CN208119412U - Unmanned plane falling protecting device - Google Patents
Unmanned plane falling protecting device Download PDFInfo
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- CN208119412U CN208119412U CN201820435208.XU CN201820435208U CN208119412U CN 208119412 U CN208119412 U CN 208119412U CN 201820435208 U CN201820435208 U CN 201820435208U CN 208119412 U CN208119412 U CN 208119412U
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- air valve
- unmanned plane
- valve rod
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Abstract
The utility model discloses a kind of unmanned plane falling protecting devices; for being mounted on inside quadrotor drone; include jet mechanism, air valve control mechanism and the control circuit connecting with air valve control mechanism; the operating status of unmanned plane is monitored by ultrasonic transceiver module and detection module; once controlling air valve control mechanism in unexpected runaway condition by triggering single-chip microcontroller, controlling corresponding air valve on-off; the posture of unmanned plane is adjusted, to reduce unmanned plane damage probability.
Description
Technical field
The invention belongs to unmanned plane landing technical field more particularly to a kind of unmanned plane falling protecting devices.
Background technique
The unmanned plane of a new generation passes through miniature in winged prosecutor face increase automatic obstacle-avoiding technology, increase processor number, increase
Positioning system and increase ground parallel system make unmanned plane realize the functions such as tracking, locking, parallel automatically, reduce maloperation
The case where probability, reduction accidental falling.Unmanned plane, which occurs promptly to fall, at present mainly still receives hard landing by undercarriage, but
It is that will affect undercarriage and put down in time once break down, leads to the directly born damage of unmanned plane, economy is by heavy losses.
Summary of the invention
To solve the above problems, unexpected pendant occurs in unmanned plane the invention proposes a kind of unmanned plane falling protecting device
UAV Attitude is adjusted when falling, reduces damage probability.
The specific technical solution of the present invention is as follows：A kind of unmanned plane falling protecting device, for be mounted on quadrotor nobody
Inside machine, jet mechanism, air valve control mechanism and the control circuit connecting with air valve control mechanism are included；
The jet mechanism includes high pressure gas holder, four spray heads and the pipe for being separately connected high pressure gas holder and four spray heads
Road, each pipeline are connect with one section of hose by one section of hard tube and are formed, and hard tube is connected to high pressure gas holder, and hose is connected to spray head,
Air valve for controlling pipeline on-off between high pressure gas holder and spray head is installed in each hard tube；
The air valve includes valve deck, valve rod, valve body and valve seat, and valve deck is mounted on top end of the valve body, and valve seat is mounted on valve body bottom
Portion, valve rod sequentially pass through valve deck and valve body, abut with the spring being arranged in valve seat；It is equipped with spool in valve body, spool is by valve body
Inner cavity is divided into inlet chamber and outlet chamber, offers channel on spool, valve rod be equipped with the matched piston in channel, in valve seat
When spring is in nature, the piston on valve rod is located in the channel of spool, and air valve is in off state, when valve rod stress, valve
Spring in bar compression valve seat, which moves down, makes piston leaving channel, and air valve is open state；
Four air valves are controlled by the air valve control mechanism and are opened and closed, and the air valve control mechanism is mounted on four gas
The top of valve；Air valve control mechanism includes the open cylindrical housings in top closure bottom end, and being horizontally disposed in shell has partition, every
Housing cavity is divided into first chamber and second chamber by plate from top to bottom, is provided with stepper motor and turntable in first chamber,
Stepper motor is fixed on housing top wall by motor cabinet, and turntable is fixed on the output shaft of stepper motor and is arranged in parallel in partition
Top；It is opened up on partition there are four brake hole, which is step through-hole, it is equipped with tapered pole in brake hole, tapered pole
Big end is located at first chamber, and small end is located at second chamber, and four tapered poles are located at the surface of four air valve valve rods；Taper
The step being arranged in spring and spring bottom end abutting brake hole on column, when taper top end is pressurized, step, which accepts spring, makes bullet
Spring deformation, tapered pole move down the valve rod for pushing air valve；The bottom surface of the turntable is equipped with convex block, and the bottom end of convex block is lower than taper
The top of column, one circle convex block of turntable rotation can successively compress four tapered poles；
The control circuit include power module, single-chip microcontroller, motor drive module, for detecting unmanned plane and ground distance
Ultrasonic transceiver module and detection module for detecting unmanned plane inclined direction, power module connect single-chip microcontroller, ultrasonic wave
Transceiver module, detection module and motor drive module, ultrasonic transceiver module and detection module connect the input terminal of single-chip microcontroller, single
The output end of piece machine connects motor drive module, and motor drive module connects the stepper motor of air valve control mechanism.
