CN115593629A - Unmanned aerial vehicle with multiple machines connected in series - Google Patents
Unmanned aerial vehicle with multiple machines connected in series Download PDFInfo
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- CN115593629A CN115593629A CN202211385884.8A CN202211385884A CN115593629A CN 115593629 A CN115593629 A CN 115593629A CN 202211385884 A CN202211385884 A CN 202211385884A CN 115593629 A CN115593629 A CN 115593629A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D3/00—Aircraft adaptations to facilitate towing or being towed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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Abstract
The invention discloses an unmanned aerial vehicle with multiple serially connected machines, and relates to the technical field of unmanned aerial vehicles. The invention comprises the following steps: the system comprises a series tail end unmanned aerial vehicle, an electric energy transmission device, an electric energy supply device and a plurality of series middle unmanned aerial vehicles, wherein the series tail end unmanned aerial vehicle and the plurality of series middle unmanned aerial vehicles form a series cluster through the electric energy transmission device; the lift force centers of the multiple serially connected middle-section unmanned aerial vehicles are respectively provided with a movable connecting piece; the electric energy transmission device is connected with the serially connected tail-end unmanned aerial vehicle and the serially connected middle-section unmanned aerial vehicle in a multi-degree-of-freedom rotary manner through movable connecting pieces. The unmanned aerial vehicle has the advantages that the operation height of the unmanned aerial vehicles is higher, the horizontal crossing capability is strong, the turning is flexible, the endurance is longer, the tail unmanned aerial vehicle can have larger load capacity and high safety performance, and the emergency battery is arranged in the unmanned aerial vehicle and can provide emergency capacity after the electric energy transmission device fails.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle with multiple serially connected machines.
Background
The global high-rise buildings are continuously increased, more than 70 tens of thousands of high-rise buildings exist in China, high-rise fire fighting becomes the very requirement for urban safety, the operation height of the currently available high-rise jet trucks is limited, the site requirement is high, the preparation period is long, and the high-rise buildings all over the world do not have good rescue and fire extinguishing means. The existing fire-fighting unmanned aerial vehicle still has the following problems:
insufficient maximum flying height: with the too large weight of unmanned aerial vehicle load, can't reach higher floor.
The fire-fighting operation has limited orientation: unmanned aerial vehicle can only carry out the operation in one side that the building takes off, is subject to pipeline winding problem, can't carry out effective operation to the high building back and side, need remove ground carrier moreover, not only greatly reduced fire extinguishing efficiency, and other position carriers often are difficult to reach, and the wire winding takes place easily in unmanned aerial vehicle horizontal span's operating capability decline when loading goods and materials conveyer pipe: under the scenes that a delivery vehicle cannot enter old districts, urban forests and the like, the working efficiency is reduced.
The water pressure of the single stage is too high: when the operation height reaches hundreds of meters, the single-stage water pressure is too high, the requirement on the pressure bearing capacity of the pipeline is too high, the sealing and reliability are reduced, the pressure of the water pump is too high, and the working efficiency and the reliability of the system are influenced.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle with multiple serially connected machines, and solves the technical problems that the unmanned aerial vehicle in the prior art is large in load capacity, difficult to horizontally span due to material conveying and overlarge pressure to be born by a water pump for conveying materials.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a multi-machine tandem drone comprising: the system comprises a series-end unmanned aerial vehicle, an electric energy transmission device, an electric energy supply device and a plurality of series-middle unmanned aerial vehicles, wherein the series-end unmanned aerial vehicle and the plurality of series-middle unmanned aerial vehicles form a series cluster through the electric energy transmission device;
the lift force centers of the multiple serially connected middle-section unmanned aerial vehicles are respectively provided with a movable connecting piece;
the electric energy transmission device is rotatably connected with the series tail end unmanned aerial vehicle and the series middle section unmanned aerial vehicle in multiple degrees of freedom through movable connecting pieces;
electric energy transmission device equally divide and is connected with the terminal unmanned aerial vehicle of establishing ties, a plurality of series connection middle section unmanned aerial vehicle and electric energy supply device electricity respectively, and electric energy transmission device is used for transmitting the energy to the terminal unmanned aerial vehicle of establishing ties and series connection middle section unmanned aerial vehicle.
Optionally, electric energy transmission device and the integrative design of conveyer pipe area, the inner wall integrated into one piece formula in conveyer pipe area is provided with withstand voltage wire, and withstand voltage wire is connected with the terminal unmanned aerial vehicle of establishing ties and the unmanned aerial vehicle electricity in the middle section of establishing ties.
