WO2017004826A1 - 一种抗摔防漂移无人飞行器 - Google Patents

一种抗摔防漂移无人飞行器 Download PDF

Info

Publication number
WO2017004826A1
WO2017004826A1 PCT/CN2015/083643 CN2015083643W WO2017004826A1 WO 2017004826 A1 WO2017004826 A1 WO 2017004826A1 CN 2015083643 W CN2015083643 W CN 2015083643W WO 2017004826 A1 WO2017004826 A1 WO 2017004826A1
Authority
WO
WIPO (PCT)
Prior art keywords
aerial vehicle
unmanned aerial
connecting beam
main body
drift
Prior art date
Application number
PCT/CN2015/083643
Other languages
English (en)
French (fr)
Inventor
周志艳
程楚
臧英
谷秀艳
兰玉彬
罗锡文
陈盛德
Original Assignee
华南农业大学
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 华南农业大学 filed Critical 华南农业大学
Priority to PCT/CN2015/083643 priority Critical patent/WO2017004826A1/zh
Priority to US15/759,155 priority patent/US10858098B2/en
Publication of WO2017004826A1 publication Critical patent/WO2017004826A1/zh

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64B—LIGHTER-THAN AIR AIRCRAFT
    • B64B1/00—Lighter-than-air aircraft
    • B64B1/06—Rigid airships; Semi-rigid airships
    • B64B1/20—Rigid airships; Semi-rigid airships provided with wings or stabilising surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64B—LIGHTER-THAN AIR AIRCRAFT
    • B64B1/00—Lighter-than-air aircraft
    • B64B1/06—Rigid airships; Semi-rigid airships
    • B64B1/24—Arrangement of propulsion plant
    • B64B1/30—Arrangement of propellers
    • B64B1/34—Arrangement of propellers of lifting propellers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/02—Undercarriages
    • B64C25/06—Undercarriages fixed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
    • B64C29/0008—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded
    • B64C29/0016—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded the lift during taking-off being created by free or ducted propellers or by blowers
    • B64C29/0025—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded the lift during taking-off being created by free or ducted propellers or by blowers the propellers being fixed relative to the fuselage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C3/00—Wings
    • B64C3/18—Spars; Ribs; Stringers
    • B64C3/185—Spars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C3/00—Wings
    • B64C3/18—Spars; Ribs; Stringers
    • B64C3/187—Ribs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
    • B64D45/06—Landing aids; Safety measures to prevent collision with earth's surface mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/30—Lighter-than-air aircraft, e.g. aerostatic aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/30—Constructional aspects of UAVs for safety, e.g. with frangible components
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/25—Fixed-wing aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/60—UAVs characterised by the material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U60/00—Undercarriages
    • B64U60/10—Undercarriages specially adapted for use on water

