CN205060016U - Charge in air and promote two unmanned aerial vehicle systems of duration - Google Patents
Charge in air and promote two unmanned aerial vehicle systems of duration Download PDFInfo
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- CN205060016U CN205060016U CN201520835983.0U CN201520835983U CN205060016U CN 205060016 U CN205060016 U CN 205060016U CN 201520835983 U CN201520835983 U CN 201520835983U CN 205060016 U CN205060016 U CN 205060016U
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Abstract
The utility model provides a butt joint unmanned aerial vehicle 4 that charge in air and promote two unmanned aerial vehicle systems of duration, it relates to aircraft technical field, it contains female unmanned aerial vehicle, sub - unmanned aerial vehicle, the docking mechanism that charges in the air, female unmanned aerial vehicle, sub - unmanned aerial vehicle link together through the docking mechanism that charges in the air and form two unmanned aerial vehicle systems, charge in the air docking mechanism by fixed mounting the butt joint unmanned aerial vehicle 1 of female unmanned aerial vehicle below, fixed mounting in sub - unmanned aerial vehicle top. It can solve the continuation of the journey problem that has the unmanned aerial vehicle system now, can charge in the air, increases the continuation of the journey, reaches the purpose of unlimited continuation of the journey, perform tasks when solving 2 long boats of disconnect -type unmanned aerial vehicle realization of current use suspends defect, position inaccuracy defect, the load of solving current unmanned aerial vehicle can not be in a flexible way during with the boat changeable defect. (U /)
Description
Technical field:
The utility model relates to vehicle technology field, is specifically related to two Unmanned Aircraft Systems (UAS) that a kind of aerial charging promotes flying power.
Background technology:
Current Unmanned Aircraft Systems (UAS) on the market, maximum problem is continuation of the journey problem, no matter be the large boundary unmanned plane that occupation rate is the highest in the world at present, or the unmanned plane of some sector applications, generally civilian Unmanned Aircraft Systems (UAS) is more than 20 minute when navigating, and also only has 1-2 hour when the Unmanned Aircraft Systems (UAS) of sector application is navigated.And, do not continue a journey completely on the market at present very long, or the technology of unlimited continuation of the journey.
There is the patented technology that a kind of Unmanned Aircraft Systems (UAS) is continued a journey at present, allow unmanned plane execute the task flight in the sky to when soon not having electric, start the second frame unmanned plane heaven and perform same task, now first unmanned plane just starts automatically to make a return voyage to departure location or to the charging place of specifying, then this unmanned plane is about to begin charging, continued takeoff after charging complete, and then the second frame unmanned plane gets off charging again, circulation like this, reaches the object extending cruise duration; Certainly, when the charging of first unmanned plane, artificial charging can be taked, machine vision also can be used automatically to find to allow unmanned plane the ready position charged, then unmanned plane return ground rest on above realize automatic charging, contact charging or non-contacting wireless charging can be taked.
But, no matter be the above-mentioned any mode mentioned, when execution mission critical, always exist and interrupt or persistent discontinuous problem, because first unmanned plane and the second frame unmanned plane depart from, first unmanned plane does not have particular location during electricity, and not the second frame unmanned plane is come with regard to just in time corresponding position.Therefore, there is the coarse defect in Unmanned Aircraft Systems (UAS) continuation of the journey position in this continuation of the journey technology.
Meanwhile, the defect that the task of also there is execution is separated: such as, first unmanned plane shooting key video sequence or picture, now first unmanned plane does not have electricity, can only leave charging with pick up camera; Second frame unmanned plane again takes off with other pick up camera and executes the task; Here details exists interrupts, or must carry out merging treatment after returning, very loaded down with trivial details, easily omits key message.
In addition, same load, uses two frame unmanned planes of above-mentioned separation, when cannot realize long boat; If during same boat, be also to realize larger load.Therefore, the load of existing unmanned plane can not change flexibly with during boat.
