CN206615406U - The automatic auxiliary landing system of rotor wing unmanned aerial vehicle - Google Patents
The automatic auxiliary landing system of rotor wing unmanned aerial vehicle Download PDFInfo
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- CN206615406U CN206615406U CN201720286986.2U CN201720286986U CN206615406U CN 206615406 U CN206615406 U CN 206615406U CN 201720286986 U CN201720286986 U CN 201720286986U CN 206615406 U CN206615406 U CN 206615406U
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Abstract
The automatic auxiliary landing system of rotor wing unmanned aerial vehicle disclosed in the utility model, system is made up of ground landing base station and landing auxiliary gondola；The ground landing base station includes main body frame, DC power supplier, control module, workbench, GPS/ radio antennas, high power positioning lamp and metal landing net；The landing auxiliary gondola includes shell, transparent radome fairing, forward sight photographing module, ultrasonic ranging shooting integration module, micro treatment module, power module, anchor point, fixed cell and GPS/ wireless communication modules, routing algorithm built in the micro treatment module, the routing algorithm can generate flight path according to the GPS position information or light signal of two places.The utility model is applied widely, and cost is low, can auxiliary rotor unmanned plane complex condition automatic steady land and reclaim.
Description
Technical field
The utility model is related to rotor wing unmanned aerial vehicle technical field, and in particular to a kind of automatic auxiliary landing of rotor wing unmanned aerial vehicle
System.
Background technology
Rotor wing unmanned aerial vehicle is obtained widely with its high flexibility and relatively low landing condition requirement in civilian and military field
Development and application.Classical gyroplane unmanned plane, such as multi-rotor unmanned aerial vehicle, single rotor unmanned helicopter and coaxial to turning nobody
Helicopter plays important effect in terms of environmental monitoring, sea pollution monitoring, geography information collection is solved.Even if certainly
Today of dynamic flight control system increasingly maturation, such unmanned plane still governs it in taking off for complex condition with landing
Used in wider field.
Taken off on some complex conditions, such as sea mobile platform, mobile ground surface platform of jolting landing, to such
The flight control system and controllers of unmanned plane are still stern challenge.Traditionally, such unmanned plane is in automatic or people
When work operation landing, it is based primarily upon on artificial vision or unmanned plane simple sensor to control balance, at present still
Without a set of complete and effective solution.Under non-stable operating environment, the sight of people and single sensor are easy to
It is interfered, while in the final stage of landing, being imitated on ground under the collective effect with external disturbance, unmanned gyroplane is easy to hair
Life is toppled, and gently then blade is damaged, and heavy then to motor and carrying important instrument equipment causes to damage.
Utility model content
The purpose of this utility model is the automatic auxiliary landing system for providing a kind of rotor wing unmanned aerial vehicle, its scope of application
Extensively, cost is low, can auxiliary rotor unmanned plane complex condition automatic steady land and reclaim.
