WO2010050839A1 - Aéronef à décollage et atterrissage verticaux - Google Patents

Aéronef à décollage et atterrissage verticaux Download PDF

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Publication number
WO2010050839A1
WO2010050839A1 PCT/RU2008/000677 RU2008000677W WO2010050839A1 WO 2010050839 A1 WO2010050839 A1 WO 2010050839A1 RU 2008000677 W RU2008000677 W RU 2008000677W WO 2010050839 A1 WO2010050839 A1 WO 2010050839A1
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WO
WIPO (PCT)
Prior art keywords
aircraft
wing
vertical take
landing
remote control
Prior art date
Application number
PCT/RU2008/000677
Other languages
English (en)
Russian (ru)
Inventor
Вячеслав Анатольевич ПАВЛИКОВ
Александр Николаевич ПОЛИН
Original Assignee
Pavlikov Vyacheslav Anatolyevi
Polin Aleksandr Nikolaevich
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Pavlikov Vyacheslav Anatolyevi, Polin Aleksandr Nikolaevich filed Critical Pavlikov Vyacheslav Anatolyevi
Priority to DE112008004054T priority Critical patent/DE112008004054T5/de
Priority to PCT/RU2008/000677 priority patent/WO2010050839A1/fr
Publication of WO2010050839A1 publication Critical patent/WO2010050839A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/06—Aircraft not otherwise provided for having disc- or ring-shaped wings
    • B64C39/062—Aircraft not otherwise provided for having disc- or ring-shaped wings having annular wings
    • B64C39/064—Aircraft not otherwise provided for having disc- or ring-shaped wings having annular wings with radial airflow