Utility model content:
The purpose of this utility model is to provide two Unmanned Aircraft Systems (UAS) that a kind of aerial charging promotes flying power, and it can solve the continuation of the journey problem of existing Unmanned Aircraft Systems (UAS), can charge in the air, increases continuation of the journey, reaches the object of unlimited continuation of the journey; Solve the executing the task when realization of existing use 2 frame separation type unmanned plane is long navigates and interrupt defect, position inaccuracy defect; Defect that can not be flexible and changeable when solving the load of existing unmanned plane and navigate.
In order to solve the problem existing for background technology, the utility model is by the following technical solutions: it comprises female unmanned plane, sub-unmanned plane, to charge docking mechanism in the air, female unmanned plane, sub-unmanned plane are joined together to form two Unmanned Aircraft Systems (UAS) by aerial charging docking mechanism, and aerial charging docking mechanism is made up of the docking control mechanism be fixedly mounted on below female unmanned plane, the banjo be fixedly mounted on above sub-unmanned plane.
As further improvement of the utility model, described docking control mechanism comprises an installation chassis, installation chassis upper surface is installed with permanent seat, the end of permanent seat is provided with gear reduction box servomotor, the clutch end of gear reduction box servomotor is connected with slide rail, slide rail is provided with charging output precision positive terminal, the side of slide rail is provided with limit-switch positions sensor, the other end of permanent seat is provided with butt hole, and the both sides of butt hole are provided with fiber alignment success sensor assembly; The lower end of installation chassis is provided with the docking shell of taper, is provided with automatic focusing camera head module outside docking shell; The lower end of charging output precision negative pole end and slide rail is connected.
As further improvement of the utility model, described banjo is taper, and its upper end is ferrule, and the lower end of ferrule is provided with charging input module positive terminal, the banjo side inwall of ferrule lower end is provided with charging input module negative pole end.
As further improvement of the utility model, described charging output precision negative pole end, charging output precision positive terminal are all connected with the battery supply in female unmanned aerial vehicle control system, fiber alignment success sensor assembly, limit-switch positions sensor, gear reduction box servomotor all with the docking in female unmanned aerial vehicle control system/discharge linear drive motor control module to be connected, limit-switch positions sensor is connected with gear reduction box servomotor.
As further improvement of the utility model, described charging input module negative pole end, charging input module positive terminal are all connected with the charge circuit in sub-unmanned aerial vehicle control system, and charge circuit is connected with the battery supply of sub-unmanned plane.
Workflow of the present utility model is:
One, the docking flow process of female unmanned plane, sub-unmanned plane is:
1, the height transfixion first keeping sub-unmanned plane to hover certain, and female unmanned plane flies to the overhead of sub-unmanned plane, sub-unmanned plane is motionless;
2, automatic focusing camera head module is installed in female unmanned plane bottom, automatic focusing camera head module can do image recognition, adopt the technology of machine vision, find the position of sub-unmanned plane upper end banjo, after female unmanned plane finds the exact location of plug, namely fly to above sub-unmanned plane, vertically decline;
3, after banjo enters docking shell, once control system detects that camera focus is less than predetermined value, or be less than banjo height, control system is adjusted to docked flight pattern and is completed docking;
4, after fiber alignment success sensor assembly induction banjo puts in place, send signal, starter receiver drop-gear box servomotor, drive the locked banjo of slide rail;
5, when slide rail is in locked position, charging output precision positive terminal contacts with the ferrule of banjo end, thus is formed with the charging input module positive terminal of its lower end and be electrically connected; Charging output precision negative pole end, under the drive of slide rail, contacts to be formed with charging input module negative pole end and is electrically connected, and realizes the object that female unmanned plane antithetical phrase unmanned plane charges thus in the air;
6, when female unmanned plane, the docking of sub-unmanned plane, also can be the height transfixion keeping female unmanned plane to hover certain, and the below that sub-unmanned plane flies to female unmanned plane be docked.