Optionally, the voltage-resistant conducting wire is connected with a redundant conducting wire in parallel, and the voltage-resistant conducting wire and the redundant conducting wire are respectively connected with the leakage current sensor and the change-over switch in series.
Optionally, the electric energy supply device includes material storage box and suspension energy supplement device, and the material storage box is connected with the conveyer pipe area, and the manipulator has been installed to suspension energy supplement device, and suspension energy supplement device passes through the manipulator and accomplishes the electrical connection with unmanned aerial vehicle, and suspension energy supplement device is used for providing the energy for unmanned aerial vehicle.
Optionally, one or more tandem middle section unmanned aerial vehicles are provided with pressure device.
Optionally, the pressurizing device is a liquid delivery pump, and the delivery pipe belt is connected with the liquid delivery pump.
Optionally, a spiral conveyer is arranged inside the conveying pipe belt, and the spiral conveyer is used for conveying materials in the pipeline.
Optionally, the last unmanned aerial vehicle of establishing ties and a plurality of series connection middle section unmanned aerial vehicle equally divide and do not are equipped with a plurality of lift subassembly.
Optionally, an insulating diaphragm is fixedly arranged on the inner wall of the conveying pipe belt, and the insulating diaphragm covers the inner wall of the conveying pipe belt.
The embodiment of the invention has the following beneficial effects:
1. unmanned aerial vehicle operation height is higher: through multimachine series system, can make a plurality of unmanned aerial vehicle undertake transportation thing load in grades, make a plurality of unmanned aerial vehicle gradable carry, through this hierarchical mode, to a certain extent, as long as constantly increase unmanned aerial vehicle's quantity, the material or the energy of transporting then can transmit to higher height.
2. The horizontal crossing capability is strong: because transmission device and series connection unmanned aerial vehicle's swing joint spare can make electric energy transmission device and unmanned aerial vehicle take place relative rotation, consequently can be so that the used pipeline of electric energy transmission device is the horizontal direction to realize the transmission is strideed across to the level.
3. The turning is flexible, the space free conveying capacity is high: because electric energy transmission device can make transmission device and unmanned aerial vehicle take place relative rotation with series connection unmanned aerial vehicle's swing joint spare to the used pipeline of transmission device is the hose, has improved unmanned aerial vehicle's space degree of freedom greatly, therefore unmanned aerial vehicle can turn in a flexible way at the flight in-process, and the position is unrestricted when making unmanned aerial vehicle operation.
4. Endurance is longer, can realize unlimited endurance theoretically: through multimachine series system, the required energy of every unmanned aerial vehicle can constantly be supplied to electric energy supply device, and unmanned aerial vehicle can realize unlimited continuation of the journey under lasting sufficient energy in theory.
5. Terminal unmanned aerial vehicle can possess great load capacity: the end is the terminal unmanned aerial vehicle of establishing ties, is equipped with high-power motor with it, and other unmanned aerial vehicles share load, and terminal unmanned aerial vehicle can have great bearing capacity.
6. The safety performance is high: because unmanned aerial vehicle possesses a plurality of lift force components, still possess safe flight ability under the condition that single even a plurality of lift force components damaged, the unmanned aerial vehicle of establishing ties also can hang through energy transmission device and descend at aerial safety when damaging, consequently compares current unmanned aerial vehicle's security higher, installs emergency battery in the unmanned aerial vehicle, can provide emergent ability after the electric energy transmission device inefficacy.
Of course, it is not necessary for any product to achieve all of the above advantages at the same time in the practice of the invention.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiment(s) of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a reference diagram of an operating state of an unmanned aerial vehicle system according to an embodiment of the present invention;
fig. 2 is a schematic view of a three-dimensional structure of a tandem middle-stage unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 3 is a cross-sectional view of a rigid conveyor belt according to one embodiment of the invention;
fig. 4 is a schematic diagram of an internal structure of a conveying belt according to an embodiment of the present invention.
Wherein the figures include the following reference numerals:
1-series tail end unmanned aerial vehicle, 2-electric energy transmission device, 3-electric energy supply device, 4-series middle section unmanned aerial vehicle, 5-movable connecting piece, 6-insulating diaphragm, 7-conveying pipe belt, 8-pressure-resistant lead, 9-leakage current sensor, 10-lifting component and 11-propeller.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
In order to keep the following description of the embodiments of the invention clear and concise, a detailed description of known functions and known parts of the invention is omitted.
