CN202966675U - Mooring system of multi-rotor unmanned aerial vehicle - Google Patents
Mooring system of multi-rotor unmanned aerial vehicle Download PDFInfo
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- CN202966675U CN202966675U CN2012206576105U CN201220657610U CN202966675U CN 202966675 U CN202966675 U CN 202966675U CN 2012206576105 U CN2012206576105 U CN 2012206576105U CN 201220657610 U CN201220657610 U CN 201220657610U CN 202966675 U CN202966675 U CN 202966675U
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Abstract
The utility model discloses a mooring system of a multi-rotor unmanned aerial vehicle. The mooring system comprises the multi-rotor unmanned aerial vehicle which is used as a mooring platform, a mooring cable and a ground device, wherein the mooring cable is connected with the multi-rotor unmanned aerial vehicle and the ground device, the multi-rotor unmanned aerial vehicle comprises a mooring power supply device, the mooring cable comprises a power transmission cable, the ground device comprises a ground power supply device, and the mooring power supply device is connected with the ground power supply device through the power transmission cable in the mooring cable. The mooring system of the multi-rotor unmanned aerial vehicle, disclosed by the utility model, has the characteristics that the structure is simple, the reliability is high, the hovering is stable, the use is convenient, the cost is low, and the like, and the problems commonly existing in respects such as stability, erecting convenience, using flexibility and using cost of the mooring platform are solved by applying a mooring mode to the multi-rotor unmanned aerial vehicle; and power can be continuously supplied for the mooring platform by a ground power supply through the power transmission cable in the mooring cable, and the long-time hovering of the multi-rotor unmanned aerial vehicle can be realized.
Description
Technical field
The utility model relates to the mooring system technical field, relates in particular to a kind of many rotor unmanned aircrafts mooring system.
Background technology
The unmanned vehicles such as balloon, dirigible and culvert type aircraft have the characteristics of vertical takeoff and landing and steadily hovering, are widely used as tethered platform in investigation, the field such as communicate by letter and take photo by plane.Although captive balloon or kite balloon airship can aloft be detained for a long time, its volume is very large, and blanketing gas is expensive, and maintenance cost is high.And the duct aircraft must use many heaving piles, and cost is high, set up and open complexity, and needs the larger place of setting up; During many heaving pile pending flights, standard of fuselage is towards fixing, can't according to the actual demand flexible rotating level of task towards, unless after aircraft is fallen, again rise after the heaving pile of all directions is moved to another level angle simultaneously, operation is trouble very; And must consider the balance weight of whole aircraft, otherwise can affect the stability of aircraft, the practical application of system has been proposed many restrictions; Because the self-stability of duct aircraft is limited, therefore require very high to the automatic control ability of Fu.
As seen, there is defective in tethered platform at the aspects such as alerting ability of economy, stability, the comfort feature that sets up comfort feature, mission payload carrying and practicality, use at present.
The utility model content
Based on this, the utility model provides a kind of many rotor unmanned aircrafts mooring system.
A kind of many rotor unmanned aircrafts mooring system comprises many rotor unmanned aircrafts, heaving pile and ground installation as tethered platform, and described heaving pile connects described many rotor unmanned aircrafts and described ground installation; Described many rotor unmanned aircrafts comprise the mooring supply unit, and described heaving pile comprises power transmission cable, and described ground installation comprises floor power supply device, and described mooring supply unit connects described floor power supply device by the power transmission cable in described heaving pile.
Compare with general technology, that many rotor unmanned aircrafts of the utility model mooring system has is simple in structure, reliability is high, it is stable to hover, the characteristics such as easy to use and with low cost, the mooring mode is applied on many rotor unmanned aircrafts, solved tethered platform in stability, set up comfort feature, use the ubiquitous problems in aspect such as alerting ability and use cost.Make ground power supply continuously to the tethered platform power supply by the power transmission cable in heaving pile, greatly extended the hang time of aircraft.