Definitions

  • the invention relates to an aircraft, in particular to an anti-drop anti-drift unmanned aerial vehicle.
  • Agricultural aircraft have high efficiency in aviation operations.
  • aviation spraying is 5 to 7 times more efficient than ground machinery, which is equivalent to manual spraying.
  • 200 to 250 Double, and strong assault ability, good effect on prevention and control of sudden and explosive pests and diseases; not restricted by crop growth, especially when crops grow to the end of the road, the ridges are not clear, and aviation operations can solve the problem that the ground machinery is difficult to go to the field after the crop growth The problem with the homework.
  • aircraft aviation operations also have the characteristics of reducing operating costs, leaving no prints and damage to crops.
  • the aircraft currently used for agricultural aviation operations mainly include manned large fixed-wing agricultural aircraft, helicopters, powered parachutes, and unmanned fixed-wing aircraft, single-rotor helicopters, and non-coaxial multi-rotor helicopters.
  • Unmanned helicopters have the advantages of no need for dedicated airports, professional pilots, low maintenance costs, and low air traffic control. They also have the advantages of low flight altitude, high operational efficiency and high precision, and wide adaptability to the terrain. There has been widespread concern in agricultural production.
  • the plant protection unmanned aerial vehicle has a small payload. Therefore, the plant protection operation usually adopts a high concentration and low volume spray operation mode.
  • the droplet size is relatively small, and the droplets are easily disturbed by natural wind before entering the crop canopy, and drift occurs. Therefore, it has a greater impact on the efficacy of plant protection operations.
  • the present invention provides a anti-drop and anti-drift unmanned aerial vehicle with good safety performance, which can greatly reduce the crash loss of the plant protection unmanned aerial vehicle and reduce the drift of the droplet.
  • An anti-drop anti-drift unmanned aerial vehicle includes an unmanned aerial vehicle main body, and opposite sides of the unmanned aerial vehicle main body are respectively provided with an air bag, and the air bag is connected with the unmanned aerial vehicle main body.
  • the airbag can serve as a landing gear when the aircraft is landing; when the aircraft crashes and the bomber falls to the ground, it can buffer and reduce the unmanned aerial vehicle.
  • the damage of the main body if the aircraft accidentally falls on the water surface, under the action of the airbag, the aircraft can float on the water surface, avoiding the aircraft sinking into the water and causing damage, improving the safety performance of the present invention, and in addition, the airbag can block the side to a certain extent. Wind reduces fog drift.
  • the airbag has the shape of an airship.
  • the use of rotor drive can improve maneuver flexibility, reduce the chance of accidents such as crashes, and improve the safety of the operation.
  • the airship-shaped airbag can effectively reduce the wind resistance and improve the endurance.
  • the bottom of the airbag has a convex protrusion that protrudes downward.
  • the protrusion can better block the crosswind and reduce the drift of the droplet, thereby improving the utilization efficiency of the droplet.
  • the above air bag injects a gas lighter than air.
  • the buoyancy generated by the airbag can partially or completely offset the weight of the aircraft and the weight of the load in the working pod, thereby increasing the payload of the aircraft and improving work efficiency.
  • the opposite sides of the main body of the unmanned aerial vehicle are respectively provided with wings, and the airbag is fixed on the wing.
  • the wing In flight, the wing can also provide a certain amount of lift, increasing the payload of the aircraft.
  • the unmanned aerial vehicle main body and the wing are connected by the first connecting beam and the second connecting beam.
  • the wing freedom can be limited by a double beam connection.
  • the first connecting beam passes through the two sides of the bottom of the UAV main body, and the wings on both sides of the UAV main body are respectively fixed on the two sides of the main body of the UAV.
  • the UAV main body can rotate around the first connecting beam, and the opposite sides of the UAV main body are respectively provided with card slots, and the end of the second connecting beam connected with the UAV main body is stuck in the card slot And the second connecting beam can move in the card slot.
  • the angle between the UAV main body and the wing can be changed to meet the control needs of the speed and attitude change during the flight of the aircraft, and the aircraft is reduced in flight. Instability.
  • a plurality of ribs arranged in the same direction are disposed inside the wing, and the outer side of the rib is covered by soft leather, and each rib is respectively provided with a first through hole capable of cooperating with the first connecting beam and capable of The second connecting beam cooperates with the second through hole, the first connecting beam passes through the first through hole of each rib, and the second connecting beam passes through the second through hole of each rib.
  • the aligned ribs share the pressure experienced by the wing and maintain the shape of the wing.
  • the airbag is not squeezed, rolled and translated in the air, the stability during the air operation is ensured, and the accuracy of the aviation operation is improved.
  • the inside of the airbag is provided with a support skeleton, and the outer side of the support frame is supported. Covered by the soft skin, the first connecting beam and the second connecting beam pass through the air bag, and the first connecting beam and the second connecting beam are both connected to the supporting frame.
  • the bottom of the main body of the UAV is provided with a buckle assembly, and the first connecting beam is fixed to the bottom of the main body of the UAV by the buckle assembly.
  • the utility model can not only connect the main body of the unmanned aerial vehicle with the airfoil and the airbag to prevent the falling off, but also can realize quick disassembly conveniently.
  • the invention provides an airbag on the two sides of the main body of the unmanned aerial vehicle, and the airbag can serve as a landing gear when the aircraft is landing; when the aircraft crashes and the bomber falls to the ground, it can buffer and reduce the main body of the unmanned aerial vehicle.
  • the damage if the aircraft accidentally falls in the field or on the water surface, under the action of the airbag, the aircraft can be floated on the water surface to prevent the aircraft from sinking into the water and causing damage, thereby improving the safety performance of the present invention.
  • the combination of multi-balloons, rotors and fixed wings combines the advantages of commonly used airships, helicopters and fixed-wing aircraft.
  • the shape of the airbag is airship-shaped, which can effectively reduce the wind resistance and improve the endurance in flight.
  • the airbag is filled with lighter than air, and the buoyancy generated by the airbag can partially or completely offset the self-weight of the aircraft and the load in the working pod.
  • the weight can increase the payload of the aircraft and improve the efficiency of the operation; the helicopter helicopter drive can improve the maneuverability; the airbag is fixed on the wing, and the wing can also provide a certain lift in flight to increase the payload of the aircraft. the amount.
  • the bottom of the airbag has a downwardly convex protrusion.
  • the protrusion can block the crosswind and reduce the drift of the droplet, thereby improving the utilization efficiency of the droplet.
  • the bottom of the main body of the UAV is provided with a card slot and a buckle assembly, which can realize the change of the angle between the wing and the UAV main body, so as to adapt to the control needs of the speed and posture change during the flight of the aircraft, and
  • the main body of the UAV is connected to the airfoil and the airbag as a whole to prevent falling off, and the quick disassembly can be conveniently realized.
  • FIG. 1 is a schematic structural view of an anti-drop anti-drift unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 2 is a schematic view showing the bottom side structure of the main body of the UAV (the bottom plate is removed) according to an embodiment of the present invention.
  • Figure 3 is an enlarged view of Part A in Figure 2.
  • FIG. 4 is a schematic structural view of a reversible buckle according to an embodiment of the present invention.
  • Figure 5 is a cross-sectional view showing an air bag according to an embodiment of the present invention.
  • Figure 6 is a partial schematic view of a wing of an embodiment of the present invention.
  • FIG. 7 is a schematic view showing the assembly of the main body of the UAV and the connecting beam according to the embodiment of the present invention.
  • the structure of the anti-drop anti-drift unmanned aerial vehicle of the present embodiment is as shown in FIGS. 1 to 7, and includes an unmanned aerial vehicle main body 1 and an unmanned aerial vehicle main body 1