Referring to fig. 1-4, in the present embodiment, a multi-machine serial cluster is provided, including: series terminal unmanned aerial vehicle 1, power transmission device 2, power supply device 3 and a plurality of series connection middle section unmanned aerial vehicle 4, a plurality of series terminal unmanned aerial vehicles 1 establish ties with a plurality of series connection middle section unmanned aerial vehicle 4 through power transmission device 2, a plurality of series connection middle section unmanned aerial vehicle 4 equally divide and do not are provided with swing joint spare 5, swing joint spare 5 is articulated with series connection middle section unmanned aerial vehicle 4, power transmission device 2 is connected in series terminal unmanned aerial vehicle 1 and the lift center of series connection middle section unmanned aerial vehicle 4, power transmission device 2 equally divide respectively with series terminal unmanned aerial vehicle 1, a plurality of series connection middle section unmanned aerial vehicle 4 and power supply device 3 electricity are connected, power transmission device 2 is used for transmitting energy to series terminal unmanned aerial vehicle 1 and series connection middle section unmanned aerial vehicle 4, swing joint spare 5 is located series connection unmanned aerial vehicle's lift center, power transmission device 2 runs through swing joint spare 5, power transmission device 2 includes conveying pipe area 7, conveying pipe area 7 can follow unmanned aerial vehicle's removal and take place the swing at unmanned aerial vehicle flight in-process, therefore swing joint spare 5 can cooperate conveying pipe area 7 and carry out certain rotation thereby can not disturb normal operation.
Insulating diaphragm 6 is fixed to the inner wall of conveying pipe area 7, and insulating diaphragm 6 covers the inner wall of conveying pipe area 7, and insulating diaphragm 6 realizes water and electricity isolation with the inside liquid of conveying pipe area 7 and withstand voltage wire 8, and the heat that produces is led to the resistance to compression simultaneously also can transmit the water in conveying pipe area 7, can not take place withstand voltage wire 8 overheat problem.
The unmanned aerial vehicle 1 at the tail end of the series connection and the unmanned aerial vehicles 4 at the middle sections of the series connection are respectively provided with a plurality of lift assemblies 10, the lift assemblies 10 are distributed on the periphery side of the unmanned aerial vehicle body, and the unmanned aerial vehicle is provided with the plurality of lift assemblies 10, so that the unmanned aerial vehicle still has safe flight capability under the condition that a single or even a plurality of lift assemblies 10 are damaged, and can also be hung in the air to safely land through an energy conveying device when the unmanned aerial vehicle in series connection is damaged, so that the unmanned aerial vehicle has higher safety compared with the existing unmanned aerial vehicle; the lift assembly 10 is referred to as a rotor of the drone.
The inner wall integrated into one piece formula of conveying pipe area 7 of this embodiment is provided with withstand voltage wire 8, withstand voltage wire 8 is connected with the terminal unmanned aerial vehicle 1 of series connection and 4 electricity of series connection middle section unmanned aerial vehicle, withstand voltage wire 8 has carried out that the wire more than two is parallelly connected, parallelly connected being equipped with redundant wire, when the wire broke down all the way, can carry out the electric energy with remaining part, the use of cutting off of trouble wire is close to the switching device realization of unmanned aerial vehicle one side series connection on the wire. And the voltage-resistant lead 8 and the redundant lead are both connected with a leakage current sensor 9 in series and used for judging whether the electric energy transmission state is normal or not.
The leakage current sensor 9 of this embodiment is fixedly connected with the voltage-resistant wire 8 and the redundant wire, the leakage current sensor 9 is located on the inner wall of the conveying pipe belt 7, the leakage current sensor 9 is a device which converts the measured AC micro-current and DC micro-current into DC current and DC voltage according to the working principle of electromagnetic isolation and magnetic modulation of the mutual inductor, and isolates and outputs standard analog signals or digital signals, and can be used for measuring the insulation leakage current, and the product can be widely used for insulation monitoring of each loop.
To meet the requirements of different environments, the energy supply of the drone varies:
be ground power-generating cars when electric energy supply device 3, be equipped with the material storage box in the ground power-generating cars, delivery pipe area 7 is connected with the material storage box, and ground power-generating cars installs internally and has set up the energy generation unit, the energy generation unit can adopt the battery, use fossil fuel or other chemical mode to carry out other energy generation units that generate electricity, the energy generation unit carries out the electricity through electric energy transmission device 2 and foretell end unmanned aerial vehicle 1 in series connection and the middle section unmanned aerial vehicle 4 in series connection, delivery pipe area 7 adopts sealing washer and ceramic mechanical seal with the junction of material storage dolly, the built-in pump body that is equipped with of material storage dolly, the pump body can be carried the goods and materials to delivery pipe area 7 on, provide kinetic energy for transporting of goods and materials.
