CN207550503U - Lightweight unmanned plane and cluster cooperative system - Google Patents
Lightweight unmanned plane and cluster cooperative system Download PDFInfo
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- CN207550503U CN207550503U CN201721749881.2U CN201721749881U CN207550503U CN 207550503 U CN207550503 U CN 207550503U CN 201721749881 U CN201721749881 U CN 201721749881U CN 207550503 U CN207550503 U CN 207550503U
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- unmanned plane
- lightweight unmanned
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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Abstract
The utility model is related to a kind of lightweight unmanned plane and cluster cooperative system, lightweight unmanned plane includes：Several horn bars, one end of each horn bar are connect with fuselage；Wherein described horn bar is hollow structure, and air-charging lining is equipped in the hollow structure, and the gas that density is less than air is filled in the air-charging lining；The utility model is less than the gas of air with packing density, can be the lighter-than-air inert gas of the quality such as helium by being put into air-charging lining in the hollow structure of horn bar, and energy consumption is reduced to reduce the dead weight of lightweight unmanned plane, and then realize.
Description
Technical field
The utility model is related to lightweight unmanned plane fields, and in particular to a kind of cluster cooperative system.
Background technology
UAV is referred to as " lightweight unmanned plane "（“UAV”）, it is to utilize radio robot and the program provided for oneself
The not manned vehicle that control device manipulates.Lightweight unmanned plane is actually the general designation of unmanned vehicle, from technical standpoint
Definition can be divided into：Unmanned fixed wing aircraft, unmanned VTOL aircraft, unmanned airship, unmanned helicopter, more rotor flies for nobody
Row device, unmanned parasol etc..
Since lightweight unmanned plane is generally using battery powered, in order to improve cruising ability, the method for use is usually to improve
Battery capacity, but overall weight can be increased；Or make fuselage that new material be selected to make fuselage slimmer and more graceful, but cost is very high.
Therefore, it based on above-mentioned purpose, needs to design a kind of lightweight unmanned plane.
Utility model content
The purpose of this utility model is to provide a kind of lightweight unmanned plane, to reduce the dead weight of the body of lightweight unmanned plane, and then
Play the role of reducing flight energy consumption, extend cruising ability.
In order to solve the above-mentioned technical problem, the utility model provides a kind of lightweight unmanned plane, including：
Several horn bars, one end of each horn bar are connect with fuselage；Wherein
The horn bar is hollow structure, and air-charging lining is equipped in the hollow structure,
The gas that density is less than air is filled in the air-charging lining.
Further, the lightweight unmanned plane is more rotor lightweight unmanned planes；
The fuselage is cylindrical structure, and the junction of each horn bar and fuselage is equipped with rotating mechanism；
The rotating mechanism is driven by a stepper motor；
The Hall sensor for being adapted to detect for rotor motor rotation is equipped in each rotor；
After Hall sensor detects that a rotor motor breaks down, the main control module in the lightweight unmanned plane is suitable for
The fuselage angle of inclination obtained by the gyroscope in fuselage is to control corresponding stepper motor to adjust the distribution of horn bar, so that machine
Body restores balance state.
Further, the lightweight unmanned plane further includes：The GPS module that is electrically connected with the main control module, communication mould
Block and photographing module.
The beneficial effects of the utility model are that the utility model in the hollow structure of horn bar by being put into inflation
Lining, with packing density be less than air gas, can be the lighter-than-air inert gas of the quality such as helium, with reduce lightweight nobody
The dead weight of machine, and then realize reduction energy consumption.
Another aspect, the utility model additionally provide a kind of cluster cooperative system, to improve when lightweight unmanned plane works
Operating radius improves the collaboration capabilities of lightweight unmanned plane.
To solve the above-mentioned problems, this cluster cooperative system includes：
Several lightweight unmanned planes；And each lightweight unmanned plane is suitable for dispersion flight to find object, when wherein
After one lightweight unmanned plane finds object, the azimuth information to remaining lightweight unmanned plane object is sent by communication module,
So that remaining lightweight unmanned plane flies to the object.