Definitions

  • the invention relates to the field of aviation, namely to aircraft and is intended for the transport of goods and passengers, for pollination of gardens and fields, for the protection of forests and reserves, as an ambulance in hard-to-reach areas.
  • Aircraft are known that have large diameter helicopter rotors that throw off a huge amount of air at a relatively low speed, consisting of a hull, power plants, a navigation system, and a flight control system. This is the most economical means of vertical take-off and, in hovering modes, has no competitors among vertically take-off devices.
  • a disadvantage of the known devices is the large specific gravity of the power plant and low aerodynamic quality, decreasing with increasing flight speed and limiting its range and speed, in addition, it is impossible to use huge rotors for high-speed vertically taking off devices.
  • Known aircraft vertical take-off and landing comprising a housing, wings, a power plant with aircraft propellers of relatively small diameter, a navigation system, a flight control system.
  • helicopter has the advantages of a helicopter in hovering modes; it can have 1.5–2 times greater speed and range.
  • the disadvantage of this aircraft is the design complexity, low weight return, low the efficiency of vertical take-off, due to the high flow rate of the working fluid at a low flow rate.
  • turbojet aircraft for vertical take-off and landing containing the hull, wings, power plant, control system, navigation system.
  • the engines of a turbojet aircraft allow to obtain a high thrust to mass ratio of the power plant.
  • Obtaining great thrust with a minimum mass is extremely important for aircraft in general, and for a vertically taking off aircraft in particular, because the greater the mass of the engine, the greater part of its thrust is spent only on lifting itself.
  • turbojet aircraft require a hard-coated runway and are difficult to control in the take-off and landing mode.
  • Famous sports aircraft of the classical scheme including the hull, wing, engine, control system, navigation system.
  • “Jimmy Criket” consisting of a hull, wings, power plants, navigation systems, control systems, in which the thrust vector of the engine was directed above the upper surface of the wing, which allowed a fighter to limit mileage during take-off by only a few hundred feet.
  • a system of pipelines and openings was used that guided the flow of exhaust gases like a fan above the upper surface of the wing. Thanks to this technical solution, it was possible to develop a giant lifting force at very low speeds.
  • the technical result of the proposed solution is to increase the weight return, increase the lift, increase the aerodynamic quality, change the thrust vector in the range of 360 °, ensure flight safety, increase maneuverability, as well as reduced fuel consumption.
  • the proposed aircraft vertical takeoff and landing contains a streamlined body, at least one wing, made in the form of a ring and having a plan in the form of a circle, oval, polyhedron, and in cross section the profile of a circle located inside and / or outside the housing, inside the housing there is a power plant, a flywheel in the form of a hollow disk equipped with remote control valves, a control system consisting of rudders in the direction and rudders about roll and pitch and thrust vector, made in the form of profiled rings and located symmetrically relative to each other and the axis of the body, which are additionally equipped with jet and / or slotted nozzles and shutter - shields, while the power plant includes at least one an engine and at least one fan device or a turbofan engine and an ejector device, a streamlined body contains one or more sections and is additionally equipped with remote control control devices A wing located along the perimeter in the lower part of the body and consisting of valves, kingstone
  • FIG. 1 shows a section through an Aircraft of vertical take-off and landing with a multi-sectional hull
  • FIG. 2 shows a top view of an Aircraft of vertical take-off and landing with a multi-sectional hull
  • FIG. 3 shows a diagram of the occurrence of aerodynamic forces during air flow around a wing
  • FIG. 4 shows a diagram of the effect of slit-shaped and / or jet nozzles on the high-speed air flow emanating along the entire perimeter of an aircraft of vertical take-off and landing
  • FIG. 5 shows a section through an Aircraft of vertical take-off and landing with a single-section hull.
  • the streamlined body 1 is configured to create an air flow inside the aircraft.
  • the streamlined body 1 is made, for example, of a disk-shaped, oval-shaped, multi-faceted shape, shape in the form of a wing profile, etc., and consists of at least one section.
  • the housing 1 is additionally equipped with remote control regulating devices, which are remote control valves, remote control kingstones, remote control valves.
  • the flywheel disk 3 is made of heavy-duty composite materials and is intended to create a gyroscopic effect - karyolis force. To do this, a liquid is supplied into the internal cavity of the flywheel disk, which, in turn, at any stage of the JIA flight can be instantly released through remote control valves located around the perimeter of the flywheel disk 3.
  • the flywheel disk 3 can be used to create a curtain - clouds around the aircraft or spraying any liquid.
  • the JIA power plant includes at least one engine 4 and at least one fan device 5 or a turbofan engine 4 and an ejector device 6.
  • Engine 4 is, for example, ICE, turbojet, jet, diesel, etc.
  • the fan device 5 is, for example, an axial fan device, a turbofan device, a centrifugal fan device, an axial turbine, etc.
  • the control system includes steering wheels along the thrust vector, roll and pitch (elevons) 7, as well as steering wheels in direction 8.
  • the pitch and roll control wheels 7 are made in the form of profiled solid rings or ring segments, located symmetrically relative to each other and to the axis of the body along the inner perimeter, the roll control 7 along the pitch perform the functions of controlling the thrust vector, operate in high-speed high-pressure air flow created by the power plant 4 and 5, as well as additionally ejector devices 6, sucking in air, passing through the housing 1.
  • the roll and pitch control wheels 7 are additionally equipped with jet and / or slot nozzles 9 located along the entire outer perimeter of both rings 7, which perform auxiliary and duplicate functions of pitch and roll controls 7 in predetermined modes.
  • shutter-shields (not shown in FIG.), Operating in automatic mode.
  • FIG. 1 presents JIA, where the housing 1 is multi-sectional, having an upper 10, middle 11 and lower 12 section.
  • the upper section 10 performs the function of an air channel, inside of which there is an axial turbine 5, wings 13, 14 made, for example, of an annular shape, perforated along the upper surface, steering wheels in direction 8 and steering wheels for pitch and roll 7, also performing traction vector functions.
  • a centrifugal fan 5, an ejector device 6, a wing 2, made, for example, of an annular shape, perforated on the upper surface ⁇ disk-flywheel 3 are located in the center in the middle section 11, which serves as the air channel.
  • the middle section 11 In the lower section 12 are the cargo-passenger compartment, engine compartment, etc. In this case, the engine and cargo-passenger compartments are separated from the other compartments and sealed.
