CN115871922A - Multi-paddle tilting aircraft and flight control method thereof - Google Patents

Multi-paddle tilting aircraft and flight control method thereof Download PDF

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Publication number
CN115871922A
CN115871922A CN202211459780.7A CN202211459780A CN115871922A CN 115871922 A CN115871922 A CN 115871922A CN 202211459780 A CN202211459780 A CN 202211459780A CN 115871922 A CN115871922 A CN 115871922A
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China
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aircraft
wing
power paddle
paddle
tilting
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CN202211459780.7A
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Chinese (zh)
Inventor
刘则锋
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Chengdu Inverted Pendulum Technology Co ltd
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Chengdu Inverted Pendulum Technology Co ltd
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Priority to CN202211459780.7A priority Critical patent/CN115871922A/en
Publication of CN115871922A publication Critical patent/CN115871922A/en
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Abstract

The invention provides a multi-paddle tilting aircraft and a flight control method thereof, wherein the aircraft comprises an aircraft body, a left tilting wing fixed on the left side of the aircraft body, at least one left front power paddle and at least one left rear power paddle which are respectively fixed on two opposite sides of the left tilting wing, a right tilting wing fixed on the right side of the aircraft body, at least one right front power paddle and at least one right rear power paddle which are respectively fixed on two opposite sides of the right tilting wing, and an empennage group fixed on the tail part of the aircraft body, wherein the empennage group comprises a vertical empennage, a horizontal empennage and a horizontal empennage; the left front power paddle, the left rear power paddle, the right front power paddle and the right rear power paddle are used for realizing flight power and attitude control of vertical take-off, landing and cruising of the aircraft. The invention can independently tilt and rotate left and right, and has various actions according to flight conditions; the invention can obtain the advantages of vertical take-off and landing, high-speed cruising, stable transition between vertical hovering and high-speed cruising and very high use economy.