  • Four rotors 10 are symmetrically distributed on the left and right sides of the front portion and the left and right sides of the rear portion, and the left and right sides of the central portion of the UAV main body 1 are respectively provided with wings 3, one for each wing 3 Airbag 2
  • the two airbags 2 are located at the same height position, and the two airbags 2 are symmetrically arranged based on the main body 1 of the unmanned aerial vehicle.
  • a gas lighter than air such as helium
  • the buoyancy generated can partially or completely offset the weight of the aircraft and the weight of the load in the work pod, thereby increasing the payload of the aircraft and improving the efficiency of the work; in flight, the wing 3 It can also provide a certain lift, which can also increase the payload of the aircraft.
  • the bottom of the aircraft is loaded with a medicine box, and the nozzle is generally placed on the wing 3 or / and the UAV main body 1
  • the bottom surface, located between the two airbags 2 is rotated by the plurality of rotors 10 of the aircraft during flight to spray the pesticide on the front and back of the crop.
  • the airbag 2 has an airship shape and an airship-like airbag 2 In the flight process, it can provide the same lifting force as the ordinary airship, reduce the energy consumption of the aircraft, and can improve the endurance ability during the flight.
  • the airbag 2 adopts the streamlined shape of the airship, and the tail end of the airbag 2 is also provided with a tail fin. 20, such a structural airbag can also effectively reduce the wind resistance and improve the endurance ability during flight.
  • the liquid medicine loaded in the medicine box is usually high in concentration, and the sprayed drops are very small when spraying, so if there is a crosswind blow during the flight At the time, the drops are prone to shift, which will result in a decrease in the efficiency of the use of the drops, and at the same time the efficiency of the aircraft will be reduced.
  • the bottom of 2 has a downwardly projecting projection 21 which, when affected by the crosswind, protrudes at the bottom of the airbag 2
  • the effect of blocking the influence of the crosswind can be improved, and the phenomenon that the mist is drifted by the influence of the crosswind is improved, and further, the cross section of the projection 21 becomes smaller from the top to the bottom, and the projection 21
  • the front end is curved to reduce the resistance encountered during flight.
  • Airbag 2 When the aircraft is not working, it is in the form of a landing gear to support it; when the aircraft is malfunctioning in the air or an accident occurs, the airbag 2 It can provide a cushioning landing when the aircraft is falling, and it can maintain the integrity of the aircraft to a large extent even when falling into the field or on the water.
  • the bottom of the main body 1 of the unmanned aerial vehicle 1 is mounted with a first connecting beam 4 and a second connecting beam 5, and the second connecting beam 5 has two, the first connecting beam 4 is located behind the second connecting beam 5, wherein the first connecting beam 4 transversely passes through the bottom of the UAV body 1, and both ends of the first connecting beam 4 extend out of the UAV main body 1 Outside the left and right sides, the wings 3 on both sides of the UAV main body 1 are respectively fixed on the first connecting beam 4 on the corresponding side, and the UAV main body 1 can be rotated around the first connecting beam 4 at a small amplitude, and the angle of rotation is Within 20 °, the left and right sides of the bottom of the UAV main body 1 are respectively provided with a card slot 11 , and the end of the second connecting beam 5 connected to the UAV main body 1 is respectively stuck in the card slot on each side 11 And the second connecting beam 5 can move in the card slot 11, the other end of the second connecting beam 5 is connected to the wing 3, and the bottom of the UAV main body 1
  • the inside of the airbag 2 is provided with a support frame 22, and the outer side of the support frame 22 is covered with soft leather, and the first connecting beam 4 and the second connecting beam 5 It also passes through the air bag 2, and both the first connecting beam 4 and the second connecting beam 5 are connected to the support frame 22.
  • the UAV main body 1 is made Rotating around the first connecting beam 4 to realize the UAV main body 1 and the wing 2
  • the change between the angles is adapted to the control needs of the speed and attitude changes during the flight of the aircraft, so that the aircraft can stably fly.
  • a groove 13 is defined at a position corresponding to the first connecting beam 4 at the bottom, and a buckle assembly is disposed at a position corresponding to the groove 13 at the bottom of the UAV main body 1.
  • the buckle assembly is disposed in the groove 13 A limit buckle 121 at both ends and a reversible buckle 122 covering the groove 13 , and two sides of the reversible buckle 122 are respectively provided with a connection buckle 1221 , the main body of the unmanned aerial vehicle 1
  • the bottom portion is respectively provided with a buckle groove 14 at a position corresponding to the connection buckle 1221, and the connection buckle 1221 of the reversible buckle 122 can be coupled with the buckle groove at the bottom of the UAV main body 1
  • the first connecting beam 4 is embedded in the limit buckle 121, and then the reversible buckle 122 is closed on the groove 13 through the connecting buckle 1221 and the buckle groove 14
  • the buckle is connected to prevent the reversible buckle 122 from falling off, and the limit buckle 121 and the reversible buckle 122 simultaneously act to limit the first connecting beam 4 to the unmanned aerial vehicle body 1
  • the bottom has no movement other than the beam rotation, and the reversible buckle 122 protects the first connecting beam 4 from falling off
  • Limit buckle 121 will be the first connecting beam 4
  • a step or a protrusion is arranged on the first connecting beam 4, and the step or the protrusion on the first connecting beam 4 acts to restrict the movement under the blocking action of the limiting buckle 121, so that the first connecting beam 4 It will not cause left and right shaking during the flight.
  • the wing 3 is internally provided with a plurality of ribs 31 arranged in the same direction, and the ribs 31 are provided. Arranged equidistantly, all of the ribs 31 are framed by a soft skin, and each rib 31 shares the pressure on the wing 3 to allow the wing 3 to maintain its original shape during flight.
  • Each rib 31 A first through hole 311 capable of engaging with the first connecting beam 4 and a second through hole 312 capable of cooperating with the second connecting beam 5, and a first through hole 311 of all the ribs 31 are respectively provided.
  • the centers of the two through holes 312 of all the ribs 31 are linearly aligned, the first connecting beam 4 passes through the first through hole 311 of each rib 31, and the second connecting beam 5 passes through each wing.
  • rib The second through hole 312 of the 31, so that the first connecting beam 4 and the second connecting beam 5 are hidden in the wing 3, on the one hand, avoiding the appearance of the connecting beam, and on the other hand, avoiding the exposure of the connecting beam and increasing the wing 3 Wind resistance.
  • the soft skin used in the above-mentioned airfoil 3 and airbag 2 is an airship skin, and the airship skin has an explosion-proof characteristic, which improves the safety factor of the aircraft.
  • Airbag 2 The support frame 22 and the wing ribs 31 of the wing 3 are made of lightweight materials such as aluminum alloy or carbon fiber, which reduces the weight of the aircraft, thereby reducing energy consumption and improving endurance.
  • the anti-drop and anti-drift unmanned aerial vehicle of the present invention is in flight work, the first connecting beam 4 It is to connect and fix the entire aircraft during the work, so that the aircraft will not have too much activity.
  • the second connecting beam 5 is moved in the card slot 11, the UAV main body 1 and the wing 2 and the air bag can be adjusted at the same time
  • the angle of 3 allows the aircraft to stabilize flight while adapting to the handling needs of speed and attitude changes during flight.
  • a steering gear is provided at the bottom of the UAV main body 1 to control the second connecting beam 5 to move relatively in the slot 11 so that the second connecting beam 5 can be in the slot 11
  • the inner movement is allowed to move, and the wing 2 is kept horizontal, so that the UAV main body 1 is tilted to meet the needs of different flight attitudes, and the user can change the unmanned aerial vehicle body by manually controlling the steering gear on the ground console.
  • the tilt angle of 1 matches the position of the aircraft in the air to ensure the smooth flight of the aircraft; when the aircraft is tilted forward, the main body of the UAV can be reduced.
  • the angle between the wing and the wing allows the wing to maintain an effective flight attitude, which can provide lift for flight, reduce energy consumption and improve endurance.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Pest Control & Pesticides (AREA)
  • Remote Sensing (AREA)
  • Catching Or Destruction (AREA)
  • Toys (AREA)