To achieve these goals, the technical solution of the utility model is as follows：
The automatic auxiliary landing system of rotor wing unmanned aerial vehicle, is made up of ground landing base station and landing auxiliary gondola；
Ground landing base station includes main body frame, DC power supplier, control module, workbench, GPS/ is wireless
Communication antenna, high power positioning lamp and metal landing net；The DC power supplier and control module are arranged at main body frame
Interior, the workbench is arranged on main body frame, and metal landing net is arranged in the middle of workbench, workbench both sides difference
Extend laterally out and a high power positioning lamp and a GPS/ radio antennas, the control are equipped with a cantilever, each cantilever
Module, high power positioning lamp and GPS/ radio antennas are connected with DC power supplier, and control module is also fixed with high power
Position lamp and the connection of GPS/ radio antennas；
The landing auxiliary gondola includes shell, transparent radome fairing, forward sight photographing module, the integrated mould of ultrasonic ranging shooting
Block, micro treatment module, power module, anchor point, fixed cell and GPS/ wireless communication modules, path built in the micro treatment module
Algorithm, the routing algorithm can generate flight path according to the GPS position information or light signal of two places；The transparent radome fairing pair
It is connected on the front end of shell；The forward sight photographing module is arranged in transparent radome fairing, the ultrasonic ranging shooting integration module,
Micro treatment module, power module and fixed cell are respectively positioned in shell；Outer casing bottom opens up a ranging window and stationary window, institute
Ultrasonic ranging shooting integration module is stated by the ultrasonic distance measuring radar that is connected with each other and camera is constituted over the ground, this is imaged over the ground
It is arranged on upside down at ranging window；The fixed cell stretches including several fixations that can be stretched out from stationary window grabs；Institute
Stating cover top portion and being provided with is used for the communication interface with UAV Flight Control chip communication, and above-mentioned cover top portion also sets up several
Anchor point for the auxiliary gondola that lands to be fixed on to unmanned motor spindle, the GPS/ wireless communication modules are fixed on outer casing back；
The forward sight photographing module, micro treatment module, fixed cell and GPS/ wireless communication modules connect with power module
Connect, the micro treatment module is also connected respectively with forward sight photographing module, fixed cell and GPS/ wireless communication modules；The ground
The GPS/ wireless communication modules of landing base station and landing auxiliary gondola are used to gps signal reception and wireless signal is received and dispatched.
The main body frame of the ground landing base station is rounded, and workbench is then annular, and workbench is with body frame
The circular edges of frame are that track can be rotatably set on main body frame, and the metal landing net can also rotate with workbench.
The ground landing base station also includes the direct current generator and speed changing control mechanism being arranged in main body frame, the direct current
Motor is connected with speed changing control mechanism with DC power supplier, and speed changing control mechanism is also connected with control module, the direct current
The output shaft of motor is set upward, and the output shaft is connected to drive workbench to rotate with workbench.
Wide-angle high-definition camera of the forward sight photographing module by head and on head is constituted, the head and wide-angle
High-definition camera is arranged in transparent radome fairing, and head and wide-angle high-definition camera are connected with micro treatment module respectively.
Grabbed in the fixed cell provided with three fixed stretch.
The shell of the landing auxiliary gondola is lightweight shell.
The cover top portion of the landing auxiliary gondola sets 4 anchor points.
The control method of the automatic auxiliary landing system of above-mentioned rotor wing unmanned aerial vehicle, comprises the following steps：
Step 1: rotor wing unmanned aerial vehicle sends landing request to landing auxiliary gondola；
Step 2: the micro treatment module of landing auxiliary gondola receives landing request, micro treatment module by its communication interface
Its GPS/ wireless communication module is controlled by the GPS position information where the information of rotor wing unmanned aerial vehicle to be landed and its to encrypt volume
The mode of code is sent；
Step 3: ground landing base station receives the drop of rotor wing unmanned aerial vehicle to be landed by its GPS/ wireless communication module
Fall after information, then cryptographically will confirm that information and the GPS location of ground landing base station are believed by GPS/ wireless communication modules
Breath is sent to rotor wing unmanned aerial vehicle；
Step 4: after the confirmation for aiding in gondola micro treatment module to receive landing of landing and after GPS position information, holding
The built-in routing algorithm of row, generates flight path, micro treatment module is constantly communicated with the flight control chip of rotor wing unmanned aerial vehicle,
The flight path of real-time update is sent to flight control chip, to guide rotor wing unmanned aerial vehicle to fly towards ground landing base station direction
OK；
Step 5: the control module of ground landing base station controls the direction of high power positioning lamp on workbench, make its right