Further, the antenna assembly in the communication module includes the antenna house on the outside of antenna and antenna；Wherein
The antenna house includes at least one metamaterial sheet, and
Each metamaterial sheet includes：The multiple sizes of first substrate and array arrangement on the first substrate are identical
Man-made microstructure；
The man-made microstructure includes square shape structure；
The center of the square shape structure is provided with decussate texture, and in every one side of the square shape structure
Portion is both provided with projection ends structure corresponding with each end of decussate texture.
Further, each metamaterial sheet further includes second substrate and third substrate；Wherein
The man-made microstructure of array arrangement is attached on the surface towards second substrate of the first substrate.
Further, the first substrate is suitable for being divided into multiple metamaterial units, wherein only being arranged in each metamaterial unit
There are one the man-made microstructures for cloth；And
The length of each metamaterial unit and it is wide be 12~15mm, the side of the man-made microstructure and the metamaterial unit
The distance between boundary is 0.15mm.
Further, the decussate texture includes vertically disposed first wire and the second wire；Wherein
The both ends of first wire are respectively arranged with the first metal micro structure of identical size, first metal
Micro-structure includes：Three decreasing dimensions metal lines run parallel lines and the metal frame for surrounding each parallel lines；
The both ends of second wire are respectively arranged with the second metal micro structure of identical size, second metal
Micro-structure includes：Three metal broken lines with size rearrange, and the bending angle of the metal broken line is 90 degree；
It is suitable for and the second gold medal with the projection ends structure at the middle part of the first wire opposite edge in the hollow structure
Belong to micro-structure same structure, be suitable for the projection ends structure at the middle part of the second wire opposite edge in the hollow structure
With the first metal micro structure same structure；And
The length of first wire and the second wire is identical.
The beneficial effects of the utility model are that each lightweight unmanned plane can be disperseed to fly by the utility model cluster cooperative system
Row to find object, when a wherein lightweight unmanned plane find object after, by communication module send to remaining lightweight nobody
The azimuth information of the machine object so that remaining lightweight unmanned plane flies to the object, expands search range, Jin Erti
High collaborative searching efficiency.
Description of the drawings
The utility model is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 is the structure diagram of the lightweight unmanned plane of the utility model；
Fig. 2 be the utility model lightweight unmanned plane in after a rotor motor breaks down, machine where remaining rotor motor
The mobile schematic diagram of armed lever；
Fig. 3 is the functional block diagram of the cluster cooperative system of the utility model；
Fig. 4 is the structure diagram of a metamaterial sheet of the antenna house of the utility model；
Fig. 5 is the structural representation for the antenna house that multiple metamaterial sheets shown in Fig. 4 stack the broadband metamaterial to be formed
Figure；
Fig. 6 is the structure diagram of the metamaterial sheet of one embodiment of the utility model；
Fig. 7 is the arrangement schematic diagram of the utility model man-made microstructure；
Fig. 8 is the schematic diagram of the utility model man-made microstructure.
In figure：
Horn bar 100, air-charging lining 101, rotor motor 102, fuselage 200, stepper motor 201, rotating mechanism 210, fan
Shape connector 211, shaft 212；
Metamaterial sheet 1, first substrate 10, second substrate 20, third substrate 30, man-made microstructure 40, square shape structure
41st, decussate texture 42, the first metal micro structure 421, the second metal micro structure 422.
Specific embodiment
The utility model is described in further detail presently in connection with attached drawing.These attached drawings are simplified schematic diagram,
Only illustrate the basic structure of the utility model in a schematic way, therefore it only shows the composition related with the utility model.
Embodiment 1
As shown in Figure 1, a kind of lightweight unmanned plane is present embodiments provided, including：
Several horn bars 100, one end of each horn bar 100 are connect with fuselage 200；Wherein
The horn bar 100 is hollow structure, and air-charging lining 101 is equipped in the hollow structure,
The gas that density is less than air is filled in the air-charging lining 101.
The utility model is less than sky by being put into air-charging lining 101 in the hollow structure of horn bar 100, with packing density
The gas of gas can be the lighter-than-air inert gas of the quality such as helium, to reduce the dead weight of lightweight unmanned plane, and then realize drop
Low energy consumption.