Abstract

一种抗摔防漂移无人飞行器，包括无人飞行器主体（1），无人飞行器主体（1）上设有至少一个旋翼（10），无人飞行器主体（1）的左右两侧分别设有机翼（3），每个机翼（3）上分别设有一个气囊（2），气囊（2）的底部具有向下凸出的凸起（21），两个气囊（2）位于在同一高度位置，并且两个气囊（2）基于无人飞行器主体（1）对称设置，气囊（2）注入轻于空气的气体。通过在无人飞行器主体（1）的两侧方分别设有气囊（2），在飞行器降落时，气囊（2）可以充当起落架；在飞行器摔机、炸机坠地时可以起到缓冲，减小对无人飞行器主体（1）的损伤等优点；如果飞行器不慎坠落在田间或水面上，在气囊（2）的作用下可以使飞行器浮于水面，避免飞行器沉入水中造成损坏，提高了飞行器的安全性能。此外，气囊（2）的底部具有向下凸出的凸起（21），喷洒作业时，凸起（21）可以阻挡侧风而减少雾滴漂移，提高雾滴的利用效率。

Description

一种抗摔防漂移无人飞行器
技术领域
本发明涉及一种飞行器，具体涉及一种抗摔防漂移无人飞行器。
背景技术
农用飞机航空作业效率高，例如在麦田灭草作业中，航空喷施比地面机械效率高 5 ～ 7 倍，相当于人工喷施的 200 ～ 250 倍，并且突击能力强，对突发、爆发性病虫害防控效果好；不受作物长势的限制，特别是作物生长至封行后行垄不清晰，航空作业可解决作物生长后期地面机械难以下田作业的问题。与田间作业相比，飞机航空作业还有降低作业成本、不会留下辙印和损坏农作物等的特点。
目前用于农业航空作业的飞行器主要包括有人驾驶的大型固定翼农用飞机、直升飞机、动力伞以及无人驾驶的固定翼飞机、单旋翼直升飞机、非共轴多旋翼直升飞机等。
有人驾驶的飞机作业效率高，但存在需要专用机场、维护成本高、航空管制严格等诸多问题。无人驾驶的直升飞机由于具有无需专用机场、专业飞行员、维护成本低以及航空管制少等特点，而且具有飞行高度低、作业效率及精度高、作业地形适应性广等优点，越来越在农业生产中得到广泛关注。
但无人驾驶的单旋翼直升飞机、非共轴多旋翼直升飞机对于普通务农人员而言，价格仍显得昂贵，且需要操作人员具有一定的科学文化基础，操作不当很容易出现 ' 摔机 ' 、 ' 炸机 ' 等坠机事故，不仅造成飞机本身的重大损失，而且也给机上装备及地面作物带来严重毁坏，同时还会给地面作业人员带来安全威胁，因此，其使用的安全性问题是制约其快速发展的关键问题之一。起落架是植保无人飞行器起降的重要装置，在飞行器发生故障坠机时可起到一定的缓冲作用，但目前的起落架装置缓冲作用非常有限，当前亟需开发一种新型起落架装置，最大限度地降低植保无人飞行器的坠机损失。
此外，植保无人飞行器有效载荷量小，因此植保作业时通常采用高浓度低容量的喷雾作业方式，雾滴粒径比较小，雾滴在进入作物冠层前容易受到自然风的干扰，发生漂移，从而对植保作业的药效造成较大的影响。
发明内容
本发明为克服上述现有技术中的不足，提供了一种安全性能好的抗摔防漂移无人飞行器，能大幅度降低植保无人飞行器的坠机损失，并减少雾滴的漂移。
为了达到上述目的，本发明采取的技术方案： 一种抗摔防漂移无人飞行器，包括无人飞行器主体，所述无人飞行器主体相对的两侧方分别设有气囊，气囊与无人飞行器主体连接。
上述方案中，通过在无人飞行器主体的两侧方分别设有气囊，在飞行器降落时，气囊可以充当起落架；在飞行器摔机、炸机坠地时可以起到缓冲，减小对无人飞行器主体的损伤，如果飞行器不慎坠落在水面上，在气囊的作用下可以使飞行器浮于水面，避免飞行器沉入水中造成损坏，提高了本发明的安全性能，此外，气囊一定程度上可阻挡侧风而减少雾滴漂移。
进一步地，上述无人机主体上设有至少一个 旋 翼，上述气囊的外形呈飞艇状。采用旋翼驱动可提高机动灵活性，还可减少摔机等作业事故发生的几率，提高作业的安全性，飞艇状的气囊可以在飞行中能够有效地减少风的阻力，提升续航能力。
进一步地，上述气囊的底部具有向下凸出的凸起。喷洒作业时，在飞行的过程中，如果遭遇侧风吹袭的时候，凸起可以更好阻挡侧风而减少雾滴漂移，提高雾滴的利用效率。
进一步地，上述气囊注入轻于空气的气体。气囊产生的浮力可以部分或完全抵消飞行器的自重以及作业吊舱中负载的重量，从而可以增加飞行器的有效载荷量，提高作业效率。
进一步地，上述无人飞行器主体相对的两侧分别设有机翼，气囊固定在机翼上。飞行中，机翼也可以提供一定的升力，增加飞行器的有效载荷量。
进一步地，上述无人飞行器主体与机翼通过第一连接梁和第二连接梁连接。通过双梁连接，可以限制机翼自由度。
进一步地，为了减少飞行器在飞行中产生的晃动，上述第一连接梁穿过无人飞行器主体底部的两侧，无人飞行器主体两侧的机翼分别固定在位于无人飞行器主体两侧的第一连接梁上，无人飞行器主体能围绕第一连接梁转动，无人飞行器主体的底部相对的两侧分别设有卡槽，第二连接梁与无人飞行器主体连接的一端卡在卡槽内，且第二连接梁能在卡槽内移动。通过控制第二连接梁能在卡槽内移动，可实现无人飞行器主体与机翼之间夹角的改变，以适应飞行器飞行过程中速度及姿态改变的操控需要，减少飞行器在飞行中产生的不稳定性。