  • Air is supplied to the cargo-passenger compartment through channels (not shown in FIG.), which are discharged into the hollow part of the annular, perforated wings on top of the wings 13.2, which makes it possible to delay the stall of the laminar flow of the upper surface of the wing 13.2, thereby preventing its braking and premature separation and expands the range of continuous flow.
  • air is supplied from the intake device (not shown in FIG.) In the housing 1.
  • one ring - elevon 7 is located in the upper section 10 with the possibility of half overlapping the air channel of the middle section halfway at a given angle.
  • Another ring - the elevon 7 is located in the lower section 12 with the possibility of lowering the half-air channel of the middle channel from the bottom section 11, thereby completely overlapping the air channels of the housing 1 of the middle 11 and lower 12 sections.
  • Both elevon rings 7 can work independently, independently of each other, or synchronously to create or change from 0 to 360 degrees (relative to the JIA axis), the thrust vector, which together with the rudders in the direction gives the JIA super maneuverability.
  • Inkjet and / or slot nozzles 9 provide jet and / or flat airflows flowing out at high speed at an angle ⁇ ° to the lower 12 and upper 10 surface of the sections. Due to the expiration of the air stream, the effective area increases of housing 1, the nature of the flow around the profile changes, in addition, due to the pulse of the leaky jet (mVtage), a vertical force component (mVtage si ⁇ ) is created that unloads the housing 1. For example, the efficiency of the jet flap depends on the pulse coefficient of the blown jet and the angle ⁇ °. For approximate calculations of the increment of the lift coefficient for a jet flap, the following interpolation formula can be used: ⁇ cu ⁇ 3.9 V s ⁇ sip.
  • jet and / or slit-shaped nozzles 9 allows to obtain large values of the coefficient of lift for JIA.
  • Air to the jet and / or slot nozzles 9 is supplied from an air compressor or a backup system (not shown in FIG.).
  • an axial turbine 5 and a centrifugal fan or turbofan 5 are used using atmospheric air ejection devices 6. This is because the thrust developed by the power plant 4,5 or 4, 6 is equal to the product of the mass of the discarded working fluid at its speed per unit time.
  • increasing the speed of the JIA working fluid to increase, for example, vertical thrust is not profitable, since the higher the speed, the worse the ratio of thrust received to engine power.
  • the power is used the better, the lower the flow rate of air or gases. This means it is more profitable and more economical to discard a large mass of the working fluid at a low speed. Therefore, the advantage of using the ejector unit 6 is an increase in thrust, 30% more than the total thrust of the engines 4.
  • Research and laboratory tests of known designs show the ability for every kilogram of gases flowing from the nozzle suck in more than 7 kilograms of air.
  • the lifting force of the wings 13, 2, 14 and the body - wing 1 occurs due to the asymmetric flow around its air flow. This flow is formed as a result of the presence of an asymmetric profile or angle of attack, or simultaneously by two factors.
  • FIG. 3 shows that the air flow is divided by the wing 2 into two streams that flow around the lower and upper surfaces of the wing 2.
  • the trickles of air flowing around the upper surface of the wing 2 are compressed and their cross section decreases.
  • the speed of the air flow in the streams above the upper surface of the wing 2 increases and becomes greater than the speed of the air flow of the streams flowing around lower wing surface 2.
  • C Ra is a dimensionless coefficient
  • p is the density of air
  • V is the speed of the body relative to the air
  • q - velocity head is some characteristic area of the body.
  • the coefficient C RI is determined only by the orientation of the body relative to the air flow (sliding angles) and the Reynolds number, taking into account the viscosity of the air:
  • b is the characteristic linear sign of the body;
  • v is the kinematic coefficient of viscosity.
  • the total aerodynamic force is decomposed into a lifting force Ya directed perpendicular to the free-stream velocity vector and drag force Xa.
  • the coefficient of lift Cy in its physical essence is a dimensionless quantity per unit area of the wing 13, 2, 14, 1, referred to the unit of velocity head.
  • the value of Cy characterizes the degree of use of the wing area 13, or 2, or 14 and the body 1 and the pressure head to create lift.
  • the lifting force of the wings 13, 2, 14 and the housing 1 increases with an increase in its area.
  • the increase in the wing area for high-speed aircraft is extremely limited - we solved this problem by placing the blown wings 13, 2, 14 inside and / or outside the body 1, made with the possibility of creating the maximum lift force of the aircraft.
  • the housing 1 is made in the form of a camouflaged object, for example, in the form of a house, gazebo, haystack, etc.
  • the proposed JIA further comprises a cockpit 15 located inside or outside of the housing 1 and configured to undock from the housing 1 and carry out independent flight.
  • the cockpit 15 is used as an independent mini-aircraft and also contains a mini-engine with a screw or a mini-turbine (not shown in Fig.), A mini-disk - flywheel 16, similar to the design of the flywheel 3 , a hydraulic motor (not shown in Fig.), and the elevons and roll control wheels are performed by elevons 17, (Fig. 2) - in the form of a deflectable tail section of the wing of the cockpit 15, (used on airplanes that do not have a horizontal tail) and rudders in the direction (in Fig. not in cauldron).
  • the JlA power plant is launched on wings of large elongation 13, 2, 14 located in a high-speed high-pressure air stream.
  • the lower ring - elevon 7 is tilted up.
  • the bottom ring - elevon 7 returns to its original position and the JTA takes off.
  • the upper ring - elevon 7 deviates down, thereby creating additional lifting force due to dropping the air mass down.
  • Control of the course is carried out using rudders 8, located in the middle section 11 around the entire inner perimeter of the housing 1. Being in the air channel of the middle section 11, are blown by the high-speed air flow created by the operating power plants 4, 5 or 4, 6, direction 8 have maximum efficiency at any stage of the flight and allow JIA to rotate around its vertical axis not only during takeoff and landing, but also during horizontal flight. Since their number can reach several tens, the failure of a certain amount will not affect the efficiency of JIA management.
  • the rings of the elevon 7 close to each other, overlapping any sector of the air channel between the upper 10 and lower 12 sections of the hull.
  • the angle of closure to the contact point of the rings - elevon 7 can vary depending on flight conditions 360 degrees in any direction, making a revolution around the perimeter of the JIA in less than one second.
  • the combination of the pitch and roll control functions of the steering wheels 7 with the thrust vector control functions gives the JIA, together with the control system in direction 8, maximum maneuverability.
  • the profiled rings - elevons 7 are located around the entire perimeter of the jet and / or slot nozzles 9 ( Figure 4), which perform the functions of an auxiliary and backup control system JIA.
  • the high-speed high-pressure air flow escaping along the entire perimeter of the JIA in the horizontal direction is deflected up with the help of the control wheels 7, which creates a reactive moment, partially balancing the magnitude of the lifting force.
  • Deviation of the air stream and / or upward flow and the occurrence of air recirculation under conditions without JIA aerodrome operation prevents, for example, disturbance of snow or grass cover.