The direction that quasi- rotor wing unmanned aerial vehicle arrives, while control module control GPS/ wireless communication modules are continuous and landing auxiliary gondola
GPS/ wireless communication modules are communicated, and the moment updates the GPS position information of both sides；
Step 6: when the distance of ground landing base station and rotor wing unmanned aerial vehicle is close to the working range of high power positioning lamp,
High power positioning lamp is opened in the control module control of ground landing base station, and drives it to be directed at rotor wing unmanned aerial vehicle, high power positioning
Lamp sends light positioning signal, while the forward sight photographing module for the auxiliary gondola that lands is started working, the lamp that search positioning lamp is sent
Optical signal, forward sight photographing module searches the micro treatment module that landing auxiliary gondola is transmitted the signal to after light signal, micro-
Processing module resolves light signal, to correct flight path；
Step 7: rotor wing unmanned aerial vehicle is reached behind position predetermined above the landing base station of ground, the ultrasound of landing auxiliary gondola
Ripple ranging shooting integration module is started working, and the position of guiding rotor wing unmanned aerial vehicle locking ground landing base station simultaneously constantly reduces high
Degree；
Step 8: when the relative altitude of landing auxiliary gondola and ground landing base station reaches preset value, landing auxiliary
Gondola micro treatment module is helped to control fixed cell to stretch out fixed telescopic claw, fixed telescopic claw catches on the metal of the centre of workbench
Landing net is landed；
Step 9: after the completion of rotor wing unmanned aerial vehicle lands, micro treatment module sends recovery command, landing auxiliary to fixed cell
Flexible grab of the fixation of gondola is packed up automatically.
After such scheme, the utility model has the beneficial effect that：Realize the rotor wing unmanned aerial vehicle under complex environment automatic
Landing and recovery, reduce the application difficulty of rotor wing unmanned aerial vehicle, have expanded the use environment condition of rotor wing unmanned aerial vehicle；This practicality is new
The ground landing base station of type all can flexibly be arranged in a variety of rotor wing unmanned aerial vehicle application scenarios with landing auxiliary gondola, not only should
It is wide with scope, and excessive transformation need not be done to existing equipment, reduce use cost.
The utility model is described further below in conjunction with drawings and the specific embodiments.
Brief description of the drawings
Fig. 1 is the schematic diagram that the utility model landing auxiliary hanging freight space is located at ground landing base station；
Fig. 2 is the stereochemical structure exploded view of the utility model ground landing base station；
Fig. 3 is the stereochemical structure exploded view of the utility model landing auxiliary gondola；
Fig. 4 is the overall schematic of the utility model ground landing base station；
Fig. 5 is the overall schematic of the utility model landing auxiliary gondola；
Fig. 6 is to carry the process schematic that landing aids in the rotor wing unmanned aerial vehicle of gondola to drop to ground landing base station.
Label declaration
Ground landing base station 1, main body frame 11, DC power supplier 12, control module 13, workbench 14, cantilever
141, GPS/ radio antennas 15, high power positioning lamp 16, metal landing net 17, direct current generator 18 and speed changing control mechanism
19, landing auxiliary gondola 2, shell, 21 ranging windows 211, stationary window 212, communication interface 213, transparent radome fairing 22, forward sight
Photographing module 23, head 231, wide-angle high-definition camera 232, ultrasonic ranging shooting integration module 24, ultrasonic distance measuring radar
241, camera 242, micro treatment module 25, power module 26, anchor point 27, fixed cell 28, fix to stretch and grab 281 over the ground,
GPS/ wireless communication modules 29, rotor wing unmanned aerial vehicle 3.
Embodiment
As shown in figure 1, the automatic auxiliary landing system for the rotor wing unmanned aerial vehicle that the utility model is disclosed, is landed base station by ground
1 constitutes with landing auxiliary gondola 2；
As shown in Figures 2 and 4, landing base station 1 in ground includes main body frame 11, DC power supplier 12, control module 13, work
Make platform 14, GPS/ radio antennas 15, high power positioning lamp 16 and metal landing net 17；DC power supplier 12 and control
Module 13 is arranged in main body frame 11, and workbench 14 is arranged on main body frame 11, and metal landing net 17 is arranged on work
Make in the middle of platform 14, the both sides of workbench 14 extend laterally out be equipped with a Gao Gong on a cantilever 141, each cantilever 141 respectively
The GPS/ radio antennas 15 of rate positioning lamp 16 and one, the ground landing control module 13 of base station 1, high power positioning lamp 16 and
GPS/ radio antennas 15 are connected with DC power supplier 12, control module 13 also with high power positioning lamp 16 and GPS/ without
Line communication antenna 15 is connected；Ground landing base station 1 also includes direct current generator 18 and the speed Control being arranged in main body frame 11
Mechanism 19, the direct current generator 18 is connected with speed changing control mechanism 19 with DC power supplier 12, speed changing control mechanism 19 also with
Control module 13 is connected, and the output shaft of direct current generator is set upward, and the output shaft is connected to drive work with workbench 14
Platform 14 rotates.