Description

Multi-propeller tilting aircraft and flight control method thereof
Technical Field
The invention belongs to the technical field of aircrafts, and particularly relates to a multi-paddle tilting aircraft and a flight control method thereof.
Background
The aircraft generated under the requirement of civil microminiature manned aircraft which urgently needs to be developed and modernized to the air in the situation of global road traffic congestion has the characteristics of stronger maneuverability, capability of being driven by ordinary people and no need of multiple safety redundancy of a specific place such as an airport.
The existing aircraft can not realize hovering or maintain stable different aircraft postures in a low-speed state, the tilting rotor wing or the tilting paddle can not tilt the wingspan, and the tilting wingspan is also the integral tilting wingspan.
It is therefore necessary to design a new aircraft.
Disclosure of Invention
The invention aims to provide a multi-propeller tilting aircraft which can independently tilt left and right and can obtain vertical take-off and landing and high-speed cruising and a flight control method thereof.
The invention provides a multi-propeller tilting aircraft, which comprises an aircraft body, a left tilting wing, at least one left front power paddle, at least one left rear power paddle, a right tilting wing, at least one right front power paddle, at least one right rear power paddle and an empennage group, wherein the left tilting wing is fixed on the left side of the aircraft body; the left front power paddle, the left rear power paddle, the right front power paddle and the right rear power paddle are used for realizing flight power and attitude control of vertical take-off, landing and cruising of the aircraft.
Furthermore, the left front power paddle and the right front power paddle adopt positive paddles, the left rear power paddle and the right rear power paddle adopt negative paddles, or the left front power paddle and the right front power paddle adopt negative paddles, and the left rear power paddle and the right rear power paddle adopt positive paddles.
Furthermore, the left front power paddle and the left rear power paddle adopt a positive paddle, and the right front power paddle and the right rear power paddle adopt a negative paddle; or the left front power paddle and the left rear power paddle adopt reverse paddles, and the right front power paddle and the right rear power paddle adopt forward paddles.
Furthermore, the horizontal tail comprises a left horizontal tail fixed on the left side of the tail of the main body of the fuselage and a right horizontal tail fixed on the right side of the tail of the main body of the fuselage; the vertical tail is positioned between the left horizontal tail and the right horizontal tail.
Furthermore, the device also comprises a server, and the left tilt wing and the right tilt wing are respectively connected with the server through shafts.
Furthermore, the foldable wing structure also comprises an angle position sensor, wherein the angle position sensor is arranged in the left folding wing, the right folding wing, the left tilting wing and the right tilting wing.
Furthermore, the number of the left front power paddle and the number of the left rear power paddle are two, and the number of the right front power paddle and the number of the right rear power paddle are also two; or the front left power paddle and the rear left power paddle are four in number, and the front right power paddle and the rear right power paddle are four in number.
Furthermore, the foldable wing structure also comprises a left folding wing which is fixed on the outer side of the left tilting wing and can be folded relative to the left tilting wing and a right folding wing which is fixed on the outer side of the right tilting wing and can be folded relative to the right tilting wing.
The invention also provides a flight control method of the multi-paddle tilting aircraft, which comprises the following specific steps:
when the aircraft vertically takes off and lands, the left front power paddle, the left rear power paddle, the right front power paddle and the right rear power paddle are all kept in a state of being vertical to the ground with the left tilting wing and the right tilting wing; the left front power paddle, the left rear power paddle, the right front power paddle and the right rear power paddle rotate to generate lift force to float the aircraft, when the aircraft floats, the left tilting wing and the right tilting wing tilt forwards and backwards synchronously to enable the aircraft to move forwards or backwards, and when the aircraft tilts asynchronously, the aircraft rotates;
when the aircraft is in a cruising state, the left tilting wing and the right tilting wing deflect to be parallel to the ground, the left front power paddle, the left rear power paddle, the right front power paddle and the right rear power paddle become aircraft tension paddles, the lift force at the moment is provided by the left tilting wing and the right tilting wing, the lift force is changed when the left tilting wing and the right tilting wing synchronously deflect, and the rolling is realized when the left tilting wing and the right tilting wing asynchronously deflect; the horizontal tail rotor controls the course attitude of the aircraft, and the vertical tail wing controls the course of the aircraft.
Further, when the aircraft vertically takes off and lands, the rolling of the aircraft is realized by the lift difference between the left front power paddle and the left rear power paddle and the lift difference between the right front power paddle and the right rear power paddle.
The invention can independently tilt and rotate left and right, and has various actions according to flight conditions; the invention can obtain the advantages of vertical take-off and landing, high-speed cruising, stable transition between vertical hovering and high-speed cruising and very high use economy.
The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.
Drawings
Some specific embodiments of the invention will be described in detail hereinafter, by way of illustration and not limitation, with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:
FIG. 1 is a schematic structural view of a multi-bladed tilt aircraft useful in embodiments of the present invention;
fig. 2 is a schematic view of one of the folding wings of the multi-paddle tiltrotor aircraft used in an embodiment of the present invention.
Detailed Description
The invention relates to a multi-paddle tilting aircraft, wherein a power source of the multi-paddle tilting aircraft is a rechargeable battery or fuel oil.
As shown in fig. 1 and fig. 2, a multi-paddle tilting aircraft comprises a fuselage body 10, a left tilting wing 20 fixed on the left side of the fuselage body 10, at least one left front power paddle 21 and at least one left rear power paddle 22 fixed on the opposite sides of the left tilting wing 20, a left folding wing 23 fixed on the outer side of the left tilting wing 20 and foldable with respect to the left tilting wing 20, a right tilting wing 30 fixed on the right side of the fuselage body 10, at least one right front power paddle 31 and at least one right rear power paddle 32 fixed on the opposite sides of the right tilting wing 30, a right folding wing 33 fixed on the outer side of the right tilting wing 30 and foldable with respect to the right tilting wing 30, and a tail assembly fixed on the tail of the fuselage body 10; the left front power paddle 21, the left rear power paddle 22, the right front power paddle 31 and the right rear power paddle 32 realize flight power and attitude control of vertical take-off, landing and cruising of the aircraft.
Wherein the tail assembly comprises a left horizontal tail 40 fixed at the left side of the tail of the body 10, a right horizontal tail 50 fixed at the right side of the tail of the body 10, a vertical tail 60 fixed at the tail of the body 10 and positioned between the left horizontal tail 40 and the right horizontal tail 50, a horizontal tail rotor 70 fixed at the tail of the body 10, and a plurality of tail blades 71 fixed at the horizontal tail rotor 70.
The horizontal tail rotor 70 is horizontally arranged at the tail part of the aircraft, and the pitch of the tail rotor blade 71 is adjustable in positive and negative directions to realize adjustable positive and negative tension. The tail paddles 71 are 2 or more, e.g., 3 paddles, 4 paddles, 5 paddles, etc.
The left horizontal rear wing 40, the right horizontal rear wing 50 and the vertical rear wing 60 may be deflected as a whole or may be deflected using a part of the control surface.
The horizontal tail rotor 70 rotates at a constant speed, and the pitch of the tail rotor blades 71 and the left horizontal tail wing 40 and the right horizontal tail wing 50 synchronously act to generate lifting tension for controlling the attitude of the aircraft; the left horizontal rear wing 40 and the right horizontal rear wing 50 are arranged side by side to avoid the air passage of the horizontal tail rotor 70.
The vertical tail 60 is deflectable during cruise of the aircraft for correcting heading.
The left front power paddle 21, the left rear power paddle 22, the right front power paddle 31 and the right rear power paddle 32 are used as power paddles, the left front power paddle 21 and the left rear power paddle 22 are respectively fixed on two opposite sides of the left tilt wing 20, and the right front power paddle 31 and the right rear power paddle 32 are respectively fixed on two opposite sides of the right tilt wing 30; the left front power paddle 21, the left rear power paddle 22, the right front power paddle 31 and the right rear power paddle 32 can be ducts or open paddles.
The left front power paddle 21 and the right front power paddle 31 adopt positive paddles, the left rear power paddle 22 and the right rear power paddle 32 both adopt negative paddles, or the left front power paddle 21 and the right front power paddle 31 adopt negative paddles, and the left rear power paddle 22 and the right rear power paddle 32 both adopt positive paddles, so that reverse torque can be counteracted; or the left front power paddle 21 and the left rear power paddle 22 adopt positive paddles, and the right front power paddle 31 and the right rear power paddle 32 adopt negative paddles; or the left front power paddle 21 and the left rear power paddle 22 both adopt reverse paddles, and the right front power paddle 31 and the right rear power paddle 32 both adopt forward paddles, so that reverse torque can be offset.
The rolling flight of the aircraft during vertical take-off and landing is realized by the thrust difference between the left front power paddle 21 and the left rear power paddle 22 and the thrust difference between the right front power paddle 31 and the right rear power paddle 32. The thrust difference between the left front power paddle 21 and the right front power paddle 31, the thrust difference between the left rear power paddle 22 and the right rear power paddle 32, the left horizontal tail wing 40, the right horizontal tail wing 50 and the horizontal tail paddle 70 realize the horizontal attitude control of the aircraft together.
The number of the paddles provided to the left tilt wing 20 and the right tilt wing 30 is not limited to two, and four paddles may be provided to both the left tilt wing 20 and the right tilt wing 30, and they are added in pairs, and they are within the scope of the present invention.
Namely: the left front power paddle 21 and the left rear power paddle 22 are both provided with two, and the right front power paddle 31 and the right rear power paddle 32 are both provided with two; or the left front power paddle 21 and the left rear power paddle 22 are both provided with four, and the right front power paddle 31 and the right rear power paddle 32 are also both provided with four.
The left tilting wing 20 and the left folding wing 23 form a left wingspan of the aircraft, the right tilting wing 30 and the right folding wing 33 form a right wingspan of the aircraft, and the left wingspan and the right wingspan of the aircraft can not only tilt but also fold.
The folding wing of aircraft not only is used for accomodating but also is used for cruiser laborsavingly.