As a further improvement of the present invention, the detection module in the control circuit is four mercury switches, four water
Silver switch is separately connected four input pins of single-chip microcontroller, and four mercury switches are in crossing distribution.
As a further improvement of the present invention, it is connected with sleeve between the valve deck and valve body of the air valve, is equipped in sleeve
Spring, valve rod include upper valve rod and lower valve rod, and upper valve rod passes through valve deck and connect with the spring top in sleeve, lower valve rod connector sleeve
Spring bottom end in cylinder and the spring in valve body abutting valve seat.
As a further improvement of the present invention, it is also opened between ad-jacent brake hole two-by-two on the partition of the air valve control mechanism
Equipped with linkage hole, which is step through-hole, is equipped with linkage post in hole of linking, and the top of linkage post is located at first chamber,
Bottom end is located at second chamber and is connected with linkage board, and spring is arranged in linkage post and spring bottom end abuts the platform to link in hole
Rank, when linkage top end is pressurized, step, which accepts spring, makes camber of spring, and linkage post, which moves down, to be made linkage board while pushing adjacent
Two air valves valve rod.
Beneficial effects of the present invention：Unmanned plane falling protecting device proposed by the present invention, by ultrasonic transceiver module and
Detection module monitors the operating status of unmanned plane, once in unexpected runaway condition air valve is controlled by triggering single-chip microcontroller
Control mechanism, so that corresponding air valve on-off is controlled, so that the spray head jet at corresponding rotor, to the posture of unmanned plane
It is adjusted, to reduce unmanned plane damage probability.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the jet mechanism in unmanned plane protective device.
Fig. 2 is the structural schematic diagram for being equipped with the unmanned plane of unmanned plane protective device.
Fig. 3 is the structural schematic diagram of air valve.
Fig. 4 is the structural schematic diagram of air valve control mechanism.
Fig. 5 is the bottom view of air valve control mechanism.
Fig. 6 is the circuit diagram of power module.
Fig. 7 is the circuit diagram of ultrasonic transceiver module.
Fig. 8 is the circuit diagram that single-chip microcontroller connects ultrasonic transceiver module.
Fig. 9 is the circuit diagram of single-chip microcontroller connecting detection module.
Figure 10 is the circuit diagram that single-chip microcontroller is sequentially connected motor drive ic and stepper motor interface.
Figure 11 is the installation top view of mercury switch.
Figure 12 is the installation front view of mercury switch.
Specific embodiment
Below with reference to attached drawing, a specific embodiment of the invention and embodiment are described in detail, described tool
The examples are only for explaining the invention for body, is not intended to limit a specific embodiment of the invention.
The embodiment of the present invention provides a kind of unmanned plane falling protecting device, for being mounted in quadrotor drone, including
Jet mechanism, air valve control mechanism and the control circuit being connect with air valve control mechanism.
As shown in Figure 1, the jet mechanism include 1, four spray head 2 of high pressure gas holder and be connected to high pressure gas holder with
Pipeline between four spray heads, each pipeline are connect with one section of hose 4 by one section of hard tube 3 and are formed, hard tube 3 and high pressure gas holder 1
Connection, hose 4 are connected to spray head 2.Air valve is installed, air valve is for controlling pipeline between high pressure gas holder and spray head in each hard tube
On-off.As shown in Fig. 2, high pressure gas holder 1 is mounted in the central chamber of unmanned plane, four spray heads 2 are separately mounted to four rotors
Wing tip in, fumarole corresponding with spray outlet is provided on wing tip shell.