进一步地，上述机翼内部设有多个呈同一方向排列的翼肋，翼肋外侧由软皮包覆，每个翼肋分别设有能与第一连接梁配合的第一通孔和能与第二连接梁配合的第二通孔，第一连接梁穿过每个翼肋的第一通孔，第二连接梁穿过每个翼肋的第二通孔。排列的翼肋可以共同分担机翼受到的压力，保持机翼的形状。
进一步地，为了保证气囊的形状稳定性，保证气囊在空中不会挤压、横滚和平移，保证空中作业时的稳定性，提高航空作业精度，上述气囊的内部设有支撑骨架，支撑骨架外侧由软皮包覆，第一连接梁和第二连接梁穿过气囊，且第一连接梁和第二连接梁均与支撑骨架连接。
进一步地，为了保证第一连接梁安装的可靠性，上述无人飞行器主体底部设有卡扣组件，第一连接梁通过卡扣组件固定在无人飞行器主体底部。既能使无人飞行器主体与机翼、气囊连接成一个整体，防止脱落，又能方便地实现快速拆卸。
本发明的有益效果如下：
1 、本发明通过在无人飞行器主体的两侧方分别设有气囊，在飞行器降落时，气囊可以充当起落架；在飞行器摔机、炸机坠地时可以起到缓冲，减小对无人飞行器主体的损伤，如果飞行器不慎坠落在田间或水面上，在气囊的作用下可以使飞行器浮于水面，避免飞行器沉入水中造成损坏，提高了本发明的安全性能。
2 、采用多气囊、旋翼、固定翼相结合的方式，综合了常用的飞艇、直升机、固定翼飞机的优点。气囊的外形呈飞艇状，可以在飞行中能够有效地减少风的阻力，提升续航能力；气囊中充满轻于空气的气体，气囊产生的浮力可以部分或完全抵消飞行器的自重以及作业吊舱中负载的重量，从而可以增加飞行器的有效载荷量，提高作业效率；采用旋翼直升机驱动可提高机动灵活性；气囊固定在机翼上，飞行中，机翼也可以提供一定的升力，增加飞行器的有效载荷量。
3 、气囊的底部具有向下凸出的凸起，喷洒作业时，在飞行的过程中，如果遭遇侧风吹袭的时候，凸起可以阻挡侧风而减少雾滴漂移，提高雾滴的利用效率。
4 、无人飞行器主体的底部设有卡槽和卡扣组件，既能实现机翼相对于无人飞行器主体之间夹角的改变，以适应飞行器飞行过程中速度及姿态改变的操控需要，又能使无人飞行器主体与机翼、气囊连接成一个整体，防止脱落，并能方便地实现快速拆卸。
附图说明
图 1 为本发明实施例的抗摔防漂移无人飞行器的结构示意图。
图 2 为本发明实施例的无人飞行器主体的底侧结构示意图（底板拆除）。
图 3 为图 2 中 A 部放大图。
图 4 为本发明实施例的可翻转卡扣结构示意图。
图 5 为本发明实施例的气囊的剖视示意图。
图 6 为本发明实施例的机翼的局部示意图。
图 7 为本发明实施例的无人飞行器主体与连接梁的装配示意图。
具体实施方式
下面结合附图对本发明做进一步的描述，但本发明的实施方式并不限于此。
实施例
本实施例的抗摔防漂移无人飞行器的结构如图1至7所示， 包括无人飞行器主体 1 ，无人飞行器主体 1 的前部的左右两侧和后部的左右两侧分别对称分布设有四个旋翼 10 ，无人飞行器主体 1 中部的左右两侧分别设有机翼 3 ，每个机翼 3 上分别设有一个气囊 2 ，两个气囊 2 位于在同一高度位置，并且两个气囊 2 基于无人飞行器主体 1 对称设置。所述气囊 2 内注入轻于空气的气体，例如氦气，使得气囊 2 产生的浮力可以部分或完全抵消飞行器的自重以及作业吊舱中负载的重量，从而可以增加飞行器的有效载荷量，提高作业效率；飞行中，机翼 3 也可以提供一定的升力，同样也可增加飞行器的有效载荷量。在喷洒作业飞行过程中， 飞行器的 底部装载药箱，喷头一般置于机翼 3 或 / 和无人飞行器主体 1 底面，且位于两个气囊 2 之间，在飞行过程中通过飞行器的多个旋翼 10 转动，能够将农药喷洒在作物的正反面。
本实施例中，上述气囊 2 的外形呈飞艇状，飞艇状的气囊 2 在飞行过程中能够提供和普通飞艇一样的上升力，减少飞行器的能耗，能够很好的提升飞行过程中的续航能力。气囊 2 采用飞艇的流线型外形，且气囊 2 的尾端还设有尾翼 20 ，这样结构气囊在飞行中也能够有效的减少风的阻力，提升续航能力。
由于飞行器的载药量有限，所以药箱内装载的药液通常是高浓度的，而且在喷洒的时候，喷洒的药滴是很微小的，所以在飞行的过程中，如果遭遇侧风吹袭的时候，药滴容易产生偏移，这样会导致药滴的使用效率降低，同时飞行器的工作效率也会因此而降低，因此，上述气囊 2 的底部具有向下凸出的凸起 21 ，在受到侧风影响的时候，气囊 2 底部的突起 21 能够起到阻挡侧风影响的效果，改善雾滴受到侧风影响产生漂移的现象，此外，凸起 21 的横截面自上往下逐渐变小，且凸起 21 的前端为弧面，可以降低在飞行中受到的阻力。气囊 2 在飞行器没有作业的时候，是以起落架的形式存在，起到支撑作用；在飞行器在空中作业发生故障或者有意外事故产生时，气囊 2 可以在飞行器坠落的时候提供一个缓冲落地，即使在坠入田间或者水上时，也能够很大程度的保持飞行器的完整。