Two, the separation process of female unmanned plane, sub-unmanned plane is:
I, a few minutes before unclamping, the rotor of promoter unmanned plane is started working;
When II, waiting for that the energy of sub-unmanned plane can support the task execution device of oneself weight and mounting, give an order to female unmanned plane;
III, now female unmanned plane starts starter receiver drop-gear box servomotor, drives slide rail to unclamp banjo;
IV, then female unmanned plane slowly and sub-unmanned plane have just departed from, and in the process that this departs from, can allow the height transfixion that female unmanned plane hovers certain, and sub-unmanned plane depart from;
The height transfixion that V, sub-unmanned plane also can be allowed to hover certain, because in order to ensure that the task execution device work mounted is not interrupted continuously, and female unmanned plane slowly up flies, and departs from docking mechanism, fly back replaced on ground battery or charging.
Three, in task process, during female unmanned plane et out of order, sub-unmanned plane can carry female unmanned plane and to fly back ground, adds the reliability of system.
Four, the above-mentioned docking of repetitive cycling, separation process work when can realize the long boat of two Unmanned Aircraft Systems (UAS), the object of aerial charging.
The beneficial effects of the utility model are:
1, solve the continuation of the journey problem of existing Unmanned Aircraft Systems (UAS), can charge in the air, increase continuation of the journey, no matter reach is any unmanned plane, when executing the task, can promote the cruise duration of existing unmanned plane.
2, solve the executing the task when realization of existing use 2 frame separation type unmanned plane is long navigates and interrupt defect, position inaccuracy defect.
Defect that can not be flexible and changeable when 3, solving the load of existing unmanned plane and navigate.
Accompanying drawing illustrates:
Fig. 1 is structural representation of the present invention,
Fig. 2 is structural representation when aerial charging docking mechanism is in the lock state in the present invention,
Fig. 3 is the bottom sectional view of Fig. 2,
Fig. 4 is the right elevation of Fig. 3,
Fig. 5 is structural representation when aerial charging docking mechanism is in release position in the present invention,
Fig. 6 is the bottom sectional view of Fig. 5,
Fig. 7 is the right elevation of Fig. 6,
Fig. 8 is the schematic circuit diagram of female unmanned plane in the present invention,
Fig. 9 is the schematic circuit diagram of neutron unmanned plane of the present invention,
Figure 10 is workflow diagram of the present invention,
Reference numeral:
1-female unmanned plane; 2-sub-unmanned plane; 3-charge docking mechanism in the air; 4-installation chassis; 5-slide rail; 6-banjo; 7-charging output precision negative pole end; 8-permanent seat; 9-charging output precision positive terminal; 10-charging input module negative pole end; 11-charging input module positive terminal; 12-docking shell; 13-ferrule; 14-butt hole;
A-docking control mechanism; S-limit-switch positions sensor; M-gear reduction box servomotor;
N-female unmanned plane rotor motor; M-motor speed control module one; E1-battery supply one; U1-female unmanned plane cpu motherboard; U2-voltage-current sensor module one; U3-gps receiver and compass module one; U4-fiber alignment success sensor assembly; U5-dock/discharge linear drive motor control module; U6-remote measurement radio transceiver chip one; U7-radio control receiver module one; U8-automatic focusing camera head module; T1-antenna one; T2-antenna two;
Z-sub-unmanned plane rotor motor; Y-motor speed control module two; E2-battery supply two; U9-camera module; U10-charge circuit; U11-vision signal sending module; U12-sub-unmanned plane cpu motherboard; U13-voltage-current sensor module two; U14-gps receiver and compass module two; U15-remote measurement radio transceiver chip two; U16-radio control receiver module two; U17-camera universal-joint control module; T3-antenna three; T4-antenna four; T5-antenna five.
Detailed description of the invention:
Below in conjunction with accompanying drawing, the utility model is described in detail.
In order to make the purpose of this utility model, technical scheme and advantage clearly understand, below in conjunction with the drawings and the specific embodiments, the utility model is further elaborated.Should be appreciated that detailed description of the invention described herein only in order to explain the utility model, and be not used in restriction the utility model.