Description of drawings
Fig. 1 is the structural representation of many rotor unmanned aircrafts of the utility model mooring system;
Fig. 2 is the utility model mooring electric power system structural representation;
Fig. 3 is the structural representation of the utility model photoelectric comprehensive heaving pile;
Fig. 4 is the utility model mooring communication system architecture schematic diagram.
The specific embodiment
For further setting forth the technological means that the utility model takes and the effect that obtains, below in conjunction with accompanying drawing and preferred embodiment, to the technical solution of the utility model, know and complete description.
See also Fig. 1, be the structural representation of many rotor unmanned aircrafts of the utility model mooring system.Many rotor unmanned aircrafts of the utility model mooring system comprises many rotor unmanned aircrafts, heaving pile and ground installation as tethered platform, and described heaving pile connects described many rotor unmanned aircrafts and described ground installation; Described many rotor unmanned aircrafts comprise the mooring supply unit, and described heaving pile comprises power transmission cable, and described ground installation comprises floor power supply device, and described mooring supply unit connects described floor power supply device by the power transmission cable in described heaving pile.
As one of them embodiment, described power transmission cable is comprised of two wires that are included in described heaving pile, the two ends of two wires respectively with described mooring supply unit be connected floor power supply device and be connected.
As one of them embodiment, described floor power supply device comprises bridge rectifier circuit, boost booster circuit and the first filter circuit that connects successively, described bridge rectifier circuit connects the ac input end of described floor power supply device, and described the first filter circuit connects described power transmission cable;
As one of them embodiment, described mooring supply unit comprises interconnective step-down/mu balanced circuit and the second filter circuit, described step-down/mu balanced circuit connects described power transmission cable, and described the second filter circuit connects the dc output end of described mooring supply unit.
The function of mooring electric power system is to realize that ground power supply provides electric energy by heaving pile mission payload that carries on aircraft and the aircraft.See also Fig. 2, be mooring electric power system structural representation, the mooring electric power system comprises floor power supply device, heaving pile and carries at carry-on mooring supply unit.
Take four rotor unmanned aircrafts as example, the power of four rotor unmanned aircrafts derives from four DC machine fully and drives the blast that the screw propeller rotation produces.At present maximum take-off weight is at four rotor unmanned aircrafts of 6 kilograms of left and right, and the required overall average output power of its four DC machine is 700W approximately, more than total peak power can reach 1000W.If directly carry the 25V direct supply to aircraft by heaving pile, average current is 28A, and peak current can reach 56A.Obviously can carry the wire of so large electric current very thick, unit weight is very large, and the line loss that the conductor length increase causes is also very serious, is not fit to the SUAV (small unmanned aerial vehicle) mooring and uses.
High-power for electrical transmission in order to realize in the light-duty heaving pile of up to a hundred meters, must improve power supply voltage, reduce supply current.Designed booster circuit in the floor power supply device of mooring electric power system, the HVDC that the 220V source of AC that the outside is provided utilizes bridge rectifier in power factor correcting module (PFC) and boost booster circuit to be transformed to 360V is input to after filtering in the wire of light-duty photoelectric comprehensive heaving pile.The photoelectric comprehensive heaving pile use two cross sections approximately the wire of 0.2 square millimeter be sustainable transmission 3A(peak value 6A) electric current.The power conversion module of carrying on aircraft is HVDC step-down and voltage stabilizing output, with emergency battery and connect output, provides aircraft and mission payload required 25V direct supply after filtering.
In the surface power supply part, the power factor correcting module can adopt general PFC power module, and efficient is that 94%, 360V direct current maximum current output is 6A(horsepower output 2160W).
As one of them embodiment, described heaving pile is a photoelectric comprehensive heaving pile, and described photoelectric comprehensive heaving pile comprises cable core and sheath, and it is outer that described sheath is wrapped in described cable core, and described cable core is by 2 conductor wire, 2 optical fiber and aramid fiber is stranded forms.