Fig. 1 is referred to, the lightweight unmanned plane is more rotor lightweight unmanned planes, can be three rotors, quadrotor or six
Rotor；The fuselage 200 is cylindrical structure, and event occurs in lightweight unmanned plane rotor motor 102 in flight course in order to prevent
After barrier stalling, the easy disequilibrium of lightweight unmanned plane crashes, therefore, the company of each horn bar 100 and fuselage 200 in the present embodiment
The place of connecing is equipped with rotating mechanism 210；The rotating mechanism 210 is driven by a stepper motor 201；It is equipped with and is adapted to detect in each rotor
The Hall sensor that rotor motor 102 rotates.
The present embodiment has rotor motor A, rotor motor B, rotor motor C and rotation by taking quadrotor lightweight unmanned plane as an example
Wing motor D, and above-mentioned rotor motor is connected to the shaft of stepper motor 201 by horn bar 100, fan-shaped connector 211
It on 212, is driven by stepper motor 201 and rotated in a certain range, rotational angle can be by taking rotor motor B as an example, if horizontal angle
It is 0 to spend, and rotational angle can be, but not limited to ± 30 °, and stepper motor 201 drives rotation in a certain range as shown in F.
After Hall sensor detects that a rotor motor breaks down, the main control module in the lightweight unmanned plane is suitable for
200 angle of inclination of fuselage obtained by gyroscope in fuselage 200 is to control corresponding stepper motor 201 to adjust horn bar 100
Distribution the state so that fuselage 200 restores balance.
As shown in Fig. 2, if a rotor motor C breaks down in lightweight unmanned plane, rotor motor B and rotor motor D institutes
Corresponding horn bar 100 moves respectively along F1 and F2 directions, so that each horn bar 100 is in 120 ° of angles, and then makes fuselage 200 extensive
Multiple equilibria state, and then prevent unmanned plane from remaining rotor motor being caused to cannot keep balance since a rotor motor breaks down,
Although having related algorithm it can be made to restore balance by changing the rotating speed of each rotor motor at present, a large amount of electricity can be consumed
Can, also, the rotational speed regulation range of rotor motor is made to narrow, resist the less able of air-flow.
The lightweight unmanned plane further includes：GPS module, communication module and the camera shooting being electrically connected with the main control module
Module.
The main control module can be, but not limited to using embeded processor.
Embodiment 2
On the basis of embodiment 1, the present embodiment 2 provides a kind of cluster cooperative system, including：
Several lightweight unmanned planes as described in Example 1；And each lightweight unmanned plane is suitable for dispersion flight to find mesh
Object is marked, after a wherein lightweight unmanned plane finds object, is sent by communication module to remaining lightweight unmanned plane object
Azimuth information so that remaining lightweight unmanned plane flies to the object.
The lightweight unmanned plane shoots respective image, video data by photographing module, and passes through main control module to target
It is identified, and the geographical location of current lightweight unmanned plane and/or target location is demarcated by GPS module, with logical
Know that remaining lightweight unmanned plane goes to target location, target is searched by way of dispersion, search efficiency can be improved.
Therefore, this cluster cooperative system can reduce energy consumption of the lightweight unmanned plane in flight course, improve lightweight nobody
The cruising ability of machine
Under normal circumstances, the antenna system in lightweight unmanned plane can all be provided with antenna house.The purpose of antenna house is protection
Antenna system makes antenna system working performance more stable, reliable from the influence of wind and rain, ice and snow, sand and dust and solar radiation etc..
Mitigate the abrasion, corrosion and aging of antenna system simultaneously, prolong the service life.But antenna house is the barrier before antenna,
Absorption and reflection can be generated to aerial radiation wave, change the free space Energy distribution of antenna, and influence day to a certain extent
The electric property of line.
The material of antenna house is prepared at present mostly using dielectric constant and loss angle tangent be low, material of high mechanical strength, such as
Fiberglass, epoxy resin, high molecular polymer etc., the dielectric constant of material have unadjustable property.It is mostly uniformly single in structure
Wall construction, sandwich and spatial skeleton structure etc., the design of cone wall thickness need to take into account operation wavelength, antenna house size and shape
The factors such as the performance of shape, environmental condition, material therefor in electrical and structure, it is more difficult to reach high wave transparent requirement, even if ensureing
Do not have selective wave transparent function under conditions of high-transmission rate yet.Moreover, the working frequency range of antenna house is relatively narrow, in different frequency ranges
Antenna house is needed replacing under demand, can not realize the reuse of resource, leads to the waste of resource and the raising of equipment cost.