上述无人飞行器主体 1 的底部安装有第一连接梁 4 和第二连接梁 5 ，第二连接梁 5 有两条，第一连接梁 4 位于第二连接梁 5 后方，其中第一连接梁 4 横向穿过无人飞行器主体 1 的底部，且第一连接梁 4 的两端伸出无人飞行器主体 1 左右两侧外，无人飞行器主体 1 两侧的机翼 3 分别固定在对应侧的第一连接梁 4 上，且无人飞行器主体 1 能围绕第一连接梁 4 小幅度转动，转动的角度在 20 ° 以内，无人飞行器主体 1 的底部的左右两侧分别设有卡槽 11 ，第二连接梁 5 与无人飞行器主体 1 连接的一端分别卡在每侧的卡槽 11 内，且第二连接梁 5 能在卡槽 11 内移动，第二连接梁 5 的另一端与机翼 3 连接，无人飞行器主体 1 的底部设置底板，底板可以阻挡卡槽 11 的开口位置，同时限制第二连接梁 5 移动的行程。上述气囊 2 的内部设有支撑骨架 22 ，支撑骨架 22 外侧由软皮包覆，第一连接梁 4 和第二连接梁 5 也穿过气囊 2 ，且第一连接梁 4 和第二连接梁 5 均与支撑骨架 22 连接。第二连接梁 5 在卡槽 11 内移动的时候，使得无人飞行器主体 1 围绕第一连接梁 4 转动，实现无人飞行器主体 1 与机翼 2 之间夹角的改变，以适应飞行器飞行过程中速度及姿态改变的操控需要，使飞行器能够稳定飞行。为了保证第一连接梁 4 安装的稳定性，上述无人飞行器主体 1 底部对应第一连接梁 4 的所设位置开设有沟槽 13 ，无人飞行器主体 1 底部对应沟槽 13 的位置设有卡扣组件，所述卡扣组件包括设于沟槽 13 两端的限位卡扣 121 及盖合于沟槽 13 的可翻转卡扣 122 ，可翻转卡扣 122 的两侧分别设有连接卡扣 1221 ，无人飞行器主体 1 底部在对应连接卡扣 1221 的所设位置分别开设有扣槽 14 ，可翻转卡扣 122 的连接卡扣 1221 能与无人飞行器主体 1 底部的扣槽 14 扣接，装配时，第一连接梁 4 嵌入限位卡扣 121 中，然后把可翻转卡扣 122 盖合在沟槽 13 上面，通过连接卡扣 1221 与扣槽 14 扣接而避免可翻转卡扣 122 脱落，在限位卡扣 121 和可翻转卡扣 122 同时作用，将第一连接梁 4 限制在无人飞行器主体 1 底部，令其除了梁向旋转之外没有其他运动，可翻转卡扣 122 可以保护第一连接梁 4 在飞行过程中不会从飞行器脱落。限位卡扣 121 将第一连接梁 4 扣住，同时在第一连接梁 4 上设置阶梯或凸起，第一连接梁 4 上的阶梯或凸起在限位卡扣 121 的阻挡作用下起限制移动的效果，使第一连接梁 4 不会在飞行过程中产生左右晃动。
本实施例中，如图 6 所示，所述机翼 3 内部设有多个呈同一方向排列的翼肋 31 ，翼肋 31 等距离排列，所有的翼肋 31 构成的框架由软皮包覆，每个翼肋 31 平均分担机翼 3 受到的压力，使机翼 3 能够在飞行中保持原有形状。每个翼肋 31 分别设有能与第一连接梁 4 配合的第一通孔 311 和能与第二连接梁 5 配合的第二通孔 312 ，所有翼肋 31 的第一通孔 311 的中心直线对齐，所有翼肋 31 的第二通孔 312 的中心也直线对齐，第一连接梁 4 穿过每个翼肋 31 的第一通孔 311 ，第二连接梁 5 穿过每个翼肋 31 的第二通孔 312 ，使得第一连接梁 4 和第二连接梁 5 藏于机翼 3 内，一方面避免连接梁外露影响美观，另一方面避免连接梁外露而增加机翼 3 的风阻。
上述机翼 3 和气囊 2 使用的软皮为飞艇蒙皮，飞艇蒙皮具有防爆特性，提高飞行器的安全系数。气囊 2 的支撑骨架 22 和机翼 3 的翼肋 31 采用铝合金或碳纤维等轻质材料，降低飞行器的重量，从而降低能耗，提升续航能力。
本发明 抗摔防漂移无人飞行器在飞行工作中 ，第一连接梁 4 就是在工作过程中连接和固定整个飞行器，使飞行器不会有过多的活动。第二连接梁 5 在卡槽 11 中活动的时候，同时可以调节无人飞行器主体 1 与机翼 2 和气囊 3 的夹角，使飞行器能够稳定飞行，同时适应飞行器飞行过程中速度及姿态改变的操控需要。在第一连接梁 4 和第二连接梁 5 的作用下，其中第二连接梁 5 连接在无人飞行器主体 1 的卡槽 11 内，在无人飞行器主体 1 底部设置舵机控制第二连接梁 5 在卡槽 11 内相对移动，使第二连接梁 5 能够在卡槽 11 内的允许范围内移动，在 机翼2保持水平不动，使得 无人飞行器主体 1 倾斜以满足不同飞行姿态的需要 ， 用户可以在地面控制台人为控制舵机而改变无人飞行器主体 1 的倾斜角度，配合飞行器在空中调整位姿，能够保证飞行器的平稳飞行；当飞行器前行产生倾斜的时候，可以通过减小无人飞行器主体 1 与机翼之间的夹角，使机翼继续保持有效飞行姿态，既能够为飞行提供升力，又能降低能耗，提升续航能力。
以上所述的本发明的实施方式，并不构成对本发明保护范围的限定。任何在本发明的精神原则之内所作出的修改、等同替换和改进等，均应包含在本发明的权利要求保护范围之内。