See also Fig. 3, be the structural representation of photoelectric comprehensive heaving pile.The photoelectric comprehensive heaving pile can be by 2 cross-sectional area of conductor 0.2～0.4mm
2Electric wire, 2 B1.1 single mode tightly packaged fibers and aramid fiber is stranded forms, the outer bale breaking polyethylene of cable core, polyvinylchloride or polytetrafluoroethylsheath sheath.Heaving pile can bear the 100N pulling force, and conductor DC resistance is not more than 0.094 Ω/m, withstand voltage 1000V between insulated wire cores, and weight is 11g/m approximately.
As one of them embodiment, described mooring supply unit also comprises emergency battery, and described emergency battery is to be connected described the second filter circuit with the mode of the dc output end parallel connection of described mooring supply unit.
Take four rotor unmanned aircrafts as example, the power conversion module has replaced the battery part of former free flight four rotor unmanned aircrafts, step-down/mu balanced circuit wherein can adopt two in parallel uses of general 800W high power D C/DC Voltage stabilizing module, gross horsepower 1600W, efficient can reach more than 90%, and the input voltage applicable area is 200V～400V.Also keep the lithium cell of a low capacity in the airborne power supply conversion module, be used for surface power supply and meet accident and interrupt or the mooring electric power system provides electric energy to aircraft when breaking down, guarantee that aircraft has the time enough safe falling to go back to ground.Simultaneously, the emergency battery that is connected to power conversion module mouth also has the same function of large capacity energy-storage capacitor, can significantly provide high moment horsepower output in adjustment process in aircraft landing, attitude, more than can reaching 1000W.During normal operation, the mooring electric power system utilizes the electric energy that ground provides to charge for emergency battery, keeps battery to be in the full capacity state.Be not more than 10 minutes because aircraft highly returns to the ground required time from 300 meters, so the capacity of emergency battery only has former free flight four rotor unmanned aircrafts to carry 1/3rd left and right of capacity of cell, weight is 600g approximately.Whole power conversion module is not more than 1.2kg together with the structural housing total weight that is attached with the 100W radiating gill.
If be 700W by the required average power of the normal stagnant empty flight of aircraft, the mission payload power consumption is pressed 50W and is calculated, and airborne power supply conversion module average powr output is 750W, and can get airborne power supply conversion module horsepower input by conversion efficiency 90% is 833W; By the minimum input voltage 200V of power conversion module, can get maximum received current is 4.165A; According to heaving pile single wire electrical resistivity 0.094 Ω/m, and surface power supply output voltage 360V, the maximum bond cable length that can calculate the electric power system permission is (360V-200V) ÷ (0.094 Ω/m * 4.165A * 2)=204.3m.
Suppose that former free flight quadrotor carries capacity weight 2.5kg after the lithium cell of heavily about 1.8kg, after changing the 1.8kg battery into 1.2kg power conversion module, capacity weight rises to 3.1kg.Capacity weight comprises mission payload weight and heaving pile weight used from the aircraft to ground.Can draw carried bond cable length under different task load weight condition if the heaving pile unit weight is 11g/m, the maximum height that is detained is as table 1.
Maximum under table 1 different task load weight condition is detained height
| Mission payload weight (kg) | 2.5 | 2.0 | 1.5 | 1.0 | 0.9 |
| Can carry heaving pile weight (kg) | 0.6 | 1.1 | 1.6 | 2.1 | 2.2 |
| The maximum height (m) that is detained | 55 | 100 | 145 | 191 | 200 |
As one of them embodiment, described many rotor unmanned aircrafts also comprise the mooring communicator, described heaving pile also comprises the communications cable, and described ground installation also comprises terrestrial communication device, and described mooring communicator connects described terrestrial communication device by the communications cable in described heaving pile.
As one of them embodiment, the described communications cable is comprised of two optical fiber that are included in described heaving pile, the two ends of described two optical fiber respectively with described mooring communicator be connected terrestrial communication device and be connected.
As one of them embodiment, described terrestrial communication device comprises the first photoelectric conversion device, described mooring communicator comprises the second photoelectric conversion device, the two ends of two optical fiber respectively with described the first photoelectric conversion device be connected the second photoelectric conversion device and be connected.