As shown in Figures 3 and 5, landing auxiliary gondola 2 includes shell 21, transparent radome fairing 22, forward sight photographing module 23, ultrasound
Ripple ranging shooting integration module 24, micro treatment module 25, power module 26, anchor point 27, fixed cell 28 and GPS/ radio communications
Module 29, routing algorithm built in micro treatment module 25, routing algorithm can give birth to according to the GPS position information or light signal of two places
Into flight path；Transparent radome fairing 22 is docked at the front end of shell 21；Forward sight photographing module 23 is arranged in transparent radome fairing, preceding
Constituted depending on wide-angle high-definition camera 232 of the photographing module 23 by head 231 and on head 231, the head 231 and wide-angle
High-definition camera 232 is arranged in transparent radome fairing 22, and head 231 and wide-angle high-definition camera 232 respectively with microprocessor
Module 25 is connected；Ultrasonic ranging shooting integration module 24, micro treatment module 25, power module 26 and fixed cell 28 are respectively positioned on
In shell 21；The bottom of shell 21 opens up a ranging window 211 and stationary window 212, ultrasonic ranging image integration module 24 by
The ultrasonic distance measuring radar 241 of interconnection and camera 242 is constituted over the ground, this over the ground camera 242 be arranged on ranging down
At window 211；Fixed cell 28 includes that fixations that several can stretch out from stationary window 212 are flexible to grab 281, and the present embodiment is consolidated
In order member 28 provided with three it is fixed flexible grabs 281, three fixation laid by triangle stretched that to grab 281 be that rotor wing unmanned aerial vehicle is more flat
Quietly land；The top of shell 21, which is provided with, is used for the communication interface 213 with UAV Flight Control chip communication, the communication interface
213 connection micro treatment modules 25, the above-mentioned top of shell 21, which also sets up several, to be used to landing auxiliary gondola 2 being fixed on unmanned plane
The anchor point 27 of bottom, GPS/ wireless communication modules 29 are fixed on the rear end of shell 21；After said structure, landing of the invention is auxiliary
Help gondola 2 in use, the bottom that unmanned plane is positioned at by anchor point 27 realize it is synchronous with unmanned plane fly, by signal wire from drop
Fall to aid in the communication interface of gondola 2 to be connected to the flight control chip of unmanned plane, realize the communication with rotor wing unmanned aerial vehicle.
Forward sight photographing module 23, micro treatment module 25, fixed cell 28 and GPS/ wireless communication modules 29 with power supply mould
Block 26 is connected, and micro treatment module 25 also connects respectively with forward sight photographing module 23, fixed cell 28 and GPS/ wireless communication modules 29
Connect, to control the work of other modules by micro treatment module 25；Ground land base station 1 with landing auxiliary gondola 2 GPS/ without
Line communication module 15,29 is used to gps signal and received and wireless signal transmitting-receiving.
In the present embodiment, the main body frame 11 of ground landing base station 1 is rounded, and workbench 14 is then annular, work
Platform 14 is can be rotatably set in by track of the circular edges of main body frame 11 on main body frame 11, and metal landing net 17 can also
Rotated with workbench 14, so just can easily adjust the direction of the high power positioning lamp 16 of the both sides of workbench 14.