  • the air channels of the housing 1 are blocked along the entire perimeter, except for the channels for air intake and gas outflow. In the event that the JIA has at least one wing 2 located outside, then it is removed inside the body 1.
  • the wing 2 In the case when the wing 2 is located outside the casing 1 with the possibility of damping from possible contact with obstacles (trees, buildings, etc.), then it is spring-loaded.
  • the JTA When splashed to a water surface, the JTA can quickly sink to a given depth. To do this, in the lower section 12, the remote control regulating devices are opened and the water begins to fill the trim cavities located diagonally relative to each other around the perimeter of the JIA. The cockpit 15 is sealed. Upon reaching a predetermined depth, the remote control locking devices in the housing 1 are closed, thereby blocking access to the trim tanks of the sea water and the air outlet.
  • the JIA movement under water and ascent is controlled both from the cockpit 15 and from the cargo-passenger compartment.
  • the cockpit 15 and the cargo / passenger compartment are sealed.
  • a low-power diesel engine 18 is used, operating on an air-gas mixture under pressure in cylinders made of composite materials and representing a part of the power structure of the lower section 12.
  • JIA has the ability to dive and move underwater.
  • the same principle of creating lifting force is used as in take-off and landing modes, with the only difference being that the revolutions of the power plant are 4, 5 or 4.6, in this case they can be only several tens of revolutions per minute, where a low-power diesel engine 18 is used, which is powered by an air-gas mixture, which is under pressure in cylinders made of composite materials and which are part of the power frame of the housing 1.
  • the upper section 10 and lower section 12 can completely or partially, alternately or simultaneously, to reduce, in particular, drag, block the air channels of the upper 10 and middle 11 sections under any or zero angle to each other, while the elevon rings 7, which act as steering wheels for pitch, roll and traction vector, expand the range of capabilities of the JIA.
  • the pressurized air-gas mixture through a mini-turbine drives the fan unit 5 into rotation or is directly used to purge the ballast.
  • a backup control system in the form of rudders in direction, pitch and roll 7, in flight an air-gas mixture is used, which is under pressure in the cylinders, in case of failure of the power plants 4,5 or 4,6, as well as for promotion through the flywheel disk hydraulic motor 3.
  • the wings 13.2 made in the form of a closed shape or open shape (divided into sectors), can fully or partially (by sectors) be removed into a special niche 19, the adjustable gap between the middle 11 and the upper 10 sections of the housing 1 turns into a intake device, and in the middle section 11 it turns into slit-shaped nozzles 9.
  • the upper section 10 and the lower section 12 are able to fully or partially, alternately or neous, overlap the air channels 11 and the upper middle section 10 at an angle to each other, wherein the ring - elevons 7 extend JIA capacity range, for example, the thrust vector can be varied instantaneously in opposite to emergency braking when performing a particular maneuver.
  • a working power plant of 4.5 or 4.6 an air pressure is created above the upper surface of the housing 1, which leads to the appearance of additional lifting force.
  • the control system in the form of pitch and roll control rudders 7 is combined with thrust vector control functions and consists of two profiled rings - elevon 7, located, for example, in the upper 10 and lower 12 sections around the entire inner perimeter of the housing 1. Elevon rings 7 can work independently independently or synchronously to create a directional thrust vector.
  • the proposed technical solution has a fundamentally new design of the JIA using the body 1 made, for example, in the form of a wing of small elongation - discoplane.
  • the body - wing 1 allows you to perform a flight at larger than normal angles of attack, and its characteristic feature is stall at the body - wing 1 is delayed to angles of 45 degrees (Cy MaX ).
  • a vortex spatial system induces additional velocity along the chords along the chords, which increases the pressure, and, consequently, additional lifting force, which more than compensates for losses from local stalls along the lateral and leading edges.
  • Such an aerodynamic effect in the body - wing 1 increases with increasing angle of attack.
  • the body - wing 1 of the proposed device has no tendency to stall, does not break in a tailspin, which in turn guarantees a slow and safe decrease, similar to a decrease in a parachute.
  • the hull - wing round in plan 1, creates a powerful air cushion effect, that is, until the JIA naturally extinguishes its speed before landing, it will not be able to land, which affects the flight safety and JIA maneuverability.
  • An important advantage of the proposed device is the fact that financial costs are reduced by an amount proportional to about the third degree of the wingspan — wing 1, and the absence of horizontal tail as an independent unit leads to a decrease in financial costs by another 10-15%.
  • the proposed JlA design can be used for transportation of goods and passengers, for pollination of gardens and fields, for the protection of forests and reserves, as an ambulance in hard-to-reach areas, as a sports, educational and training apparatus.
  • the proposed JIA design allows for high maneuverability due to the rotation of the JIA around the vertical axis not only during take-off and landing, but also during horizontal flight, as well as by changing the thrust vector in the range of 360 °, as well as by creating on the wing or wings located in the air channels of the hull, maximum lifting force, regardless of the spatial position of the JIA, errors in piloting or difficult weather conditions, their output at supercritical angles of attack is structurally and functionally possible that allows to fly in tight spaces, the trees in the city, in the mountains and so on. d.
  • the proposed JIA design for achieving absolute pitch and roll stability during takeoff and landing modes, as well as for high atmospheric air turbulence, to ensure flight safety also uses the gyroscopic effect of a flywheel disk 3 made of super lightweight materials .
  • an anti-freezing fluid is supplied, which, in turn, at any stage JIA has the ability to be instantly released through remote control solenoid valves located around the perimeter of the flywheel disk 3.
  • the kinetic energy of the disk is flywheel 3 and in the event of a system outage Controls 7, 8 use a drive from an air turbine operating on an air-gas mixture under pressure in cylinders.
  • An important advantage of the proposed design of the aircraft is the fact that financial costs are reduced by an amount proportional to about the third degree of wing span, and the absence of horizontal tail as an independent unit leads to a reduction in financial costs by another 10-15%.
  • the JlA design which provides for the location of the wing (s) inside and / or outside the hull, allows to increase the inflated area of the wing (s) many times, as a result of which the JIA lifting force increases by a multiple of the wing (s) area.
  • the JIA design allows its operation in aerodrome-free conditions, in any climatic conditions and at any time of the day.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Toys (AREA)
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Abstract