As one of them embodiment, described the first photoelectric conversion device and described the second photoelectric conversion device are ethernet optical fiber transceiver or bearing optical fiber RF receiving and transmission module.
The function of mooring communication system is for providing the wide-band-message transmission path between wayside equipment and aircraft and mission payload.See also Fig. 4, be mooring communication system architecture schematic diagram, the mooring communication system comprises two photoelectric conversion devices, two optical fiber (being contained in light-duty photoelectric comprehensive heaving pile).One of them photoelectric conversion device is placed in wayside equipment, and another photoelectric conversion device is positioned in the aircraft mission payload.
Photoelectric conversion device in the mooring communication system can be that ethernet optical fiber transceiver can be also bearing optical fiber RF receiving and transmission module (ROF module).
If use ethernet optical fiber transceiver as photoelectric conversion device, can set up a Fast Ethernet data transmission channel by the optical fiber in heaving pile between wayside equipment and aircraft and mission payload, transfer rate can be from 10Mbps to 1000Mbps.This moment, whole mooring communication system was regarded a netting twine as.Fly the customer data (as multimedia messages such as image, audio frequency) of control information and mission payload generation all by this channel transfer.
If use bearing optical fiber RF receiving and transmission module (ROF module) as photoelectric conversion device, can set up by the optical fiber in heaving pile two radio-frequency transmission channels between wayside equipment and aircraft and mission payload, radio frequency bandwidth can reach 25MHz～3GHz, and is even higher.This moment, whole mooring communication system was regarded two radio frequency coaxial-cables that Insertion Loss is very little as.Some wireless communication system antenna and radio-frequency front-end can be arranged on aircraft as mission payload in this way, be connected with the radio frequency interface of ground communications equipment by optical fiber and ROF module, realize the significantly rising of wireless communication system antenna, significantly enlarge the coverage of wireless communication system.This antenna rising technology has very wide application prospect in the tactical communication field.In addition, the control information that flies that aircraft is required also can be modulated on the radio frequency of different frequency range, and is rear by this channel transfer with the radiofrequency signal merging of radio communication.
As one of them embodiment, the rotor quantity of described many rotor unmanned aircrafts is four rotors, five rotors, six rotors, eight rotors or more.
Can not adopt ferry optics comunication and adopt wire cable signalling methods or communication to realize that the control that flies between aircraft and ground communicates by letter or user data transmission.
Fly to control the navigator fix mode and can adopt big-dipper satellite or other navigator fix means.
The surface power supply part can adopt DC supply to boost the output high pressure to heaving pile through Switching Power Supply; Be transferred to the airborne power supply module by heaving pile after also can using voltage transformer directly alternating-current voltage/AC voltage to be raise and carry out again rectification and step-down.
Photoelectric conversion device in the mooring communication system also optical signal to the transfer device of other electric signal, as the transfer device of light to RS232/RS485, light to vision signal etc.
Compare with general technology, that many rotor unmanned aircrafts of the utility model mooring system has is simple in structure, reliability is high, it is stable to hover, the characteristics such as easy to use and with low cost, the mooring mode is applied on many rotor unmanned aircrafts, solved tethered platform in stability, set up comfort feature, use the ubiquitous problems in aspect such as alerting ability and use cost.And, make ground power supply continuously to the tethered platform power supply by the power transmission cable in heaving pile, greatly extended the hang time of aircraft.
And the tethered platforms such as the captive balloon of the utility model and present application and kite balloon airship are compared, and heaving pile does not need to bear the effect of traction mooring.And in present tethered platform, heaving pile need to be born this effect usually, namely provides downward pulling force to tethered platform so that it keeps stable height and position.In the utility model, owing to having adopted the lightweight heaving pile, so heaving pile can be in the state of naturally drooping, and the flying power of tethered platform and self-stabilization all rely on many rotor unmanned aircrafts self to realize.Even aircraft is the heaving pile fracture that meets accident aloft the time, system will automatically switch to airborne emergency battery power supply, guarantee that aircraft steadily returns to ground safely.