In order to further reduce the load-carrying of rotor wing unmanned aerial vehicle, the shell 21 of landing auxiliary gondola 2 is lightweight shell.
For the rotor wing unmanned aerial vehicle stress balance that preferably explodes, the top of shell 21 of landing auxiliary gondola 2 sets 4 anchor points
27。
As shown in fig. 6, the control method of the automatic auxiliary landing system of above-mentioned rotor wing unmanned aerial vehicle, comprises the following steps：
Step 1: rotor wing unmanned aerial vehicle 3 sends landing request to landing auxiliary gondola 2；
Step 2: the micro treatment module 25 of landing auxiliary gondola 2 receives landing request, micro- place by its communication interface 213
Managing module 25 controls its GPS/ wireless communication module 29 to believe the GPS location where the information of rotor wing unmanned aerial vehicle to be landed and its
Breath is sent in the way of scrambled；
Step 3: ground landing base station 1 receives rotor wing unmanned aerial vehicle to be landed by its GPS/ wireless communication module 15
Landing information after, then by GPS/ wireless communication modules 15 cryptographically will confirm that information and ground are landed the GPS of base station 1
Positional information is sent to rotor wing unmanned aerial vehicle 3；
Step 4: the micro treatment module 25 of landing auxiliary gondola 2 is received after the confirmation of landing and GPS position information
Afterwards, built-in routing algorithm is performed, flight path, flight control chip of the micro treatment module 25 constantly with rotor wing unmanned aerial vehicle 3 is generated
Communicated, the flight path of real-time update is sent to flight control chip, to guide rotor wing unmanned aerial vehicle 3 towards ground landing base
Stand direction flight；
Step 5: the control module 13 of ground landing base station 1 controls the direction of high power positioning lamp 16 on workbench 14,
It is set to be directed at the direction that rotor wing unmanned aerial vehicle 3 arrives, while the continuous and landing of the control GPS/ of control module 13 wireless communication modules 15
The GPS/ wireless communication modules 29 of auxiliary gondola 2 are communicated, and the moment updates the GPS position information of both sides；
Step 6: the distance of ground landing base station 1 and rotor wing unmanned aerial vehicle 3 is close to the working range of high power positioning lamp 16
When, high power positioning lamp 16 is opened in the control of control module 13 of ground landing base station 1, and drives it to be directed at rotor wing unmanned aerial vehicle 3, high
Power allocation lamp 16 sends light positioning signal, while the forward sight photographing module 23 for the auxiliary gondola that lands is started working, search is fixed
The light signal that position lamp is sent, forward sight photographing module 23, which is searched, transmits the signal to landing auxiliary gondola after light signal
Micro treatment module 25, micro treatment module 25 resolves light signal, to correct flight path；
Step 7: rotor wing unmanned aerial vehicle 3 is reached behind the predetermined position in 1 top of ground landing base station, landing aids in the super of gondola 2
Sound ranging shooting integration module 24 is started working, and the position of the guiding locking of rotor wing unmanned aerial vehicle 3 ground landing base station simultaneously constantly drops
Low clearance；
Step 8: when the relative altitude of landing auxiliary gondola 2 and ground landing base station 1 reaches preset value, landing
Aid in the micro treatment module 25 of gondola 2 control fixed cell 28 to stretch out it and fix telescopic claw 28, fixed telescopic claw 28 catches on work and put down
The metal landing net 17 of the centre of platform 14 is landed；
Step 9: after the completion of rotor wing unmanned aerial vehicle 3 lands, micro treatment module 13 sends recovery command, drop to fixed cell 28
Fall to aid in the fixation telescopic claw of gondola 2 to pack up automatically.
It should be noted that the routing algorithm built in the utility model micro-control module 25, is not a kind of new algorithm,
This can generate the routing algorithm of flight path according to the GPS position information or light signal of two places, be obtained in routing algorithm
To extensive use, the utility model key is that setting up ground landing base station 1 and airborne aids in the mode of gondola 2, realizes
Sharing for ground/empty position information, recycles the routing algorithm to guide rotor wing unmanned aerial vehicle to land.