With reference to Fig. 1-Figure 10, this detailed description of the invention is by the following technical solutions: it comprises female unmanned plane 1, sub-unmanned plane 2, aerial charging docking mechanism 3, female unmanned plane 1, sub-unmanned plane 2 are joined together to form two Unmanned Aircraft Systems (UAS) by aerial charging docking mechanism 3, and aerial charging docking mechanism 3 is made up of the docking control mechanism A be fixedly mounted on below female unmanned plane 1, the banjo 6 be fixedly mounted on above sub-unmanned plane 2.
With reference to Fig. 2-Fig. 5, described docking control mechanism A comprises an installation chassis 4, installation chassis 4 upper surface is installed with permanent seat 8, the end of permanent seat 8 is provided with gear reduction box servomotor M, the clutch end of gear reduction box servomotor M is connected with slide rail 5, slide rail 5 is provided with charging output precision positive terminal 9, the side of slide rail 5 is provided with limit-switch positions sensor S, the other end of permanent seat 8 is provided with butt hole 14, and the both sides of butt hole 14 are provided with fiber alignment success sensor assembly U4; The docking shell 12 of the lower end side of the being provided with cone of installation chassis 4; Charging output precision negative pole end 7 is connected with the lower end of slide rail 5, and is equipped with below installation chassis 4 by slideway.
With reference to Fig. 6, Fig. 7, described banjo 6 side of selecting cone, its upper end is a ferrule 13 vertically arranged, and the lower end of ferrule 13 is provided with charging input module positive terminal 11, the banjo 6 side inwall of ferrule 13 lower end is provided with charging input module negative pole end 12.
Described limit-switch positions sensor S is the limit switch composition being separately positioned on slide rail 5 top, terminal for a pair.
Described fiber alignment success sensor assembly U4 selects a pair docking success LED and a pair docking success diode composition.
Referring to Fig. 8, the control circuit of described female unmanned plane 1 comprises female unmanned plane rotor motor n, motor speed control module one m, battery supply one E1, female unmanned plane cpu motherboard U1, voltage-current sensor module one U2, gps receiver and compass module one U3, fiber alignment success sensor assembly U4, dock/discharge linear drive motor control module U5, remote measurement radio transceiver chip one U6, radio control receiver module one U7, automatic focusing camera head module U8, antenna one T1, antenna two T2, six female unmanned plane rotor motor n connect six motor speed control module one m respectively, several motor speed control module one m parallel with one another rear respectively with female unmanned plane cpu motherboard U1, battery supply one E1 connects, battery supply one E1 respectively with female unmanned plane cpu motherboard U1, voltage-current sensor module one U2 connects, voltage-current sensor module one U2, gps receiver and compass module one U3, remote measurement radio transceiver chip one U6, radio control receiver module one U7, automatic focusing camera head module U8 is all connected with female unmanned plane cpu motherboard U1, remote measurement radio transceiver chip one U6, radio control receiver module one U7 respectively with antenna one T1, antenna two T2 connects, charging output precision negative pole end 7, charging output precision positive terminal 9 is all connected with battery supply one E1, fiber alignment success sensor assembly U4, limit-switch positions sensor S, gear reduction box servomotor M all with dock/discharge linear drive motor control module U5 and be connected, limit-switch positions sensor S is connected with gear reduction box servomotor M, and limit-switch positions sensor S ground connection.Automatic focusing camera head module U8 is fixedly mounted on the outside of docking shell.