As one of them preferred embodiment, can adopt four rotor unmanned aircrafts as tethered platform, four screw propellers of four rotor unmanned aircraft tethered platforms are symmetrically distributed in the aircraft periphery, and the center of gravity of aircraft is positioned at the central body position.Freely a sagging heaving pile neither affects the aircraft dynamic air-flow below body center, also can not affect the attitude adjustment of aircraft self, and make the decentralization of aircraft due to the deadweight of heaving pile, helps to improve the stagnant empty stability of aircraft.
It is in full accord with former free flight four rotor unmanned aircrafts that the attitude controlling mechanism of four rotor unmanned aircraft tethered platforms keeps, and namely completed by the self-contained flight control system of aircraft, do not rely on the traction of heaving pile to adjust and keep stable.
The utility model adopts the wall scroll heaving pile, and the set up inconvenience, stability that have solved that many heaving piles tractions of existing duct pending flight device bring are subject to the stagnant sky of impact, aircraft that heaving pile pulls towards adjusting many defectives such as inconvenient.
The mission payload of four rotor unmanned aircraft tethered platforms is equipped on the central lower position of body, as long as guarantee that center of gravity does not depart from body center's axle too far, need not to carry out special counterbalance design.And substantially unobstructed around this carry position, be convenient to place the mission payloads such as pick up camera, antenna.
Designed the emergency battery scheme in the mooring electric power system, solved the safety issue that prior art causes when surface power supply interruption or mooring power supply trouble.
In the utility model, heaving pile is not used in the traction of aircraft, and gravity and environment wind-force that the intensity of heaving pile only needs to bear self overhang get final product, thereby have designed a kind of light-duty photoelectric comprehensive heaving pile.This light-duty photoelectric comprehensive heaving pile has comprised two wires and two optical fiber, and unit weight is about 11g/m only.The lightweight of heaving pile can greatly alleviate the load of pending flight device, is convenient to realize the miniaturization of mooring unmanned aerial vehicle platform, and also multiplexing Mux reserves the load-carrying surplus in order to carry more.
The utility model has designed a kind of high-power mooring power supply plan that is applicable to light-duty heaving pile.This scheme is simple in structure, and is lightweight, is convenient to small-sized unmanned aircraft and carries.The actual test of hundreds of hours shows through accumulative total, and system works is reliable and stable.
The utility model has designed a kind of ferry optics comunication scheme, solves aircraft and terrestrial transmission bandwidth problem.By the Broadband emission passage that optical fiber is set up, can realize easily the passback of aerial high clear video image; Also can set up the antenna that the ROF system realizes wireless communication system and raise, enlarge communication coverage.
A whole set of four rotor unmanned aircraft tethered platforms can be put into approximately 1 meter cube of Portable packing box, can together be loaded in a miniature cross-country car with gen-set.Launch the place and be no more than 30 * 30 square meters, launch/remove to be no more than 20 minutes between the time receiving.Therefore system has good maneuvering performance.
Four rotor unmanned aircraft costs are lower, stable performance, easy to use, can be used for carrying out the multiple air taskings such as Data acquisition,, coordinative command, search, measurement, communication, detection, investigation.Have larger mission payload, stronger wind loading rating, outstanding attitude control ability.Four rotor unmanned aircrafts of comparative maturity adopt full carbon fiber airframe structure at present, be equipped with and fly to control navigation circuit card, 4 brushless motors, in conjunction with the GPS/INS navigationsystem of three-dimensional magnetometer, support 2.0B CAN bus, support full automaticity navigation flight at controls.Maximum take-off weight can reach 6kg.Four rotor unmanned aircraft mooring power supplies and communication system are no matter civilian or military aspect all has very considerable application prospect.
The above embodiment has only expressed several embodiment of the present utility model, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to the utility model the scope of the claims.Should be pointed out that for the person of ordinary skill of the art, without departing from the concept of the premise utility, can also make some distortion and improvement, these all belong to protection domain of the present utility model.Therefore, the protection domain of the utility model patent should be as the criterion with claims.