Therefore, in the present embodiment, the antenna assembly in the communication module includes the antenna on the outside of antenna and antenna
Cover, including the antenna house on the outside of antenna and antenna, the antenna house includes at least one metamaterial sheet 1, such as Fig. 4 and Fig. 5
It is shown.Each metamaterial sheet 1 includes at least two substrates being oppositely arranged and the array arrangement being attached between two substrates
Man-made microstructure.When metamaterial sheet 1 has multiple, each metamaterial sheet 1 is superimposed along perpendicular to the direction of lamella, and is passed through
The mode of mechanical connection, welding or bonding is assembled integrally, as shown in Figure 5.In general, in the case where disclosure satisfy that performance, one
A metamaterial sheet can serve as the antenna house of Meta Materials to use.Plane and electromagnetism where the man-made microstructure of array arrangement
The electric field of wave is parallel with magnetic direction, vertical with incoming electromagnetic direction of wave travel, it should be noted that if single Meta Materials
Lamella, often needs one substrate of additional setting for the protection of antenna house periphery, and knot is laminated referring to more substrates in attached drawing 6
Structure.First substrate 10 in metamaterial sheet 1 can be divided into multiple metamaterial units, wherein being placed in each metamaterial unit
One man-made microstructure.
Meta Materials are a kind of artificial composite structure materials of the extraordinary physical property with not available for natural material, are passed through
To the ordered arrangement of micro-structure, thus it is possible to vary the relative dielectric constant and magnetic conductivity of every in space.Meta Materials can be certain
In the range of realize common material refractive index, impedance and the wave transparent performance that can not have, so as to effectively control electromagnetic wave
Propagation characteristic.The antenna house of Meta Materials based on man-made microstructure can be by adjusting shape, the size of man-made microstructure, to change
Become relative dielectric constant, refractive index and the impedance of material, so as to fulfill the impedance matching with air, to be added to greatest extent
The transmission of radio magnetic wave.And can be selected by adjusting microstructure size into line frequency, corresponding wave transparent and filtering are adjusted as needed
Frequency.
Fig. 6 shows the structure diagram (perspective view) of metamaterial sheet.Metamaterial sheet 1 include three pieces it is identical uniform
The plate shape substrates of uniform thickness：The first substrate 10 and second substrate 20 being oppositely arranged, third substrate 30, the face of the first substrate 10
The man-made microstructure 40 of array arrangement is attached on the surface of second substrate 20.Metamaterial sheet 1 can be divided into multiple super materials
Material unit, wherein there are one the man-made microstructures for arrangement in each metamaterial unit.In one embodiment of the utility model, with
It is illustrated for three substrates, but in actual design, it can also be only with first substrate or only with the first base
Plate and second substrate, and man-made microstructure array arrangement can equally reach on first substrate 10 or between the first second substrate
To the purpose of this utility model.
As shown in Fig. 7 and Fig. 6, the length of each metamaterial unit and it is wide be 12~15mm, man-made microstructure 40 and super material
The distance between boundary of material unit is 0.15mm.Each man-made microstructure 40 includes square shape structure 41, square shape structure 41
Center be provided with decussate texture 42, cross structure is the equidimension groups of metal filaments vertically divided equally by two into cross
Shape structure includes two vertical the first wires and the second wire, and the both ends of the first wire are provided with identical size
First metal micro structure 421, first metal micro structure 421 is by three decreasing dimensions metal lines run parallel lines, and by a metal
Frame surrounds；The both ends of second wire are provided with the second metal micro structure 422 of identical size, second metal micro structure
422 are arranged by the identical bending metal wire of three sizes, and the bending angle of folding line is 90 degree, by between folding line
Equidistant arrangement and specific angle is set, the high frequency wave transparent characteristic of control antenna house that can be fabulous realizes low-loss；The mouth
In font structure the construction similar to the second metal micro structure, the hollow are equipped with the middle part of the first wire opposite edge
In structure the construction similar to the first metal micro structure is equipped with the middle part of the second wire opposite edge；Structure is poor as such
The different difference for being only in that size, shape are similar with cabling.