Claims (10)

  1. 一种抗摔防漂移无人飞行器，包括无人飞行器主体（ 1 ），其特征在于，所述无人飞行器主体（ 1 ）相对的两侧方分别设有气囊（ 2 ），气囊（ 2 ）与无人飞行器主体（ 1 ）连接。
  2. 根据权利要求 1 所述的抗摔防漂移无人飞行器，其特征在于，所述无人机主体（ 1 ）上设有至少一个 旋 翼（ 10 ），气囊（ 2 ）的外形呈飞艇状。
  3. 根据权利要求 1 所述的抗摔防漂移无人飞行器，其特征在于，所述气囊（ 2 ）的底部具有向下凸出的凸起（ 21 ）。
  4. 根据权利要求 1 所述的抗摔防漂移无人飞行器，其特征在于，所述气囊（ 2 ）注入轻于空气的气体。
  5. 根据权利要求 1 至 4 任一项所述的抗摔防漂移无人飞行器，其特征在于，所述无人飞行器主体（ 1 ）相对的两侧分别设有机翼（ 3 ），气囊（ 2 ）固定在机翼（ 3 ）上。
  6. 根据权利要求 5 所述的抗摔防漂移无人飞行器，其特征在于，所述无人飞行器主体（ 1 ）与机翼（ 3 ）通过第一连接梁（ 4 ）和第二连接梁（ 5 ）连接。
  7. 根据权利要求 6 所述的抗摔防漂移无人飞行器，其特征在于，所述第一连接梁（ 4 ）穿过无人飞行器主体（ 1 ）底部的两侧，无人飞行器主体（ 1 ）两侧的机翼（ 3 ）分别固定在位于无人飞行器主体（ 1 ）两侧的第一连接梁（ 4 ）上，无人飞行器主体（ 1 ）能围绕第一连接梁（ 4 ）转动；无人飞行器主体（ 1 ）的底部相对的两侧分别设有卡槽（ 11 ），第二连接梁（ 5 ）与无人飞行器主体（ 1 ）连接的一端卡在卡槽（ 11 ）内，且第二连接梁（ 5 ）能在卡槽（ 11 ）内移动。
  8. 根据权利要求 7 所述的抗摔防漂移无人飞行器，其特征在于，所述机翼（ 3 ）内部设有多个呈同一方向排列的翼肋（ 31 ），翼肋（ 31 ）外侧由软皮包覆，每个翼肋（ 31 ）分别设有能与第一连接梁（ 4 ）配合的第一通孔（ 311 ）和能与第二连接梁（ 5 ）配合的第二通孔（ 312 ），第一连接梁（ 4 ）穿过每个翼肋（ 31 ）的第一通孔（ 311 ），第二连接梁（ 5 ）穿过每个翼肋（ 31 ）的第二通孔（ 312 ）。
  9. 根据权利要求 7 所述的抗摔防漂移无人飞行器，其特征在于，所述气囊（ 2 ）的内部设有支撑骨架（ 22 ），支撑骨架（ 22 ）外侧由软皮包覆，第一连接梁（ 4 ）和第二连接梁（ 5 ）穿过气囊（ 2 ），且第一连接梁（ 4 ）和第二连接梁（ 5 ）均与支撑骨架（ 22 ）连接。
  10. 根据权利要求 6 所述的抗摔防漂移无人飞行器，其特征在于，所述无人飞行器主体（ 1 ）底部设有卡扣组件，第一连接梁（ 4 ）通过卡扣组件固定在无人飞行器主体（ 1 ）底部。
PCT/CN2015/083643 2015-07-09 2015-07-09 一种抗摔防漂移无人飞行器 WO2017004826A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2015/083643 WO2017004826A1 (zh) 2015-07-09 2015-07-09 一种抗摔防漂移无人飞行器
US15/759,155 US10858098B2 (en) 2015-07-09 2015-07-09 Falling-resistant and anti-drifting unmanned aerial vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2015/083643 WO2017004826A1 (zh) 2015-07-09 2015-07-09 一种抗摔防漂移无人飞行器

Publications (1)

Publication Number Publication Date
WO2017004826A1 true WO2017004826A1 (zh) 2017-01-12

Family

ID=57684694

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2015/083643 WO2017004826A1 (zh) 2015-07-09 2015-07-09 一种抗摔防漂移无人飞行器

Country Status (2)

Country Link
US (1) US10858098B2 (zh)
WO (1) WO2017004826A1 (zh)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108496937A (zh) * 2018-02-28 2018-09-07 成都众宜合生科技有限公司 一种农药喷头位置可调的农业用无人机
CN108557061A (zh) * 2018-01-05 2018-09-21 深圳市贝优通新能源技术开发有限公司 一种具有保护功能的桥梁智能检测设备
CN109713424A (zh) * 2017-10-26 2019-05-03 广州极飞科技有限公司 连接组件、天线组件、无人机
CN109941433A (zh) * 2019-03-12 2019-06-28 深圳市律远汇智科技有限公司 一种用于海上巡逻的具有紧急降落功能的无人飞行装置
CN110844076A (zh) * 2019-11-28 2020-02-28 湖南库里斯智能科技有限公司 一种多功能的灭火无人机
KR20200028742A (ko) * 2018-09-07 2020-03-17 한국과학기술연구원 부력기구를 구비한 무인 비행체 및 무인 비행체의 자세제어방법
CN111186586A (zh) * 2019-12-11 2020-05-22 贵州电网有限责任公司 一种适用于无人机的烟雾发射装置
CN111388908A (zh) * 2020-03-24 2020-07-10 国网湖南省电力有限公司 航空灭火参数获取方法及系统
CN113859516A (zh) * 2021-10-22 2021-12-31 哈尔滨工业大学 一种变形翼并联导轨分布式驱动伸缩机构

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109774955B (zh) * 2019-03-06 2022-01-25 成都飞机工业（集团）有限责任公司 一种双门内埋阻力伞舱结构
CN111017182A (zh) * 2019-12-20 2020-04-17 湖南航天远望科技有限公司 一种用于飞艇的缓冲装置
CN111470035B (zh) * 2020-04-30 2023-05-23 中国飞机强度研究所 垂直起降飞行器的复杂地形自适应起落装置及其着陆方法
CN111598952B (zh) * 2020-05-21 2022-07-08 华中科技大学 一种多尺度合作靶标设计与在线检测识别方法及系统
FR3112328B1 (fr) * 2020-07-09 2022-07-08 Diodon Drone Tech Aéronef sans pilote télécommandé comprenant une structure gonflable
CN114248913B (zh) * 2022-03-01 2022-05-17 北京中航智科技有限公司 一种无人直升机的滑撬式起落架

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120234968A1 (en) * 2005-10-18 2012-09-20 Smith Frick A Aircraft with freewheeling engine
US20130105635A1 (en) * 2011-10-31 2013-05-02 King Abdullah II Design and Development Bureau Quad tilt rotor vertical take off and landing (vtol) unmanned aerial vehicle (uav) with 45 degree rotors
US20130134254A1 (en) * 2011-11-29 2013-05-30 Jason Moore UAV Fire-fighting System
CN103274042A (zh) * 2013-05-10 2013-09-04 华南农业大学 一种悬浮式直升飞行器
CN104044734A (zh) * 2014-06-20 2014-09-17 中国科学院合肥物质科学研究院 具有可倾斜机翼和旋翼的多旋翼无人机及控制系统和方法
CN104260875A (zh) * 2014-09-19 2015-01-07 苏州天益航空科技有限公司 农用植保无人机耐碰撞结构
CN104401499A (zh) * 2014-11-25 2015-03-11 南京航空航天大学 一种无人飞行器伞降回收时的着陆缓冲装置
CN204297073U (zh) * 2014-07-03 2015-04-29 珠海羽人飞行器有限公司 植保无人机
CN104724284A (zh) * 2015-03-25 2015-06-24 朱威 一种多旋翼潜水无人飞行器及其控制方法
CN105000186A (zh) * 2015-07-09 2015-10-28 华南农业大学 一种抗摔防漂移无人飞行器
CN204916190U (zh) * 2015-07-09 2015-12-30 华南农业大学 一种抗摔防漂移无人飞行器