Referring to Fig. 9, the control circuit of described sub-unmanned plane 1 comprises sub-unmanned plane rotor motor z, motor speed control module two y, battery supply two E2, charge circuit U10, vision signal sending module U11, sub-unmanned plane cpu motherboard U12, voltage-current sensor module two U13, gps receiver and compass module two U14, remote measurement radio transceiver chip two U15, radio control receiver module two U16, camera universal-joint control module U17, camera module U9, antenna three T3, antenna four T4, antenna five T5, four unmanned plane rotor motor z connect four motor speed control module two y respectively, several motor speed control module two y parallel with one another rear respectively with battery supply two E2, sub-unmanned plane cpu motherboard U12 connects, battery supply two E2 respectively with charge circuit U10, camera universal-joint control module U17, camera module U9 connects, charging input module negative pole end 12, charging input module positive terminal 11 is all connected with charge circuit U10, voltage-current sensor module two U13, gps receiver and compass module two U14, remote measurement radio transceiver chip two U15, radio control receiver module two U16, camera universal-joint control module U17 is all connected with sub-unmanned plane cpu motherboard U12, and camera module U9 is connected with vision signal sending module U11, vision signal sending module U11 is connected with antenna five T5, remote measurement radio transceiver chip two U15, radio control receiver module two U16 is connected to antenna three T3, antenna four T4.
The principle of this detailed description of the invention is: fly to fixed point together with after before this female unmanned plane being docked with sub-unmanned plane; Now, female unmanned plane propeller rotational flight, and lower prescription unmanned plane does not start; After flying to work place, when by the time female unmanned plane battery electric quantity is soon not enough, the screw propeller of sub-unmanned plane starts, and female unmanned plane of top unclamps the sub-unmanned plane of below; Lower prescription unmanned plane is independently started working; Female unmanned plane returns to ground, changes battery; Female unmanned plane again flies to above sub-unmanned plane, carries out docking, locking with lower prescription unmanned plane after changing battery; After docking successfully, the screw propeller of sub-unmanned plane is out of service, and female unmanned plane starts antithetical phrase unmanned plane and charges.Because this docking operation can not more than 5 minutes, the electric quantity loss 10% of sub-unmanned plane, as long as the electricity of its battery supports about 5 minutes, ensure that docking operation is carried out smoothly.Female unmanned plane can charge by antithetical phrase unmanned plane, and general about 10 minutes, just can be full of the electricity of lose in sub-unmanned plane docking operation 10%, in the process, sub-unmanned plane screw propeller is actionless always.After being full of the electricity lost in sub-unmanned plane above-mentioned steps, until when the battery of female unmanned plane does not soon have an electricity, female unmanned plane returns to ground and changes battery, circulation Overall Steps above.Circulation like this, realizes the object of long-time continuation of the journey.
Referring to Figure 10, the workflow of this detailed description of the invention is:
Before a, task start, female unmanned plane 1, sub-unmanned plane 2 are checked;
B, two radio controllers to be opened;
C, female unmanned plane 1, sub-unmanned plane 2 are all placed on the ground, and are ensured spacing 10-20m, open the power supply of female unmanned plane 1 and sub-unmanned plane 2;
D, wait check that GPS locates LED state instruction, after the gps receiver of female unmanned plane 1, sub-unmanned plane 2 and compass module have all been located, the manually female unmanned plane 1 of docking and sub-unmanned plane 2;
E, offline mode switch is set by chief aviation pilot to two unmanned plane during flying pattern (in such a mode, only having the motor of female unmanned plane 1 to provide flying power);
F, under the control of chief aviation pilot, female unmanned plane 1 carries sub-unmanned plane 2 and takes off, simultaneously, the state of flight that two frame unmanned planes send, GPS locating data, orientation and vision signal are all controlled (in task, copilot also can make female unmanned plane 1 take off) by remote measurement radio transceiver chip;
In g, flight course, the battery electric quantity of the female unmanned plane 1 of voltage-current sensor module Real-Time Monitoring, sub-unmanned plane 2, if sub-unmanned plane 2 electricity is low, then whether controllers can be selected to allow female unmanned plane 1 work on: if allow female unmanned plane 1 work on, then when it sends the warning of low electricity, carry sub-unmanned plane 2 to fly back transmitter site, task completes; If allow female unmanned plane 1 quit work, then female unmanned plane 1 directly carries sub-unmanned plane 2 and to fly back transmitter site, and task completes;