As shown in figure 3, the air valve includes valve deck 51, valve rod 52, valve body 53 and valve seat 54, valve deck 51 is mounted on valve body 53
Top, valve seat 54 are mounted on 53 bottom of valve body, and valve rod 52 sequentially passes through valve deck 51 and valve body 53 is abutted with valve seat 54, in valve seat 54
Equipped with spring 541, valve rod 52 abuts spring 541.Spool 55 is equipped in valve body 53, body cavity is divided into inlet chamber by spool
531 and outlet chamber 532, inlet chamber is connected to high pressure gas holder, and outlet chamber is connected to spray head, and inlet chamber is located at the lower section of outlet chamber.
Offer channel on spool 55, valve rod 52 be equipped with the matched piston 521 of channel sized, the spring 541 in valve seat is in nature
When state, the piston 521 on valve rod is located in the channel of spool, and air valve is in off state, when valve rod stress, valve rod compression valve
Spring in seat, which moves down, makes piston leaving channel, and inlet chamber is communicated with outlet chamber, and air valve is open state.Valve rod is in valve body
In move up and down realize air valve opening and closing, due to inlet chamber be located at outlet chamber lower section, when air valve is in off state, in high pressure gas holder
Gas extrusion piston it is upward, ensure that the air-tightness of air valve.
Four air valves are controlled by air valve control mechanism and are opened and closed, which is mounted on the top of four air valves.
As shown in figure 4, air valve control mechanism includes the open cylindrical housings 61 in top closure, bottom end, be horizontally disposed in shell have every
Housing cavity is divided into first chamber and second chamber from top to bottom, is provided with stepper motor in first chamber by plate 62, partition
63 and turntable 64, stepper motor is fixed on housing top wall by motor cabinet 65, turntable be fixed on the output shaft of stepper motor and
It is arranged in parallel in above partition.It is opened up on partition 62 there are four brake hole, which is stepped hole, is equipped with cone in brake hole
Shape column 66, the big end of tapered pole are located at first chamber, and small end is located at second chamber, and four tapered poles are located at four air valves
The surface of valve rod.The step being arranged on tapered pole in spring and spring bottom end abutting brake hole, when taper top end is pressurized,
Step, which accepts spring, makes camber of spring, and tapered pole moves down the valve rod for pushing air valve.The bottom surface of above-mentioned turntable is equipped with convex block
641, and the lowermost end of convex block is lower than the top of tapered pole, one circle convex block of turntable rotation can successively compress four tapered poles.
By taking the first tapered pole as an example, it should be noted that for convenience, the air valve below the first tapered pole will be located at
Referred to as the first air valve, the pipeline where the first air valve are the first pipeline, and the spray head of the first pipeline connection is first spray head.Work as needs
When controlling first spray head jet, stepper motor drives turntable rotation, turns to convex block above the first tapered pole, and convex block compresses cone
Shape column, tapered pole compressed spring move down, to compress the valve rod of corresponding first air valve, so that the first air valve is opened, lead
Lead to first pipe, the first spray head at the first rotor sprays gas；When needing to control first spray head stopping jet, stepper motor
Turntable rotation is driven, convex block is made to leave the first tapered pole, is moved up in the restoring force effect inferior pyramidal column of spring, pressure disappears
Valve rod automatic rebounding afterwards, air valve are closed, pipeline where truncation.
The control circuit include power module, single-chip microcontroller, motor drive module, for detecting unmanned plane and ground distance
Ultrasonic transceiver module and detection module for detecting unmanned plane inclined direction, power module connect single-chip microcontroller, ultrasonic wave
Transceiver module, detection module and motor drive module, ultrasonic transceiver module and detection module connect the input terminal of single-chip microcontroller, single
The output end of piece machine connects motor drive module, and motor drive module connects the stepper motor of air valve control mechanism.