The metal frame of first metal micro structure is a square with opening, and the first wire enters the first gold medal from the opening
In the square-shaped frame for belonging to micro-structure, first transverse metal of the first wire end setting size for 2/3 square frame length
Silk, and the second portion transverse wire, third portion transverse wire size are gradually successively decreased.
In one embodiment of the utility model, the length and width of metamaterial unit are 12.4mm.The side of square shape structure 41
Length is a=12mm.The length of two wires of decussate texture 42 is d=5.5mm.The square of first metal micro structure
Three portion transverse wire sizes successively decreased are respectively in frame：2.6mm/2.4mm/2.2mm, the broken line length of the second metal micro structure
For 4mm, dog-ear is 90 degree, and the spacing of adjacent fold line is 0.02mm.The line width of wire in man-made microstructure 40 is
0.1mm.The distance between man-made microstructure 40 and metamaterial unit boundary are 0.2mm.The thickness of substrate is 2mm, artificial micro-
The thickness of structure is 0.016mm.
In one embodiment of the utility model, substrate is made by F4B or FR4 composite materials.Pass through filling liquid between substrate
State raw substrate is interconnected by mechanical package.Man-made microstructure 40 leads to overetched mode and is attached to first
On substrate 10, certain man-made microstructure 40 can also use the normal methods such as plating, carve, photoetching, electronics quarter or ion quarter
It is attached on first substrate 10 or second substrate 20.Baseplate material can also be made of other materials, such as ceramics, polytetrafluoro
Ethylene, ferroelectric material, ferrite material or ferromagnetic material are made.Man-made microstructure 40 is made of copper wire, naturally it is also possible to be adopted
It is made of conductive materials such as silver wire, ITO, graphite or carbon nanotubes.The shape for the antenna house illustrated in attached drawing is tabular,
The shape of antenna house can also be designed during actual design according to actual demand, for example can be designed to spherical shape or and antenna
Matched shape of shape (antenna house of arch) etc., the utility model is not restricted this.
By adhering to the man-made microstructure of specific shape on substrate, the electromagnetic response needed makes the utility model
The wave transparent performance enhancement of the antenna house based on Meta Materials is obtained, antijamming capability increases.It can be by adjusting the shape of man-made microstructure
Shape, size, to change the relative dielectric constant of material, refractive index and impedance, so as to fulfill the impedance matching with air, with maximum
The transmission of the increase incident electromagnetic wave of limit, to material thickness and dielectric when reducing the radome design of traditional lightweight unmanned plane
The limitation of constant.And the working band of the antenna house of the utility model is between 15.5-18.5GHz, and in this frequency band
Wave transmission efficiency is very high, and loss is smaller.There is band-stop response other than this frequency band, it can be achieved that selective filter.
Therefore, this communication module can stablize wireless telecommunications of the transmitting-receiving lightweight unmanned plane in flight course.
Using the above-mentioned desirable embodiment according to the utility model as enlightenment, pass through above-mentioned description, related work people
Member can carry out various changes and amendments in the range of without departing from this item utility model technological thought completely.This item is real
The content being not limited to novel technical scope on specification, it is necessary to which its technology is determined according to right
Property range.
Claims (7)
1. a kind of lightweight unmanned plane, which is characterized in that including：
Several horn bars, and one end of each horn bar is connect with fuselage；Wherein
The horn bar is hollow structure, and air-charging lining is equipped in the hollow structure,
The gas that density is less than air is filled in the air-charging lining.
2. lightweight unmanned plane according to claim 1, which is characterized in that
The lightweight unmanned plane is more rotor lightweight unmanned planes；
The fuselage is cylindrical structure, and the junction of each horn bar and fuselage is equipped with rotating mechanism；
The rotating mechanism is driven by a stepper motor；
The Hall sensor for being adapted to detect for rotor motor rotation is equipped in each rotor；
After Hall sensor detects that a rotor motor breaks down, the main control module in the lightweight unmanned plane is suitable for passing through
The fuselage angle of inclination that gyroscope in fuselage obtains is to control corresponding stepper motor to adjust the distribution of horn bar, so that fuselage is extensive
Multiple equilibria state.