L’invention concerne le domaine de l’aviation et notamment des aéronefs destinés au transport de passagers et de marchandises, à l’épandage agricole, à la surveillance de forêts et de réserves naturelles ainsi qu’en qualité d’ambulance dans des régions difficiles d’accès. L’aéronef à décollage et atterrissage verticaux comprend un corps de forme aérodynamique et au moins une aile en forme d’anneau disposé à l’intérieur ou à l’extérieur du corps. A l’intérieur du corps on a disposé un volant se présentant comme un disque creux et muni de robinets de commande à distance, un groupe propulseur constitué d’au moins un moteur et d’au moins un dispositif à double flux ou d’un turboréacteur à double flux et d’un dispositif d’éjection. Le système de pilotage comprend des gouvernes assurant l’orientation en roulis, en tangage et en lacet et se présentant comme des anneaux profilés disposés symétriques les uns aux autres ou par rapport à l’axe du corps. L’invention permet d’augmenter la portance, d’améliorer la finesse de l’appareil, sa maniabilité et de réduire la consommation de carburant.
PCT/RU2008/000677 2008-10-31 2008-10-31 Aéronef à décollage et atterrissage verticaux WO2010050839A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE112008004054T DE112008004054T5 (de) 2008-10-31 2008-10-31 Luftfahrzeug zum vertikalen Starten und Landen
PCT/RU2008/000677 WO2010050839A1 (fr) 2008-10-31 2008-10-31 Aéronef à décollage et atterrissage verticaux