Wherein power module includes 9V power supply, voltage-stablizer and power display circuit, as shown in figure 5,9V power supply is through capacitor C3
With input voltage voltage-stablizer after capacitor C1 filtering, Voltagre regulator output voltage after capacitor C4 and capacitor C2 filtering, is monolithic
Machine, ultrasonic transceiver module and motor drive module power supply, resistance R3 and light emitting diode D3 form power display circuit.Such as figure
Shown in 6, single-chip microcontroller selects STC12C5A08S2, and the peripheral circuit of single-chip microcontroller is by the reset electricity being made of resistance R12 and capacitor C7
The crystal oscillating circuit of road and capacitor C11, capacitor C10 and crystal oscillator chip Y2 composition, the ultrasonic transceiver module being connect with single-chip microcontroller
P2 selects SH0038 ultrasonic transceiver module, and the stepper motor drive module connecting with single-chip microcontroller uses ULN2003 driving chip,
Motor drive module and the stepper motor of air valve control mechanism connect, as shown in Figure 7.Detection module uses four mercury switches,
As shown in figure 8, connect respectively with four input pins of single-chip microcontroller, it is in crossing distribution that four mercury switches are opposite two-by-two, four
A mercury switch respectively corresponds four inclined directions.The working principle of the control circuit is：It can be touched when unmanned plane run-off the straight
One or more mercury switch closures are sent out, so that single-chip microcontroller pin receives high level, and single-chip microcontroller is according to ultrasonic transmission/reception mould
The signal that block is sent obtains unmanned plane at a distance from ground within the scope of risk distance, then controls motor drive ic driving air valve
Stepper motor in control device rotates corresponding step number.As is illustrated by figs. 11 and 12, four mercury switches are in crossing distribution, often
The orientation of a mercury switch is respectively directed to four rotors, and the one end for being directed toward rotor is in that certain inclination angle tilts upward, is made
The mercury switch that just can trigger respective direction when unmanned plane tilts to certain angle is obtained, interference is avoided to trigger.
It is preferred that as shown in figure 3, sleeve 56 is connected between the valve deck and valve body of above-mentioned air valve, equipped with spring in sleeve
561, valve rod includes upper valve rod 522 and lower valve rod 523, and upper valve rod passes through valve deck and connect with 561 top of spring in sleeve, lower valve
Bar connects 561 bottom end of spring in sleeve and passes through the spring 541 in valve body abutting valve seat.When valve stem tip is pressurized, upper valve rod
Spring is squeezed, so that lower valve rod be driven to move down, air valve is opened, since the spring between upper valve rod and lower valve rod plays buffering
Effect, when turntable does not have complete stability, will not open air valve immediately, play time-lag action.
It is also provided with linkage hole on the partition of air valve control mechanism between ad-jacent brake hole two-by-two, the linkage hole is logical for step
Hole is equipped with linkage post 67 in hole of linking, and the top of linkage post 67 is located at first chamber, and bottom end connects linkage board 68 positioned at second
Chamber.It is arranged with spring in linkage post and spring bottom end abuts the step to link in hole, when linkage top end is pressurized, step is accepted
Spring makes camber of spring, and linkage post moves down the valve rod for making linkage board while pushing two adjacent air valves.With the first linkage
For column, the first linkage post is between the first tapered pole and the second tapered pole, when needing to control first spray head and second spray head
Simultaneously when jet, stepper motor drives turntable rotation, turns to convex block above the first linkage post, and convex block compresses the first linkage
Column, the first linkage post compressed spring move down, so that linkage board compresses the valve rod of the first air valve and the valve of the second air valve simultaneously
First pipe and second pipe is connected so that the first air valve and the second air valve are opened in bar, first spray head at the first rotor and
Second spray head at second rotor sprays gas；When needing to control first spray head and second spray head stops jet, stepper motor
Turntable rotation is driven, convex block is made to leave the first linkage post, the first linkage post moves up under the restoring force effect of spring, pressure
The valve rod automatic rebounding of the valve rod of first air valve and the second air valve after disappearance, air valve are closed, pipeline where truncation.
The following are a kind of unmanned plane falling protecting devices provided in an embodiment of the present invention, when accident occurs for unmanned plane, if
When meeting ultrasonic transceiver module and detecting that height from the ground is risk range, single-chip microcontroller can leading according to four mercury switches
Logical situation rotates the stepper motor of air valve control mechanism to opening corresponding air valve, and unmanned plane is made to obtain correction torque,
Achieve the purpose that correct flight attitude.
