, and the position of the counterweight 203 in the track 202 is changed by controlling the energizing position of the electromagnetic coil 201.
Preferably, the counterweight 203 is a magnet, and the position of the counterweight 203 in the rail 202 is changed by controlling at least one of the position of the electromagnetic coil 201, the direction of the current, and whether the current is applied.
Preferably, a distance sensor 204 for acquiring the position of the counterweight 203 is arranged inside the track 202, and the current position of the electromagnetic coil 201 is adjusted according to data acquired by the distance sensor 204.
Preferably, the electromagnetic coil 201, the counterweight 203 and the track 202 are provided with a plurality of groups.
Next, a single-axis aircraft control method will be described based on the technical solution of the third embodiment.
The electromagnetic coils 201 are divided into a plurality of sections and are respectively controlled by the control module 1. The distance sensor 204 acquires the position of the counterweight 203, taking the case that the counterweight 203 is located at the thirteenth sub-coil 20113 at this time as an example, the control module 1 firstly controls the twelfth sub-coil 20112 to be electrified and generate a magnetic field, and the counterweight 203 is influenced by the magnetic field and moves to the position of the twelfth sub-coil 20112; when the counterweight 203 is located in the twelfth sub-coil 20112, the twelfth sub-coil 20112 is not electrified, the eleventh sub-coil 20111 is electrified to generate a magnetic field, and the counterweight 203 moves to the electromagnetic coil 20111 under the action of the magnetic field. By analogy, finally, when the counterweight 203 is displaced to the seventh sub-coil 2017, the counterweight stops, the seventh sub-coil 2017 is continuously electrified to generate a magnetic field, and the position of the counterweight 203 is fixed. When the attitude control such as pitching and rolling is not performed, the seventh sub-coil 2017 is always electrified, the other electromagnetic coils are not electrified, and the position of the counterweight 203 is kept unchanged.
The position of the counterweight 203 in the track 202 is controlled through the electromagnetic coil 201, so that the control and adjustment of the gravity center of the aircraft are facilitated, the implementation is convenient, and the cost is low.
When the pitching, rolling and attitude adjustment of the aircraft need to be controlled, the counterweight 203 is controlled to move to a corresponding position in the track 202 by the method, so that the gravity center of the aircraft is changed, and the effect of controlling the attitude of the aircraft is achieved.
The distance sensor 204 feeds back the position and the movement speed of the counterweight 203 to the control module 1 in real time, and the movement speed of the counterweight 203 can be controlled by increasing or decreasing the input power of the electromagnetic coil 201, so that a better attitude control effect is achieved.
The control of the attitude of the aircraft by controlling the solenoid 201 will be described in detail below.
As shown in fig. 5, for a single-axis aircraft adopting the form of four connecting arms 2, an aircraft body coordinate system is established, the number of the positive propeller 5-1 is e, the number of the negative propeller 5-2 is f, and the four connecting arms are a, b, c and d respectively.
In the flight of the aircraft, the flight direction of the aircraft is formed by the combination of the motions with 6 degrees of freedom. For each degree of freedom, the corresponding control method is as follows:
movement in the Z direction: the rotating speeds of the blades e and f are increased or decreased in an equivalent manner, the rotating speeds of the two blades are kept consistent, the torques of the two blades are equal, the directions of the two blades are opposite, and finally only upward resultant force exists, and the direction of the resultant force is opposite to that of gravity; the relative magnitude between the resultant upward force and the gravity is adjusted, so that the aircraft moves upwards, downwards or stops on the Z axis.
Rotation around the Z axis: taking clockwise rotation as an example, the rotating speed of the blade e is reduced, the rotating speed of the blade f is increased, the torque of the blade e is smaller than that of the blade f, the direction is clockwise tangential force, and the upward resultant force of the two blades is unchanged. The anticlockwise rotation is opposite to the method, the rotating speed of the blade e is increased, and the rotating speed of the blade f is reduced.
Moving in direction X, Y: taking the movement in the Y direction as an example, to make the aircraft move in the Y direction, the aircraft needs to rotate along the X axis, so that the resultant force of the blades e and f forms a certain angle with the Z axis and the Y axis, the component force of the resultant force of the blades e and f is parallel to the Z axis and the Y axis respectively, and the component force on the Y axis makes the aircraft move along the Y axis. When moving to the positive direction of the Y axis, the corresponding control method comprises the following steps: the balance weights 203 in the connecting arms a and c move along the positive direction of the Y axis, the gravity center of the aircraft deviates from the center of the machine body to the positive direction of the Y axis, and the aircraft inclines to the positive direction of the Y axis by taking the X axis as an axis, so that the resultant force of the blades e and f generates component force in the positive direction of the Y axis, and the aircraft moves to the positive direction of the Y axis. The movement in the Y-axis negative direction, the X-axis positive direction and the X-axis negative direction is the same as the method.
Finally, it should be noted that the above-mentioned contents are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, and that the simple modifications or equivalent substitutions of the technical solutions of the present invention by those of ordinary skill in the art can be made without departing from the spirit and scope of the technical solutions of the present invention.