The left folding wing 23 and the right folding wing 33 are respectively installed at the outer sides of the left tilting wing 20 and the right tilting wing 30 and tilt synchronously with the corresponding tilting wings, and are folded backwards during storage or high-speed cruising to reduce the storage space or wind resistance.
The folding wings are not necessary options in the invention, and the technical effect of implementing the invention is not influenced by the unfolding.
The aircraft further comprises a servo (not shown), the left tilt wing 20 and the right tilt wing 30 are respectively connected with the servo through shafts, the left tilt wing 20 and the right tilt wing 30 can axially rotate for 360 degrees under the action of the servo mechanism, so that the left tilt wing 20, the right tilt wing 30, the left front power paddle 21, the left rear power paddle 22, the right front power paddle 31 and the right rear power paddle 32 synchronously deflect, and the deflection is used for vertical take-off and landing and cruise control of the aircraft.
The servo can be a motor servo or a hydraulic servo.
When the left tilt wing 20 and the right tilt wing 30 are deflected asynchronously, they are used for course correction at vertical take-off and landing and for aircraft roll at cruise.
The aircraft of the present invention further comprises angular position sensors which are provided in the left folding wing 23, the right folding wing 33, the left tilting wing 20 and the right tilting wing 30 so that the servo can accurately obtain the tilting or folding angle.
The flight control method of the aircraft comprises the following steps (specifically, taking four power paddles (specifically, a left front power paddle 21, a left rear power paddle 22, a right front power paddle 31 and a right rear power paddle 32) and one tail power paddle as an example):
when the aircraft vertically takes off and lands, 4 power paddles (specifically, a left front power paddle 21, a left rear power paddle 22, a right front power paddle 31 and a right rear power paddle 32) are all kept in a state vertical to the ground with the left tilting wing 20 and the right tilting wing 30, the 4 power paddles rotate at high speed to generate lift force to float the aircraft, when the aircraft floats, the left tilting wing 20 and the right tilting wing 30 synchronously tilt the aircraft forwards and backwards, the aircraft can rotate during asynchronous tilting, and the rolling of the aircraft can be realized by the lift force difference between the left front power paddle 21 and the left rear power paddle 22 and the lift force difference between the right front power paddle 31 and the right rear power paddle 32. Under the combined action of the lift difference between the left front power paddle 21 and the left rear power paddle 22, the lift difference between the right front power paddle 31 and the right rear power paddle 32 and the horizontal tail paddle 70, the change of the aerial attitude of the aircraft can be realized, and the attitude of the aircraft can be stably kept in a special state no matter what flight state the aircraft is, for example, the aircraft head faces downwards or upwards.
When the aircraft is in a cruising state, the left tilt wing 20 and the right tilt wing 30 deflect to be parallel to the ground, 4 power paddles become aircraft tension paddles, the lift force at the moment is provided by the left tilt wing 20 and the right tilt wing 30, the lift force is changed when the left tilt wing 20 and the right tilt wing 30 deflect synchronously, the rolling is realized when the asynchronous deflection is realized, the horizontal tail paddle 70 controls the course attitude of the aircraft, and the vertical tail paddle 60 controls the course of the aircraft.
With respect to the horizontal tail rotor 70, its function includes two aspects, first, active airflow control of aircraft attitude at hover and low speed cruise; second, the aircraft actively provides additional upward or downward thrust to maintain center of gravity balance when encountering fore-aft center of gravity shifts.
As for the folding wings, because the tilting wings used by the invention are designed to be wider due to the stability of adapting to low speed, larger resistance can be generated when the aircraft is cruising at high speed, and the sweepback of the folding wings can reduce the wind resistance, thereby realizing higher flight efficiency.
The implementation of safety redundancy of the aircraft allows one or more power systems to fail under the cruising state, and a driver can realize unpowered gliding by overriding the wingspan and the horizontal and vertical wings at the tail part, so that the flight safety in abnormal conditions is greatly improved.
The invention realizes the possibility that the aircraft maintains various different postures in any flight state: vertical take-off and landing and horizontal hovering, left and right wingspan tilting, horizontal cruise state, nose hovering up, nose hovering down, nose cruising up, and nose cruising down.
The lift force generated by the power paddle can be realized in a mode of changing the rotating speed, and can also be realized in a mode of changing the paddle moment at a constant speed.
The pitch of the horizontal tail rotor is adjustable, and is cooperated with the tilt wings, so that the possibility that the aircraft maintains various different postures in any flight state is realized, and the different stable airplane postures cannot be maintained in hovering or low-speed states by any existing aircraft; the invention can independently tilt and rotate left and right, and has various actions according to flight conditions; the wingspan of the aircraft can not only tilt, but also be folded; the invention can obtain the advantages of vertical take-off and landing, high-speed cruising, stable transition between vertical hovering and high-speed cruising and very high use economy.
Thus, it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been illustrated and described in detail herein, many other variations or modifications consistent with the principles of the invention may be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should be understood and interpreted to cover all such other variations or modifications.