3. lightweight unmanned plane according to claim 2, which is characterized in that
The lightweight unmanned plane further includes：GPS module, communication module and the camera shooting mould being electrically connected with the main control module
Block.
4. a kind of cluster cooperative system, which is characterized in that including：
Lightweight unmanned plane as described in any one of claim 1-3 is several；And
Each lightweight unmanned plane is suitable for dispersion flight to find object, after a wherein lightweight unmanned plane finds object, passes through
Communication module sends the azimuth information to remaining lightweight unmanned plane object, so that remaining lightweight unmanned plane flies to the mesh
It marks at object.
5. the cluster cooperative system according to claim 4, which is characterized in that
Antenna assembly in the communication module includes the antenna house on the outside of antenna and antenna；Wherein
The antenna house includes at least one metamaterial sheet, and
Each metamaterial sheet includes：The identical people of the multiple sizes of first substrate and array arrangement on the first substrate
Make micro-structure；
The man-made microstructure includes square shape structure；
The center of the square shape structure is provided with decussate texture, and the middle part on every one side of the square shape structure is equal
It is provided with projection ends structure corresponding with each end of decussate texture.
6. cluster cooperative system according to claim 5, which is characterized in that
Each metamaterial sheet further includes second substrate and third substrate；Wherein
The man-made microstructure of array arrangement is attached on the surface towards second substrate of the first substrate；And
The first substrate is suitable for being divided into multiple metamaterial units, wherein only there are one described for arrangement in each metamaterial unit
Man-made microstructure；And
The length of each metamaterial unit and it is wide be 12~15mm, the boundary of the man-made microstructure and the metamaterial unit it
Between distance be 0.15mm.
7. cluster cooperative system according to claim 6, which is characterized in that
The decussate texture includes vertically disposed first wire and the second wire；Wherein
The both ends of first wire are respectively arranged with the first metal micro structure of identical size, the micro- knot of the first metal
Structure includes：Three decreasing dimensions metal lines run parallel lines and the metal frame for surrounding each parallel lines；
The both ends of second wire are respectively arranged with the second metal micro structure of identical size, the micro- knot of the second metal
Structure includes：Three metal broken lines with size rearrange, and the bending angle of the metal broken line is 90 degree；
With the projection ends structure at the middle part of the first wire opposite edge suitable for micro- with the second metal in the hollow structure
Structure same structure is suitable for the projection ends structure at the middle part of the second wire opposite edge in the hollow structure and the
One metal micro structure same structure；And
The length of first wire and the second wire is identical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721749881.2U CN207550503U (en) | 2017-12-15 | 2017-12-15 | Lightweight unmanned plane and cluster cooperative system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721749881.2U CN207550503U (en) | 2017-12-15 | 2017-12-15 | Lightweight unmanned plane and cluster cooperative system |
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| Publication Number | Publication Date |
|---|---|
| CN207550503U true CN207550503U (en) | 2018-06-29 |
Family
ID=62664352
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721749881.2U Expired - Fee Related CN207550503U (en) | 2017-12-15 | 2017-12-15 | Lightweight unmanned plane and cluster cooperative system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109823525A (en) * | 2019-03-21 | 2019-05-31 | 中国空气动力研究与发展中心 | A kind of separate assembling aircraft |
| CN113196945A (en) * | 2021-04-28 | 2021-08-03 | 大连理工大学 | Picking system based on unmanned aerial vehicle group cooperative work and use method |
-
2017
- 2017-12-15 CN CN201721749881.2U patent/CN207550503U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109823525A (en) * | 2019-03-21 | 2019-05-31 | 中国空气动力研究与发展中心 | A kind of separate assembling aircraft |
| CN113196945A (en) * | 2021-04-28 | 2021-08-03 | 大连理工大学 | Picking system based on unmanned aerial vehicle group cooperative work and use method |
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