Claims (10)
1. rotor unmanned aircraft mooring system more than a kind, is characterized in that, comprises many rotor unmanned aircrafts, heaving pile and ground installation as tethered platform, and described heaving pile connects described many rotor unmanned aircrafts and described ground installation; Described many rotor unmanned aircrafts comprise the mooring supply unit, and described heaving pile comprises power transmission cable, and described ground installation comprises floor power supply device, and described mooring supply unit connects described floor power supply device by the power transmission cable in described heaving pile.
2. many rotor unmanned aircrafts mooring system according to claim 1, it is characterized in that, described many rotor unmanned aircrafts also comprise the mooring communicator, described heaving pile also comprises the communications cable, described ground installation also comprises terrestrial communication device, and described mooring communicator connects described terrestrial communication device by the communications cable in described heaving pile.
3. many rotor unmanned aircrafts mooring system according to claim 1, it is characterized in that, described power transmission cable is comprised of two wires that are included in described heaving pile, the two ends of two wires respectively with described mooring supply unit be connected floor power supply device and be connected.
4. many rotor unmanned aircrafts mooring system according to claim 2, it is characterized in that, the described communications cable is comprised of two optical fiber that are included in described heaving pile, the two ends of described two optical fiber respectively with described mooring communicator be connected terrestrial communication device and be connected.
5. the described many rotor unmanned aircrafts mooring system of any one according to claim 1 to 4, it is characterized in that, described heaving pile is a photoelectric comprehensive heaving pile, described photoelectric comprehensive heaving pile comprises cable core and sheath, it is outer that described sheath is wrapped in described cable core, and described cable core is by 2 conductor wire, 2 optical fiber and aramid fiber is stranded forms.
6. many rotor unmanned aircrafts mooring system according to claim 1 is characterized in that, the rotor quantity of described many rotor unmanned aircrafts is four rotors, six rotors, eight rotors or 16 rotors.
7. many rotor unmanned aircrafts mooring system according to claim 1, it is characterized in that, described floor power supply device comprises bridge rectifier circuit, boost booster circuit and the first filter circuit that connects successively, described bridge rectifier circuit connects the ac input end of described floor power supply device, and described the first filter circuit connects described power transmission cable;
Described mooring supply unit comprises interconnective step-down/mu balanced circuit and the second filter circuit, and described step-down/mu balanced circuit connects described power transmission cable, and described the second filter circuit connects the dc output end of described mooring supply unit.
8. many rotor unmanned aircrafts mooring system according to claim 7, it is characterized in that, described mooring supply unit also comprises emergency battery, and described emergency battery is to be connected described the second filter circuit with the mode of the dc output end parallel connection of described mooring supply unit.
9. many rotor unmanned aircrafts mooring system according to claim 4, it is characterized in that, described terrestrial communication device comprises the first photoelectric conversion device, described mooring communicator comprises the second photoelectric conversion device, the two ends of two optical fiber respectively with described the first photoelectric conversion device be connected the second photoelectric conversion device and be connected.
10. many rotor unmanned aircrafts mooring system according to claim 9 is characterized in that, described the first photoelectric conversion device and described the second photoelectric conversion device are ethernet optical fiber transceiver or bearing optical fiber RF receiving and transmission module.