When the electric energy transmission device 2 breaks down, the following energy supply mode can be adopted, the electric energy supply device 3 comprises a material storage trolley and a suspension energy supplement device, the material storage trolley is connected with the conveying pipe belt 7, the joint of the conveying pipe belt 7 and the material storage trolley is sealed by a sealing ring and a ceramic machine, a pump body is arranged in the material storage trolley, and materials can be conveyed to the conveying pipe belt 7 by the pump body to provide kinetic energy for conveying the materials. The manipulator has been installed to suspension energy supplement unit, suspension energy supplement unit pass through the manipulator and accomplish with unmanned aerial vehicle's electrical connection, and when control suspension energy supplement unit arrived near the tie point of waiting the unmanned aerial vehicle of energy of filling, control manipulator and accomplish the butt joint on the tie point of unmanned aerial vehicle with the power plug grafting on the suspension energy supplement unit, can provide the energy for unmanned aerial vehicle.
This embodiment is fast more and avoid being located the inside pump body of material storage dolly to bear too big pressure in order to make transporting of goods and materials, consequently is provided with pressure device at one or more series connection middle section unmanned aerial vehicle 4, can make a plurality of unmanned aerial vehicles undertake transportation thing load in grades, makes a plurality of unmanned aerial vehicles carry in grades. Because the transported materials comprise a mixture of pure liquid and particle liquid, the conveying pipe belt 7 adopts a hose and a hard pipe, and uses a positioning technology based on GNSS-RTK to perform low-speed control on the serial unmanned aerial vehicle with 6 dimensionalities of the tail end three-dimensional position and the posture. The flight control system has two control modes: material conveying means with rigid connections and material conveying means without rigid connections (flexible conveying means). The following two cases thus arise:
example 1:
the pressurizing device is a liquid delivery pump, the delivery pipe belt 7 is connected with the liquid delivery pump, the liquid delivery pump adopts a centrifugal pump, and the delivery pipe belt 7 adopts a flexible delivery device to deliver pure liquid materials.
The control of the embodiment:
taking off: the whole serial unmanned aerial vehicle group is in a folded state, an unmanned aerial vehicle 1 (No. 1) at the tail end of the serial connection takes off firstly, the position of the unmanned aerial vehicle 1 is controlled according to the position of the unmanned aerial vehicle 2 (referring to the unmanned aerial vehicle 4 at the middle section of the serial connection) and the distance of hard connection, and the distance between the unmanned aerial vehicle 1 and the unmanned aerial vehicle 2 is ensured to be equal to the length of a material conveying device between the unmanned aerial vehicle 1 and the unmanned aerial vehicle 2; treat that No. 1 unmanned aerial vehicle rises to the air the back, no. 2 unmanned aerial vehicle takes off, and No. 1 unmanned aerial vehicle position is according to No. 2 unmanned aerial vehicle position and available space feasible region this moment, continuously revises, rises to the air until No. 2 unmanned aerial vehicle. By parity of reasoning, the takeoff process of all the unmanned aerial vehicles is completed.
The flight process is as follows: the tail end unmanned aerial vehicle is accurately positioned in position and posture, other unmanned aerial vehicles are gradually matched with the distance between the unmanned aerial vehicles, the position allows follow-up and certain errors, the course is basically consistent with the front and rear unmanned aerial vehicles, and the pitching and rolling postures keep the target control state. When the target position required to be reached is less than the total length of the transmission device, the target position is folded by a certain angle.
And (3) a landing process: and finally, the takeoff unmanned aerial vehicle lands first, the other unmanned aerial vehicles keep the position distance step by step and follow and land to a target position, and the target position is a designated point for folding and storing.
Example 2:
examining fig. 3 when a rigid conveyor belt 7 is required to transport the particulate liquid mixture, the interior of the conveyor belt 7 is provided with a screw conveyor for the transport of the material within the pipeline, the screw conveyor comprising a segmented propeller 11 and a motor controlling the rotation of the propeller 11, the motor being capable of controlling the rotation of the propeller 11 within the conveyor belt 7 to control the feeding of the particulate liquid mixture.
Control of the present embodiment:
taking off: each unmanned aerial vehicle electric energy transmission device 2 (probably contain soft banded material conveyor) rolls in the coiler before taking off, head unmanned aerial vehicle starts and takes off, its coiler emits electric energy transmission device 2 with following gradually, when No. 1 unmanned aerial vehicle rises to the length that is less than the transmission device that can emit a little apart from No. 2 unmanned aerial vehicle, no. 2 unmanned aerial vehicle rises to the air, and gradually emit electric energy transmission device 2, no. 1 unmanned aerial vehicle lasts to rise to the air or keep away from, keep No. 1 and No. 2 unmanned aerial vehicle apart from being less than 2 total lengths of electric energy transmission device between the two a little.