Specific embodiment of the utility model is these are only, not to the restriction of protection domain of the present utility model.It is all according to
The equivalent variations that the mentality of designing of this case is done, each fall within the protection domain of this case.
Claims (7)
1. the automatic auxiliary landing system of rotor wing unmanned aerial vehicle, it is characterised in that：By ground landing base station and landing auxiliary gondola group
Into；
The ground landing base station includes main body frame, DC power supplier, control module, workbench, GPS/ radio communications
Antenna, high power positioning lamp and metal landing net；The DC power supplier and control module are arranged in main body frame, institute
Workbench is stated on main body frame, metal landing net is arranged in the middle of workbench, workbench both sides difference is lateral
Extend and a high power positioning lamp and a GPS/ radio antennas are equipped with a cantilever, each cantilever, the control module,
High power positioning lamp and GPS/ radio antennas are connected with DC power supplier, control module also with high power positioning lamp and
GPS/ radio antennas are connected；
It is described landing auxiliary gondola include shell, transparent radome fairing, forward sight photographing module, ultrasonic ranging shooting integration module,
Calculate in micro treatment module, power module, anchor point, fixed cell and GPS/ wireless communication modules, path built in the micro treatment module
Method, the routing algorithm can generate flight path according to the GPS position information or light signal of two places；The transparent radome fairing docking
In the front end of shell；The forward sight photographing module is arranged in transparent radome fairing, ultrasonic ranging shooting integration module, micro-
Processing module, power module and fixed cell are respectively positioned in shell；Outer casing bottom opens up a ranging window and stationary window, described
Ultrasonic ranging images integration module by the ultrasonic distance measuring radar that is connected with each other and camera is constituted over the ground, the camera over the ground
It is arranged on down at ranging window；The fixed cell stretches including several fixations that can be stretched out from stationary window grabs；It is described
Cover top portion, which is provided with, is used for the communication interface with UAV Flight Control chip communication, and above-mentioned cover top portion also sets up several use
In the anchor point that the auxiliary gondola that lands is fixed on to unmanned motor spindle, the GPS/ wireless communication modules are fixed on outer casing back；
The forward sight photographing module, micro treatment module, fixed cell and GPS/ wireless communication modules are connected with power module, institute
Micro treatment module is stated also to be connected respectively with forward sight photographing module, fixed cell and GPS/ wireless communication modules；The ground landing
The GPS/ wireless communication modules of base station and landing auxiliary gondola are used to gps signal and received and wireless signal transmitting-receiving.
2. the automatic auxiliary landing system of rotor wing unmanned aerial vehicle as claimed in claim 1, it is characterised in that：Land base on the ground
The main body frame stood is rounded, and workbench is then annular, and workbench is rotatable using the circular edges of main body frame as track
Ground is arranged on main body frame, and the metal landing net can also rotate with workbench.
3. the automatic auxiliary landing system of rotor wing unmanned aerial vehicle as claimed in claim 2, it is characterised in that：Land base on the ground
Standing also includes being arranged on direct current generator and speed changing control mechanism in main body frame, the direct current generator and speed changing control mechanism with
DC power supplier is connected, and speed changing control mechanism is also connected with control module, and the output shaft of the direct current generator is set upward, and
The output shaft is connected to drive workbench to rotate with workbench.
4. the automatic auxiliary landing system of rotor wing unmanned aerial vehicle as claimed in claim 1, it is characterised in that：The forward sight images mould
Wide-angle high-definition camera of the block by head and on head is constituted, and the head and wide-angle high-definition camera are arranged at transparent
In radome fairing, and head and wide-angle high-definition camera are connected with micro treatment module respectively.
5. the automatic auxiliary landing system of rotor wing unmanned aerial vehicle as claimed in claim 1, it is characterised in that：In the fixed cell
Grabbed provided with three fixed stretch.