If the female unmanned plane of h 1 sends the warning of low electricity, during without the need to continuing to execute the task, female unmanned plane 1 directly carries sub-unmanned plane 2 and to fly back transmitter site, and task completes; If female unmanned plane 1 sends the warning of low electricity, but when task still needs to continue, chief aviation pilot sends pre-offline mode signal, the motor of promoter unmanned plane 2 to two frame unmanned planes, makes it be supported the weight of self;
I, now, dock/discharge linear drive motor control module U5 and be in releasing position, unclamp the sub-unmanned plane 2 of below, female unmanned plane 1 will fly to rapidly the height of 15-25m above sub-unmanned plane 2, and sub-unmanned plane 2 continues task, female unmanned plane 1 flies back transmitter site, and automatic cut-off power;
J, copilot help female unmanned plane 1 to change new rechargeable battery, and opening power, wait for GPS location;
K, GPS locate successfully, and chief aviation pilot is by female unmanned plane setting docked flight pattern, and after the GPS location that female unmanned plane receives sub-unmanned plane and altitude information, female unmanned plane flies to 20 meters of above sub-unmanned plane position;
L, video frequency pick-up head are opened and are searched for sub-unmanned plane 2, female unmanned plane 1, once find sub-unmanned plane 2, is locked, control system can guide female unmanned plane 1 slowly to fly to sub-unmanned plane 2, once control system detects that camera focus is less than predetermined value, or the side's of being less than cone height, control system is adjusted to docked flight pattern and is completed docking, and side's cone mechanical location of two unmanned planes is corresponding;
M, now, if sub-unmanned plane 2 sends the warning of low electricity, then sub-unmanned plane 2 needs stop task immediately and fly back; If sub-unmanned plane 2 does not send the warning of low electricity, then work on, whether fiber alignment success sensor assembly U4 detects docking and puts in place;
If n docking puts in place, then berthing mechanism activates and locks sub-unmanned plane below, simultaneously, two pairs of charge power supply terminals combine, female unmanned plane 1 is charged to the battery of sub-unmanned plane 2 by charge circuit U10, and when battery is full of completely or safety timer reaches preset value, charging stops automatically; If dock not in place, then repeat step l;
O, fiber alignment success sensor assembly U4 sends and is butted into function signal to ground, and offline mode is become two unmanned plane during flying pattern by chief aviation pilot;
P, repetitive cycling step g-step o can realize the control of two Unmanned Aircraft Systems (UAS).
It should be noted last that, above detailed description of the invention and embodiment are only in order to illustrate the technical solution of the utility model and unrestricted, although be described in detail the utility model with reference to example, those of ordinary skill in the art is to be understood that, can modify to the technical solution of the utility model or equivalent replacement, and not departing from the spirit and scope of technical solutions of the utility model, it all should be encompassed in the middle of right of the present utility model.
Claims (5)
1. a charging in the air promotes two Unmanned Aircraft Systems (UAS) of flying power, it is characterized in that it comprises female unmanned plane, sub-unmanned plane, to charge docking mechanism in the air, female unmanned plane, sub-unmanned plane are joined together to form two Unmanned Aircraft Systems (UAS) by aerial charging docking mechanism, and aerial charging docking mechanism is made up of the docking control mechanism be fixedly mounted on below female unmanned plane, the banjo be fixedly mounted on above sub-unmanned plane.
2. a kind of aerial charging according to claim 1 promotes two Unmanned Aircraft Systems (UAS) of flying power, it is characterized in that described docking control mechanism comprises an installation chassis, installation chassis upper surface is installed with permanent seat, the end of permanent seat is provided with gear reduction box servomotor, the clutch end of gear reduction box servomotor is connected with slide rail, slide rail is provided with charging output precision positive terminal, the side of slide rail is provided with limit-switch positions sensor, the other end of permanent seat is provided with butt hole, the both sides of butt hole are provided with fiber alignment success sensor assembly, the lower end of installation chassis is provided with the docking shell of taper, is provided with automatic focusing camera head module outside docking shell, the lower end of charging output precision negative pole end and slide rail is connected.