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/RU2008/000677 WO2010050839A1 (fr) 2008-10-31 2008-10-31 Aéronef à décollage et atterrissage verticaux

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Publication Number Publication Date
WO2010050839A1 true WO2010050839A1 (fr) 2010-05-06

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PCT/RU2008/000677 WO2010050839A1 (fr) 2008-10-31 2008-10-31 Aéronef à décollage et atterrissage verticaux

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WO (1) WO2010050839A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103419936A (zh) * 2013-08-20 2013-12-04 张可文 碟形飞行器
CN105831053A (zh) * 2016-03-21 2016-08-10 王钧丰 一种植物保护机械及其控制系统
CN111661331A (zh) * 2020-06-22 2020-09-15 中国民航大学 一种可变模态环翼涵道的无人机

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3785592A (en) * 1971-10-04 1974-01-15 K Kerruish Vtol aircraft
WO1996007586A1 (fr) * 1994-09-06 1996-03-14 Vass Gabor I Aeronef a ailes circulaires
RU2089458C1 (ru) * 1995-01-11 1997-09-10 Владимир Иванович Воронов Летательный аппарат вертикального взлета и пасадки
US20020125366A1 (en) * 2000-09-19 2002-09-12 Americo Salas Flying vehicle of inverse sustentation (FVIS)

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3785592A (en) * 1971-10-04 1974-01-15 K Kerruish Vtol aircraft
WO1996007586A1 (fr) * 1994-09-06 1996-03-14 Vass Gabor I Aeronef a ailes circulaires
RU2089458C1 (ru) * 1995-01-11 1997-09-10 Владимир Иванович Воронов Летательный аппарат вертикального взлета и пасадки
US20020125366A1 (en) * 2000-09-19 2002-09-12 Americo Salas Flying vehicle of inverse sustentation (FVIS)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103419936A (zh) * 2013-08-20 2013-12-04 张可文 碟形飞行器
CN105831053A (zh) * 2016-03-21 2016-08-10 王钧丰 一种植物保护机械及其控制系统
CN111661331A (zh) * 2020-06-22 2020-09-15 中国民航大学 一种可变模态环翼涵道的无人机
CN111661331B (zh) * 2020-06-22 2023-01-24 中国民航大学 一种可变模态环翼涵道的无人机

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