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| CN2012206576105U CN202966675U (en) | 2012-11-30 | 2012-11-30 | Mooring system of multi-rotor unmanned aerial vehicle |
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| CN2012206576105U CN202966675U (en) | 2012-11-30 | 2012-11-30 | Mooring system of multi-rotor unmanned aerial vehicle |
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| CN103101620A (en) * | 2012-12-31 | 2013-05-15 | 天津曙光敬业科技有限公司 | Heavy-load multi-rotor-wing unmanned helicopter |
| CN103144779A (en) * | 2012-11-30 | 2013-06-12 | 中国电子科技集团公司第七研究所 | Multi-rotor-wing unmanned aerial vehicle mooring system |
| CN104118559A (en) * | 2014-06-25 | 2014-10-29 | 中国人民解放军总装备部军械技术研究所 | Virtual mast used for scouting |
| CN106143913A (en) * | 2016-07-20 | 2016-11-23 | 江苏冰城氢能科技有限公司 | Take off vertically electric power system, fixed-wing unmanned plane and method of work |
| CN106394902A (en) * | 2016-10-28 | 2017-02-15 | 中航通飞华南飞机工业有限公司 | Ground-powered flight kart and system |
| CN109119738A (en) * | 2018-06-22 | 2019-01-01 | 北京北广科技股份有限公司 | A kind of rotor lift type vertical radiator |
| CN109623839A (en) * | 2018-12-24 | 2019-04-16 | 西南交通大学 | Power distribution station indoor equipment air-ground coordination inspection device and its method for inspecting |
| CN110282048A (en) * | 2019-07-05 | 2019-09-27 | 中电莱斯信息系统有限公司 | A kind of multi-purpose unmanned aerial vehicle acting trailer system |
| DE102018116163A1 (en) | 2018-07-04 | 2020-01-09 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Power supply for an aircraft and corresponding aircraft |
| CN111319786A (en) * | 2020-04-01 | 2020-06-23 | 中国人民解放军陆军工程大学 | Mooring type unmanned aerial vehicle power supply system and power supply method thereof |
| CN113232573A (en) * | 2021-06-02 | 2021-08-10 | 国网冀北电力有限公司检修分公司 | Anti-interference automatic inspection device for converter station valve hall |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103144779A (en) * | 2012-11-30 | 2013-06-12 | 中国电子科技集团公司第七研究所 | Multi-rotor-wing unmanned aerial vehicle mooring system |
| CN103144779B (en) * | 2012-11-30 | 2016-01-13 | 中国电子科技集团公司第七研究所 | Many rotor unmanned aircrafts mooring system |
| CN103101620A (en) * | 2012-12-31 | 2013-05-15 | 天津曙光敬业科技有限公司 | Heavy-load multi-rotor-wing unmanned helicopter |
| CN104118559A (en) * | 2014-06-25 | 2014-10-29 | 中国人民解放军总装备部军械技术研究所 | Virtual mast used for scouting |
| CN104118559B (en) * | 2014-06-25 | 2016-09-28 | 中国人民解放军总装备部军械技术研究所 | Scouting virtual mast |
| CN106143913B (en) * | 2016-07-20 | 2019-02-15 | 江苏冰城氢能科技有限公司 | Take off vertically power supply system, fixed-wing unmanned plane and working method |
| CN106143913A (en) * | 2016-07-20 | 2016-11-23 | 江苏冰城氢能科技有限公司 | Take off vertically electric power system, fixed-wing unmanned plane and method of work |
| CN106394902A (en) * | 2016-10-28 | 2017-02-15 | 中航通飞华南飞机工业有限公司 | Ground-powered flight kart and system |
| CN109119738A (en) * | 2018-06-22 | 2019-01-01 | 北京北广科技股份有限公司 | A kind of rotor lift type vertical radiator |
| DE102018116163A1 (en) | 2018-07-04 | 2020-01-09 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Power supply for an aircraft and corresponding aircraft |
| CN109623839A (en) * | 2018-12-24 | 2019-04-16 | 西南交通大学 | Power distribution station indoor equipment air-ground coordination inspection device and its method for inspecting |
| CN110282048A (en) * | 2019-07-05 | 2019-09-27 | 中电莱斯信息系统有限公司 | A kind of multi-purpose unmanned aerial vehicle acting trailer system |
| CN111319786A (en) * | 2020-04-01 | 2020-06-23 | 中国人民解放军陆军工程大学 | Mooring type unmanned aerial vehicle power supply system and power supply method thereof |
| CN113232573A (en) * | 2021-06-02 | 2021-08-10 | 国网冀北电力有限公司检修分公司 | Anti-interference automatic inspection device for converter station valve hall |
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