As shown in Fig. 2, unmanned plane is surprisingly out of control generally to have following concentration situation, propeller A, propeller B, propeller C
Or the single stall of propeller D or propeller A and propeller B, propeller B and propeller C, propeller C and propeller D or spiral shell
Revolve paddle D and propeller A adjacent propeller stall etc. two-by-two.It should be noted that for convenience of describing and understanding, propeller A institute
Rotor be known as the first rotor, the spray head being mounted in the first rotor is known as first spray head, is connected to first spray head and high pressure gas
The pipeline of tank is known as first pipe, and the air valve being mounted in first pipe is known as the first air valve, similarly, corresponding with propeller B
It is corresponding with propeller C for third rotor, third spray head, for the second rotor, second spray head, second pipe and the second air valve
Three pipelines and third air valve, corresponding with propeller D is quadrotor, the 4th spray head, the 4th pipeline and the 4th air valve.Needle below
To both situations of above-mentioned single propeller stall and two neighboring propeller stall simultaneously, to pendant provided in an embodiment of the present invention
The course of work for falling protective device is described in detail.
The first situation
When the propeller A revolving speed of unmanned plane is abnormal, will lead to unmanned plane present the end propeller A tilt down, spiral
Paddle C-terminal is upturned, and the mercury switch of the mercury switch conducting at the corresponding end propeller A, propeller C-terminal is certain since installation has
Leaning angle and and do not turn on, at this time if the unmanned plane height from the ground of ultrasonic transceiver module detection is in risk range
Interior, the convex block on single-chip microcontroller control stepper motor driving turntable turns to the top of the first air valve, and convex block, which squeezes tapered pole, makes it
Decline, therefore the valve rod band piston of the first air valve declines, so that gas in inlet chamber is by the channel of spool from outlet chamber
Middle release, and then sprayed from first spray head, to achieve the purpose that correct flight attitude.
Second of situation
As the propeller A of unmanned plane and abnormal propeller B revolving speed, it will lead to unmanned plane and the end propeller A, B be presented
It tilting down simultaneously, when the end propeller C, D is upturned, the mercury switch at the corresponding end propeller A and the end propeller B is all connected,
The mercury switch at propeller C-terminal and the end propeller D due to installation have certain leaning angle and and do not turn on, at this time if ultrasound
In risk range, single-chip microcontroller controls on stepper motor driving turntable the height of the unmanned plane of wave transceiver module detection from the ground
Convex block turns to the top of the linkage post between the first air valve and the second air valve, and convex block, which squeezes linkage post, makes its decline, linkage board
The valve rod of the first air valve and the second air valve is pushed, therefore the valve rod of the first air valve and the second air valve band piston declines, so that
First air valve and the second air valve are opened simultaneously, and then first spray head and second spray head spray gas, to reach correction flight appearance
The purpose of state.
Unmanned plane falling protecting device provided in an embodiment of the present invention passes through ultrasonic transceiver module and four mercury switches
Monitor the operating status of unmanned plane, once pass through triggering single-chip microcontroller in unexpected runaway condition and control motor drive ic and drive
The stepper motor taken offence in valve control device, tapered pole that stepper motor driving turntable turns to convex block on corresponding air valve or
Linkage post opens corresponding air valve by tapered pole or linkage post, so that the spray head jet at place, carries out the posture of unmanned plane
It adjusts, to reduce unmanned plane damage probability.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility model
Protection scope within.
Claims (4)
1. a kind of unmanned plane falling protecting device, for being mounted on inside quadrotor drone, which is characterized in that including jet plane
Structure, air valve control mechanism and the control circuit being connect with air valve control mechanism；
The jet mechanism includes high pressure gas holder, four spray heads and the pipeline being connected between high pressure gas holder and four spray heads,
Each pipeline is connect with one section of hose by one section of hard tube and is formed, and hard tube is connected to high pressure gas holder, and hose is connected to spray head, each
Air valve for controlling pipeline on-off between high pressure gas holder and spray head is installed in hard tube；
The air valve includes valve deck, valve rod, valve body and valve seat, and valve deck is mounted on top end of the valve body, and valve seat is mounted on body base, valve
Bar sequentially passes through valve deck and valve body, abuts with the spring being arranged in valve seat；Spool is equipped in valve body, spool divides body cavity
It is divided into inlet chamber and outlet chamber, offers channel on spool, valve rod is equipped with is in the matched piston in channel, the spring in valve seat