Claims (9)
1. The utility model provides a single-axis aircraft, includes control module, casing, power module, screw module, power supply module, its characterized in that: the control module, the power supply module, the propeller module and the power supply module are arranged on the shell, the power supply module is electrically connected with the control module and the power supply module, the control module is in communication connection with the power supply module, and the power supply module is in transmission connection with the propeller module;
the single-shaft aircraft further comprises connecting arms, the connecting arms are electrically connected with the control module, the number of the connecting arms is at least three, the connecting arms are fixedly connected to the shell, and the connecting arms are uniformly arranged around a rotating shaft of the propeller module;
the connecting arm comprises an electromagnetic coil, a track and a counterweight, the track is arranged inside the connecting arm, the electromagnetic coil is wound on the outer side of the track along the length direction of the track, the counterweight can move in the track, and the counterweight is made of a magnetic material;
the electromagnetic coils are sequentially subdivided into a plurality of sections along the length direction of the track;
and a distance sensor for acquiring the position of the counterweight is arranged on the inner side of the track, and the electrifying position of the electromagnetic coil is adjusted according to data acquired by the distance sensor.
2. The single-axis aircraft of claim 1, wherein: the counterweight is made of a magnetic conductive material.
3. The single-axis aircraft of claim 2, wherein: the counterweight is a sphere, and a gap is reserved between the counterweight and the inner wall of the track.
4. The single-axis aircraft of claim 1, wherein: the connecting arm further comprises a distance sensor arranged inside the track, the distance sensor being configured to measure a distance between the counterweight and the distance sensor, the distance sensor being in communication with the control module.
5. The single-axis aircraft of claim 1, wherein: and a metal sheath is arranged outside the coil.
6. The single-axis aircraft of claim 1, wherein: the counterweight is in a strip shape and is a magnet.
7. A single-axis aircraft control method for the single-axis aircraft according to any one of claims 1 to 6, the single-axis aircraft including a rail on which an electromagnetic coil is wound on an outer side and a movable counterweight is provided on an inner side, the single-axis aircraft control method characterized in that: and changing the position of the counterweight in the track by controlling the electrifying state of the electromagnetic coil.
8. The single-axis aircraft control method of claim 7, wherein: the counterweight is made of a magnetic conductive material, and the position of the counterweight in the track is changed by controlling the electrifying position of the electromagnetic coil.
9. The single-axis aircraft control method of claim 7, wherein: the counterweight is a magnet, and the position of the counterweight in the track is changed by controlling at least one of the electrifying position, the current direction and the electrifying state of the electromagnetic coil.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110544488.4A CN113104204B (en) | 2021-05-19 | 2021-05-19 | Single-shaft aircraft and control method |
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| CN202110544488.4A CN113104204B (en) | 2021-05-19 | 2021-05-19 | Single-shaft aircraft and control method |
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| CN113104204B true CN113104204B (en) | 2022-03-11 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US11760471B2 (en) * | 2019-01-11 | 2023-09-19 | Dave Villard | Drone propeller apparatus |
| CN113570306B (en) * | 2021-07-21 | 2023-11-28 | 天之成科技(上海)有限公司 | Wisdom logistics system |
| CN114291254A (en) * | 2021-12-28 | 2022-04-08 | 中南大学 | A barycenter control system and stamp rotor craft for stamp rotor craft |
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| CN103072690A (en) * | 2013-01-23 | 2013-05-01 | 中国航空工业空气动力研究院 | Single-ducted coaxial rotor/propeller saucer-shaped aircraft |
| FR3006294A3 (en) * | 2013-05-28 | 2014-12-05 | Selex Es Spa | AIRCRAFT WITH A ROTATING VESSEL AND A CANNED BLOWOUT BELONGING TO THE CATEGORIES OF MINI AND MICRO DRONES |
| CN205391724U (en) * | 2016-03-07 | 2016-07-27 | 伍尚强 | Automatic rocking device |
| CN109733597A (en) * | 2019-03-06 | 2019-05-10 | 杭州电子科技大学 | A kind of remote-controlled coaxial double-oar single shaft aircraft |
| CN111409819A (en) * | 2020-04-13 | 2020-07-14 | 深圳市赛为智能股份有限公司 | Double-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle and control method thereof |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103072690A (en) * | 2013-01-23 | 2013-05-01 | 中国航空工业空气动力研究院 | Single-ducted coaxial rotor/propeller saucer-shaped aircraft |
| FR3006294A3 (en) * | 2013-05-28 | 2014-12-05 | Selex Es Spa | AIRCRAFT WITH A ROTATING VESSEL AND A CANNED BLOWOUT BELONGING TO THE CATEGORIES OF MINI AND MICRO DRONES |
| CN205391724U (en) * | 2016-03-07 | 2016-07-27 | 伍尚强 | Automatic rocking device |
| CN109733597A (en) * | 2019-03-06 | 2019-05-10 | 杭州电子科技大学 | A kind of remote-controlled coaxial double-oar single shaft aircraft |
| CN111409819A (en) * | 2020-04-13 | 2020-07-14 | 深圳市赛为智能股份有限公司 | Double-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle and control method thereof |
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