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3738597A (en) * 1971-01-04 1973-06-12 Textron Inc Aircraft undercarriage
US3907218A (en) * 1974-05-02 1975-09-23 Ralph H Miller Heavier-than-air freight aircraft having lighter than air gas compartments
US5035382A (en) * 1989-04-17 1991-07-30 Aerovironment, Inc. Rapid assembly aircraft for ground surveillance
JP3522371B2 (ja) * 1995-01-19 2004-04-26 綾子 大塚 安全航空機
US5823468A (en) * 1995-10-24 1998-10-20 Bothe; Hans-Jurgen Hybrid aircraft
US7156033B2 (en) * 2002-08-19 2007-01-02 Floatlogic, Inc. Inflating aircraft flotation device
IL162915A (en) * 2004-07-08 2008-11-03 Elbit Systems Ltd Unmanned air vehicles and method of landing same
US20160311518A1 (en) * 2013-11-26 2016-10-27 James P. Wiebe Wing structure utilizing carbon fiber spar and shaped foam

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120234968A1 (en) * 2005-10-18 2012-09-20 Smith Frick A Aircraft with freewheeling engine
US20130105635A1 (en) * 2011-10-31 2013-05-02 King Abdullah II Design and Development Bureau Quad tilt rotor vertical take off and landing (vtol) unmanned aerial vehicle (uav) with 45 degree rotors
US20130134254A1 (en) * 2011-11-29 2013-05-30 Jason Moore UAV Fire-fighting System
CN103274042A (zh) * 2013-05-10 2013-09-04 华南农业大学 一种悬浮式直升飞行器
CN104044734A (zh) * 2014-06-20 2014-09-17 中国科学院合肥物质科学研究院 具有可倾斜机翼和旋翼的多旋翼无人机及控制系统和方法
CN204297073U (zh) * 2014-07-03 2015-04-29 珠海羽人飞行器有限公司 植保无人机
CN104260875A (zh) * 2014-09-19 2015-01-07 苏州天益航空科技有限公司 农用植保无人机耐碰撞结构
CN104401499A (zh) * 2014-11-25 2015-03-11 南京航空航天大学 一种无人飞行器伞降回收时的着陆缓冲装置
CN104724284A (zh) * 2015-03-25 2015-06-24 朱威 一种多旋翼潜水无人飞行器及其控制方法
CN105000186A (zh) * 2015-07-09 2015-10-28 华南农业大学 一种抗摔防漂移无人飞行器
CN204916190U (zh) * 2015-07-09 2015-12-30 华南农业大学 一种抗摔防漂移无人飞行器

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109713424A (zh) * 2017-10-26 2019-05-03 广州极飞科技有限公司 连接组件、天线组件、无人机
CN109713424B (zh) * 2017-10-26 2022-02-18 广州极飞科技股份有限公司 连接组件、天线组件、无人机
CN108557061A (zh) * 2018-01-05 2018-09-21 深圳市贝优通新能源技术开发有限公司 一种具有保护功能的桥梁智能检测设备
CN108496937A (zh) * 2018-02-28 2018-09-07 成都众宜合生科技有限公司 一种农药喷头位置可调的农业用无人机
KR20200028742A (ko) * 2018-09-07 2020-03-17 한국과학기술연구원 부력기구를 구비한 무인 비행체 및 무인 비행체의 자세제어방법
KR102141460B1 (ko) * 2018-09-07 2020-08-05 한국과학기술연구원 부력기구를 구비한 무인 비행체 및 무인 비행체의 자세제어방법
US11401020B2 (en) 2018-09-07 2022-08-02 Korea Institute Of Science And Technology Unmanned aerial vehicle having buoyancy apparatus and attitude control method thereof
CN109941433A (zh) * 2019-03-12 2019-06-28 深圳市律远汇智科技有限公司 一种用于海上巡逻的具有紧急降落功能的无人飞行装置
CN110844076A (zh) * 2019-11-28 2020-02-28 湖南库里斯智能科技有限公司 一种多功能的灭火无人机
CN111186586A (zh) * 2019-12-11 2020-05-22 贵州电网有限责任公司 一种适用于无人机的烟雾发射装置
CN111388908A (zh) * 2020-03-24 2020-07-10 国网湖南省电力有限公司 航空灭火参数获取方法及系统
CN113859516A (zh) * 2021-10-22 2021-12-31 哈尔滨工业大学 一种变形翼并联导轨分布式驱动伸缩机构

Also Published As

Publication number Publication date
US10858098B2 (en) 2020-12-08
US20180229840A1 (en) 2018-08-16

Similar Documents

Publication Publication Date Title
WO2017004826A1 (zh) 一种抗摔防漂移无人飞行器
JP7197177B2 (ja) バーティカルロータおよび水平ロータを有する自由翼マルチロータ
CN105000186B (zh) 一种抗摔防漂移无人飞行器
US20070246601A1 (en) Manned/unmanned V.T.O.L. flight vehicle
US9387929B2 (en) Vertical takeoff and landing (“VTOL”) aircraft
CN103274042B (zh) 一种悬浮式直升飞行器
CN107571994B (zh) 一种飞行器
US20150136897A1 (en) Aircraft, preferably unmanned
US20070215746A1 (en) Aircraft Having A Ring-Shaped Wing Structure
US20190176981A1 (en) Vertical Takeoff and Landing ("VTOL") Aircraft
CN205076045U (zh) 可变结构的复合式飞行器
JP2009078745A (ja) 電動垂直離着陸機
CN104590555A (zh) 电动力多旋翼直升机
CN113460300B (zh) 一种适用于单人飞行的运载设备
CN106005394A (zh) 一种救援飞行器
CN106005371B (zh) 差分直驱全动三舵面无人机
CN106628115A (zh) 一种四涵道飞翼式无人机
CN204916190U (zh) 一种抗摔防漂移无人飞行器
CN216332756U (zh) 一种分布式电动尾桨直升机
CN115892442A (zh) 固定翼飞行器总成
CN204548481U (zh) 超小型单涵道风扇式飞行器
CN106143907A (zh) 一种喷气飞碟
CN207698008U (zh) 一种植保无人机的水箱
CN206384154U (zh) 设有喷洒系统的固定翼无人机
CN106184773B (zh) 一种尾座式涵道无人机

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 15897482

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

WWE Wipo information: entry into national phase

Ref document number: 15759155

Country of ref document: US

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 23.05.2018)

122 Ep: pct application non-entry in european phase

Ref document number: 15897482

Country of ref document: EP

Kind code of ref document: A1