When nature, the piston on valve rod is located in the channel of spool, and air valve is in off state, when valve rod stress, valve rod compression
Spring in valve seat, which moves down, makes piston leaving channel, and air valve is open state；
Four air valves are controlled by the air valve control mechanism and are opened and closed, and the air valve control mechanism is mounted on four air valves
Top；Air valve control mechanism includes the open cylindrical housings in top closure bottom end, and being horizontally disposed in shell has partition, and partition will
Housing cavity is divided into first chamber and second chamber from top to bottom, and stepper motor and turntable, stepping are provided in first chamber
Motor is fixed on housing top wall by motor cabinet, and turntable is fixed on the output shaft of stepper motor and is arranged in parallel on partition
Side；Opened up on partition there are four brake hole, which is step through-hole, be equipped with tapered pole in brake hole, tapered pole it is big
End is located at first chamber, and small end is located at second chamber, and four tapered poles are located at the surface of four air valve valve rods；Tapered pole
On be arranged with spring and spring bottom end and abut step in brake hole, when taper top end is pressurized, step, which accepts spring, makes spring
Deformation, tapered pole move down the valve rod for pushing air valve；The bottom surface of the turntable is equipped with convex block, and the bottom end of convex block is lower than tapered pole
Top, turntable rotation one circle convex block can successively compress four tapered poles；
The control circuit include power module, single-chip microcontroller, motor drive module, for detecting the super of unmanned plane and ground distance
Sound wave transceiver module and detection module for detecting unmanned plane inclined direction, power module connect single-chip microcontroller, ultrasonic transmission/reception
Module, detection module and motor drive module, ultrasonic transceiver module and detection module connect the input terminal of single-chip microcontroller, single-chip microcontroller
Output end connect motor drive module, motor drive module connect air valve control mechanism stepper motor.
2. unmanned plane falling protecting device according to claim 1, which is characterized in that the detection mould in the control circuit
Block is four mercury switches, and four mercury switches are separately connected four input pins of single-chip microcontroller, and four mercury switches are in cross
Shape distribution.
3. unmanned plane falling protecting device according to claim 1, which is characterized in that the valve deck of the air valve and valve body it
Between be connected with sleeve, spring is equipped in sleeve, valve rod includes upper valve rod and lower valve rod, and upper valve rod passes through the bullet in valve deck and sleeve
The connection of spring top, lower valve rod connect the spring bottom end in sleeve and pass through the spring in valve body abutting valve seat.
4. unmanned plane falling protecting device according to claim 1, which is characterized in that the partition of the air valve control mechanism
On linkage hole is also provided between ad-jacent brake hole two-by-two, which is step through-hole, is equipped with linkage post in hole of linking, joins
The top of dynamic column is located at first chamber, and bottom end is located at second chamber and is connected with linkage board, and spring and bullet are arranged in linkage post
Spring bottom end abuts the step in linkage hole, and when linkage top end is pressurized, step, which accepts spring, makes camber of spring, and linkage post is to moving down
The dynamic valve rod for making linkage board while pushing two adjacent air valves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820435208.XU CN208119412U (en) | 2018-03-29 | 2018-03-29 | Unmanned plane falling protecting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820435208.XU CN208119412U (en) | 2018-03-29 | 2018-03-29 | Unmanned plane falling protecting device |
Publications (1)
| Publication Number | Publication Date |
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| CN208119412U true CN208119412U (en) | 2018-11-20 |
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ID=64194784
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820435208.XU Expired - Fee Related CN208119412U (en) | 2018-03-29 | 2018-03-29 | Unmanned plane falling protecting device |
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| CN (1) | CN208119412U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108341045A (en) * | 2018-03-29 | 2018-07-31 | 南京工业职业技术学院 | Unmanned plane falling protecting device |
| CN110171561A (en) * | 2019-06-24 | 2019-08-27 | 焦佳敏 | A kind of unmanned plane pushing stable landing based on reversed air pressure |
-
2018
- 2018-03-29 CN CN201820435208.XU patent/CN208119412U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108341045A (en) * | 2018-03-29 | 2018-07-31 | 南京工业职业技术学院 | Unmanned plane falling protecting device |
| CN108341045B (en) * | 2018-03-29 | 2024-04-09 | 南京工业职业技术学院 | Unmanned aerial vehicle protection device that falls |
| CN110171561A (en) * | 2019-06-24 | 2019-08-27 | 焦佳敏 | A kind of unmanned plane pushing stable landing based on reversed air pressure |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181120 Termination date: 20210329 |
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| CF01 | Termination of patent right due to non-payment of annual fee |