Claims (10)

1. The multi-paddle tilting aircraft comprises an aircraft body (10), and is characterized by further comprising a left tilting wing (20) fixed on the left side of the aircraft body (10), at least one left front power paddle (21) and at least one left rear power paddle (22) fixed on the opposite sides of the left tilting wing (20) respectively, a right tilting wing (30) fixed on the right side of the aircraft body (10), at least one right front power paddle (31) and at least one right rear power paddle (32) fixed on the opposite sides of the right tilting wing (30) respectively, and an empennage group fixed on the tail of the aircraft body (10), wherein the empennage group comprises a vertical empennage (70), a horizontal empennage and a horizontal empennage (60); the left front power paddle (21), the left rear power paddle (22), the right front power paddle (31) and the right rear power paddle (32) realize flight power and attitude control of vertical take-off, landing and cruising of the aircraft.
2. Multi-oar tilting aircraft according to claim 1, wherein said front left (21) and front right (31) powered propellers are forward propellers, said rear left (22) and rear right (32) powered propellers are counter propellers or said front left (21) and front right (31) powered propellers are counter propellers, said rear left (22) and rear right (32) powered propellers are forward propellers.
3. The multi-bladed tilting aircraft according to claim 1, characterized in that said front left (21) and rear left (22) powered propellers employ positive, front right (31) and rear right (32) powered propellers employ negative; or the left front power paddle (21) and the left rear power paddle (22) adopt reverse paddles, and the right front power paddle (31) and the right rear power paddle (32) adopt positive paddles.
4. The multi-paddle tiltrotor aircraft according to claim 1, wherein the tailplane includes a left tailplane (40) fixed to a left side of a rear portion of the fuselage body (10) and a right tailplane (50) fixed to a right side of the rear portion of the fuselage body (10); the vertical tail (60) is located between the left horizontal tail (40) and the right horizontal tail (50).
5. Multi-oar tilting aircraft according to claim 1, further comprising a servo to which the left and right tilt wings (20, 30) are respectively connected by a shaft.
6. Multi-oar tilting aircraft according to claim 1, wherein there are two of said front left powered oar (21) and rear left powered oar (22), and two of said front right powered oar (31) and rear right powered oar (32); or the left front power paddle (21) and the left rear power paddle (22) are both provided with four, and the right front power paddle (31) and the right rear power paddle (32) are also both provided with four.
7. Multi-oar tiltrotor aircraft according to claim 1, further comprising a left folding wing (23) fixed outside the left tilt wing (20) and foldable with respect to the left tilt wing (20), and a right folding wing (33) fixed outside the right tilt wing (30) and foldable with respect to the right tilt wing (30).
8. Multi-paddle tiltrotor aircraft according to claim 7, further comprising angular position sensors provided in the left folding wing (23), the right folding wing (33), the left tilting wing (20) and the right tilting wing (30).
9. The method of controlling the flight of a multi-bladed tiltrotor aircraft according to any of claims 1 to 8, characterized in that it is carried out as follows:
when the aircraft vertically takes off and lands, the left front power paddle (21), the left rear power paddle (22), the right front power paddle (31) and the right rear power paddle (32) and the left tilt wing (20) and the right tilt wing (30) are kept in a state of being vertical to the ground; the left front power paddle (21), the left rear power paddle (22), the right front power paddle (31) and the right rear power paddle (32) rotate to generate lift force to float the aircraft, when the aircraft floats, the left tilting wing (20) and the right tilting wing (30) tilt forwards and backwards synchronously to enable the aircraft to move forwards or backwards, and when the aircraft tilts asynchronously, the aircraft rotates;
when the aircraft is in a cruising state, the left tilting wing (20) and the right tilting wing (30) deflect to be parallel to the ground, the left front power paddle (21), the left rear power paddle (22), the right front power paddle (31) and the right rear power paddle (32) become aircraft tension paddles, the lift force at the moment is provided by the left tilting wing (20) and the right tilting wing (30), the lift force is changed when the left tilting wing (20) and the right tilting wing (30) deflect synchronously, and the rolling is realized when the left tilting wing (20) and the right tilting wing (30) deflect asynchronously; the horizontal tail rotor (70) controls the course attitude of the aircraft, and the vertical tail rotor (60) controls the course of the aircraft.
10. The method of flight control for a multi-bladed tilting aircraft according to claim 9, characterized in that the lift difference between the front left (21) and rear left (22) powered paddles and the lift difference between the front right (31) and rear right (32) powered paddles effect the rolling of the aircraft when the aircraft is vertically taking off and landing.
CN202211459780.7A 2022-11-16 2022-11-16 Multi-paddle tilting aircraft and flight control method thereof Pending CN115871922A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211459780.7A CN115871922A (en) 2022-11-16 2022-11-16 Multi-paddle tilting aircraft and flight control method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211459780.7A CN115871922A (en) 2022-11-16 2022-11-16 Multi-paddle tilting aircraft and flight control method thereof

Publications (1)

Publication Number Publication Date
CN115871922A true CN115871922A (en) 2023-03-31

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CN202211459780.7A Pending CN115871922A (en) 2022-11-16 2022-11-16 Multi-paddle tilting aircraft and flight control method thereof

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