6. the automatic auxiliary landing system of rotor wing unmanned aerial vehicle as claimed in claim 1, it is characterised in that：The landing auxiliary hanging
The shell in cabin is lightweight shell.
7. the automatic auxiliary landing system of rotor wing unmanned aerial vehicle as claimed in claim 1, it is characterised in that：The landing auxiliary hanging
The cover top portion in cabin sets 4 anchor points.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720286986.2U CN206615406U (en) | 2017-03-23 | 2017-03-23 | The automatic auxiliary landing system of rotor wing unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720286986.2U CN206615406U (en) | 2017-03-23 | 2017-03-23 | The automatic auxiliary landing system of rotor wing unmanned aerial vehicle |
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| Publication Number | Publication Date |
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| CN206615406U true CN206615406U (en) | 2017-11-07 |
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ID=60233759
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| CN201720286986.2U Active CN206615406U (en) | 2017-03-23 | 2017-03-23 | The automatic auxiliary landing system of rotor wing unmanned aerial vehicle |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106809402A (en) * | 2017-03-23 | 2017-06-09 | 泉州装备制造研究所 | The automatic auxiliary landing system and its control method of rotor wing unmanned aerial vehicle |
| CN108860639A (en) * | 2018-05-21 | 2018-11-23 | 中宇航通（北京）科技有限公司 | A kind of unmanned plane warship method |
| CN110417457A (en) * | 2019-07-29 | 2019-11-05 | 北京信成未来科技有限公司 | A kind of unmanned plane cellular communication base stations selection method counted based on sliding window |
| CN111532444A (en) * | 2020-05-22 | 2020-08-14 | 徐州蓝湖信息科技有限公司 | A supplementary mechanism of taking off and land for unmanned aerial vehicle |
| CN113970933A (en) * | 2021-10-22 | 2022-01-25 | 中航通飞华南飞机工业有限公司 | Water surface landing auxiliary system of seaplane and control method |
| CN114194387A (en) * | 2022-01-05 | 2022-03-18 | 骈学超 | Coaxial reverse-propeller double-rotor type air moving runway |
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2017
- 2017-03-23 CN CN201720286986.2U patent/CN206615406U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106809402A (en) * | 2017-03-23 | 2017-06-09 | 泉州装备制造研究所 | The automatic auxiliary landing system and its control method of rotor wing unmanned aerial vehicle |
| CN106809402B (en) * | 2017-03-23 | 2023-04-07 | 泉州装备制造研究所 | Automatic auxiliary landing system of rotor unmanned aerial vehicle and control method thereof |
| CN108860639A (en) * | 2018-05-21 | 2018-11-23 | 中宇航通（北京）科技有限公司 | A kind of unmanned plane warship method |
| CN110417457A (en) * | 2019-07-29 | 2019-11-05 | 北京信成未来科技有限公司 | A kind of unmanned plane cellular communication base stations selection method counted based on sliding window |
| CN110417457B (en) * | 2019-07-29 | 2021-11-16 | 北京信成未来科技有限公司 | Unmanned aerial vehicle cellular communication base station selection method based on sliding window counting |
| CN111532444A (en) * | 2020-05-22 | 2020-08-14 | 徐州蓝湖信息科技有限公司 | A supplementary mechanism of taking off and land for unmanned aerial vehicle |
| CN113970933A (en) * | 2021-10-22 | 2022-01-25 | 中航通飞华南飞机工业有限公司 | Water surface landing auxiliary system of seaplane and control method |
| CN113970933B (en) * | 2021-10-22 | 2024-04-30 | 中航通飞华南飞机工业有限公司 | Water plane water surface landing auxiliary system and control method |
| CN114194387A (en) * | 2022-01-05 | 2022-03-18 | 骈学超 | Coaxial reverse-propeller double-rotor type air moving runway |
| CN114194387B (en) * | 2022-01-05 | 2023-06-20 | 骈学超 | Coaxial anti-oar double-rotor type sky removes runway |
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