The flight process is as follows: the head unmanned aerial vehicle flies to the target position and the posture at a low speed, all the other unmanned aerial vehicles are in a following state, and the distance between the unmanned aerial vehicles is kept slightly smaller than the length of the electric energy transmission device 2. In the case that the total length is less than the total length of the conveying device, each section of the conveying device keeps the total length matched in a mode of sagging to some extent; in the case of a material transfer device, each energy transfer device section can be partially wound up on a winder.
And (3) a landing process: and finally, the takeoff unmanned aerial vehicle firstly lands to a landing point, and other unmanned aerial vehicles reversely follow. When the electric energy transmission device 2 descends, the winder synchronously winds the electric energy transmission device 2.
The above embodiments may be combined with each other.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Claims (9)
1. An unmanned aerial vehicle of multimachine series connection which characterized in that includes: series connection end unmanned aerial vehicle (1), electric energy transmission device (2), electric energy supply device (3) and a plurality of series connection middle section unmanned aerial vehicle (4), its characterized in that:
the series tail end unmanned aerial vehicle (1) and the plurality of series middle unmanned aerial vehicles (4) form a series cluster through the electric energy transmission device (2);
the lift force centers of the plurality of serially connected middle-section unmanned aerial vehicles (4) are respectively provided with a movable connecting piece (5);
the electric energy transmission device (2) is rotatably connected with the series tail end unmanned aerial vehicle (1) and the series middle section unmanned aerial vehicle (4) in multiple degrees of freedom through a movable connecting piece (5);
electric energy transmission device (2) equally divide and do not be connected with end unmanned aerial vehicle of establishing ties (1), a plurality of series connection middle section unmanned aerial vehicle (4) and electric energy supply device (3) electricity, and electric energy transmission device (2) are used for transmitting the energy to end unmanned aerial vehicle of establishing ties (1) and series connection middle section unmanned aerial vehicle (4).
2. An unmanned aerial vehicle with multiple unmanned aerial vehicles connected in series according to claim 1, wherein the power transmission device (2) is integrally designed with the conveying pipe belt (7), the inner wall of the conveying pipe belt (7) is integrally provided with a pressure-resistant wire (8), and the pressure-resistant wire (8) is electrically connected with the unmanned aerial vehicle (1) at the tail end of the series and the unmanned aerial vehicle (4) at the middle section of the series.
3. An unmanned aerial vehicle with multiple machines connected in series according to claim 2, wherein the voltage-resistant wire (8) is connected in parallel with a redundant wire, and the voltage-resistant wire (8) and the redundant wire are respectively connected in series with the leakage current sensor (9) and the switch.
4. An unmanned aerial vehicle with multiple machines connected in series according to claim 1, wherein the electric energy supply device (3) comprises a material storage box and a suspension energy supplement device, the material storage box is connected with the conveying pipe belt (7), the suspension energy supplement device is provided with a manipulator, the suspension energy supplement device is electrically connected with the unmanned aerial vehicle through the manipulator, and the suspension energy supplement device is used for providing energy for the unmanned aerial vehicle.
5. A multi-series unmanned aerial vehicle according to claim 1, wherein one or more of the series-connected intermediate unmanned aerial vehicles (4) is provided with pressurizing means.
6. A multi-unit series unmanned aerial vehicle according to claim 5, wherein the pressurizing means is a liquid transfer pump, and the transfer pipe belt (7) is connected to the liquid transfer pump.
7. A multi-machine series unmanned aerial vehicle according to claim 5, wherein the inside of the conveyor belt (7) is provided with a screw conveyor for transporting materials in the pipeline.
8. A multi-machine series unmanned aerial vehicle according to claim 1, wherein the series-end unmanned aerial vehicle (1) and the plurality of series-intermediate unmanned aerial vehicles (4) are each provided with a plurality of lift assemblies (10).
9. An unmanned aerial vehicle with multiple series-connected machines according to claim 1, wherein the inner wall of the conveying pipe belt (7) is fixedly provided with an insulating membrane (6), and the insulating membrane (6) covers the inner wall of the conveying pipe belt (7).
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| JP2019206235A (en) * | 2018-05-29 | 2019-12-05 | 株式会社荏原製作所 | High-altitude reaching device |
| US20220023685A1 (en) * | 2019-02-20 | 2022-01-27 | Ebara Corporation | Drone system |
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Application publication date: 20230113 |