3. a kind of aerial charging according to claim 1 promotes two Unmanned Aircraft Systems (UAS) of flying power, it is characterized in that described banjo is taper, its upper end is ferrule, the lower end of ferrule is provided with charging input module positive terminal, the banjo side inwall of ferrule lower end is provided with charging input module negative pole end.
4. a kind of aerial charging according to claim 2 promotes two Unmanned Aircraft Systems (UAS) of flying power, it is characterized in that described charging output precision negative pole end, charging output precision positive terminal is all connected with the battery supply in female unmanned aerial vehicle control system, fiber alignment success sensor assembly, limit-switch positions sensor, gear reduction box servomotor all with the docking in female unmanned aerial vehicle control system/discharge linear drive motor control module to be connected, limit-switch positions sensor is connected with gear reduction box servomotor.
5. a kind of aerial charging according to claim 3 promotes two Unmanned Aircraft Systems (UAS) of flying power, it is characterized in that described charging input module negative pole end, charging input module positive terminal is all connected with the charge circuit in sub-unmanned aerial vehicle control system, charge circuit is connected with the battery supply of sub-unmanned plane.
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| CN105270627A (en) * | 2015-10-27 | 2016-01-27 | 深圳市飞研智能科技有限公司 | Two-unmanned-aircraft system capable of being charged in air and improving endurance capability |
| CN106160135A (en) * | 2016-09-30 | 2016-11-23 | 安徽翼讯飞行安全技术有限公司 | The aerial charging device of unmanned plane |
| CN106160134A (en) * | 2016-09-30 | 2016-11-23 | 安徽翼讯飞行安全技术有限公司 | A kind of aerial charging device of unmanned plane |
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| CN105270627A (en) * | 2015-10-27 | 2016-01-27 | 深圳市飞研智能科技有限公司 | Two-unmanned-aircraft system capable of being charged in air and improving endurance capability |
| CN106716273A (en) * | 2016-07-28 | 2017-05-24 | 深圳市大疆创新科技有限公司 | A multirotor unmanned aerial vehicle and a controlling method thereof |
| CN106160135A (en) * | 2016-09-30 | 2016-11-23 | 安徽翼讯飞行安全技术有限公司 | The aerial charging device of unmanned plane |
| CN106160134A (en) * | 2016-09-30 | 2016-11-23 | 安徽翼讯飞行安全技术有限公司 | A kind of aerial charging device of unmanned plane |
| CN106927049B (en) * | 2017-03-10 | 2019-12-24 | 温州隆亨乳胶制品有限公司 | Takeoff device and mode of paraglider |
| CN106927049A (en) * | 2017-03-10 | 2017-07-07 | 佛山市神风航空科技有限公司 | The launching apparatus and mode of a kind of paraglider |
| CN107146966A (en) * | 2017-04-11 | 2017-09-08 | 歌尔科技有限公司 | Unmanned plane charging assembly, unmanned plane and unmanned plane automatic recharging method |
| CN107146966B (en) * | 2017-04-11 | 2023-08-04 | 歌尔科技有限公司 | Unmanned aerial vehicle charging assembly, unmanned aerial vehicle and unmanned aerial vehicle automatic charging method |
| US10442312B2 (en) | 2017-09-15 | 2019-10-15 | Wistron Corp. | Charging unmanned aerial vehicle, functional unmanned aerial vehicle and air-charging unmanned aerial vehicle set thereof |
| TWI678320B (en) * | 2017-09-15 | 2019-12-01 | 緯創資通股份有限公司 | Air charging uav unit and charging uav and functional uav thereof |
| CN110775241A (en) * | 2019-10-29 | 2020-02-11 | 中国科学院光电研究院 | Stratospheric airship butt joint system |
| CN110901876A (en) * | 2019-10-29 | 2020-03-24 | 北京航空航天大学云南创新研究院 | Air supplement system of stratospheric airship |
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