WO2018103203A1 - Véhicule aérien sans pilote à conduit - Google Patents

Véhicule aérien sans pilote à conduit Download PDF

Info

Publication number
WO2018103203A1
WO2018103203A1 PCT/CN2017/074723 CN2017074723W WO2018103203A1 WO 2018103203 A1 WO2018103203 A1 WO 2018103203A1 CN 2017074723 W CN2017074723 W CN 2017074723W WO 2018103203 A1 WO2018103203 A1 WO 2018103203A1
Authority
WO
WIPO (PCT)
Prior art keywords
duct
power
engine
steering gear
direction control
Prior art date
Application number
PCT/CN2017/074723
Other languages
English (en)
Chinese (zh)
Inventor
刘均
孙建勋
张跃博
Original Assignee
深圳市元征科技股份有限公司
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 深圳市元征科技股份有限公司 filed Critical 深圳市元征科技股份有限公司
Publication of WO2018103203A1 publication Critical patent/WO2018103203A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/26—Ducted or shrouded rotors
    • 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
    • B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/02—Aircraft characterised by the type or position of power plants
    • 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
    • B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/02—Aircraft characterised by the type or position of power plants
    • B64D27/026—Aircraft characterised by the type or position of power plants comprising different types of power plants, e.g. combination of a piston engine and a gas-turbine
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/11—Propulsion using internal combustion piston engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/13—Propulsion using external fans or propellers
    • B64U50/14—Propulsion using external fans or propellers ducted or shrouded
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power
    • B64U50/37—Charging when not in flight

Definitions

  • the present invention relates to the field of drones, and more particularly to a ducted drone.
  • the multi-rotor UAV which is particularly popular in recent years, has a large safety hazard. It is often injured or even disabled by the propeller of a multi-rotor drone due to improper operation or unskilled; The system occupies most of the space of the multi-rotor drone, making the platform of the multi-rotor UAV platform small; meanwhile, the multi-rotor drone is limited in its flight speed due to its structural characteristics. In addition, the rotary-wing drone is greatly affected by severe weather such as strong winds, and consumes more electricity.
  • the embodiment of the invention provides a ducted drone, which is flexible in flight, convenient in operation, and long in duration.
  • An embodiment of the present invention provides a ducted drone, and the drone includes:
  • a fuselage body a first duct, a second duct, a third duct, a fourth duct, a nose landing gear and a rear landing gear;
  • the first duct is connected to the first side of the fuselage body
  • the second duct is connected to the second side of the fuselage body
  • the third duct is connected to the third side of the fuselage body
  • the fourth duct is connected to the fourth side of the fuselage body; wherein the first duct and the third duct are symmetrically disposed with respect to the fuselage body, the second The duct and the fourth duct are symmetrically disposed with respect to the fuselage body;
  • the front landing gear is disposed under the head of the fuselage body, and the rear landing gear is disposed at the fuselage Below the tail of the body;
  • the inside of the first duct, the second duct, the third duct and the fourth duct are provided with a blade and an engine that drives the blade to rotate.
  • the first duct is rotatably connected to the first side of the body of the body by a first duct direction control steering gear
  • the second duct is rotatably connected to the second side of the fuselage body through the second duct direction control; [0018] the third duct passes the third duct direction to control the steering gear and The third side of the fuselage body is rotatably connected; [0019] the fourth duct is rotatably connected to the fourth side of the fuselage body by a fourth duct direction control steering gear.
  • the first duct direction control steering gear is rotatably connected to the first side of the body body through the first steering wheel;
  • the second ducted direction steering servo is rotatably coupled to the second side of the fuselage body through the second steering wheel; [0022] the third ducting direction controls the steering gear through the third steering wheel The third side of the fuselage body is rotatably connected; [0023] the fourth ducting direction steering servo is rotatably coupled to the fourth side of the fuselage body through a fourth steering wheel.
  • the first duct, the second duct, the third duct, and the fourth duct are the same and the inner diameter and the duct width of the duct
  • the ratio is in the range of 1.4-1.6
  • the paddle is at one-third of the entrance to the duct
  • the ratio of the diameter of the duct exit to the inside diameter of the duct is in the range of 1.1-1.2.
  • the first duct, the second duct, the third duct, and the fourth duct are the same and the inner diameter of the duct is
  • the ratio of the width of the duct is 1.5, and the ratio of the diameter of the duct exit to the inner diameter of the duct is 1.15.
  • the drone further includes: a fuel engine, a generator, and a power distribution device;
  • the fuel engine and the generator are respectively connected to the power distribution device;
  • the power distribution device converts power generated by the fuel engine into power to drive the blades and power to drive the generator.
  • the drone further includes: a rechargeable battery;
  • the rechargeable battery is electrically connected to the generator; the rechargeable battery is rectified and filtered by the alternating current generated by the generator to be charged.
  • the wireless charging apparatus includes: a receiving coil and a receiving module circuit [0032] the receiving coil and the receiving module circuit are electrically connected;
  • the receiving coil is configured to introduce a current generated by an inductive electromagnetic field into the receiving module circuit;
  • the receiving module circuit is configured to adjust the current to meet a current demand of the battery Rear
  • the UAV further includes: a controller
  • the controller and the first duct direction control steering gear of the first duct and the first engine, the second duct direction control steering gear of the second duct, and the second engine, a third ducted direction control steering gear of the third duct, a third engine, a fourth duct direction steering steering gear of the fourth duct, and a fourth engine and the landing gear steering gear are electrically connected;
  • the controller controls the rotational speeds of the first engine, the second engine, the third engine, and the fourth engine, and the first duct, the second duct, and the The direction of the third duct and the fourth duct is controlled to control the flight of the drone.
  • the UAV further includes a power detecting module and a wireless communication module
  • the power detecting module is electrically connected to the controller and the battery, and the wireless communication module is electrically connected to the controller;
  • the electric quantity detecting module is configured to send the detected electric quantity data of the battery to the controller
  • the controller is configured to: after determining that the battery power is less than a preset value according to the power quantity data sent by the power quantity detecting module, send, by the wireless communication module, a power shortage instruction to the control device
  • the low battery command indicates that the power of the drone is less than the preset value.
  • the ducted drone in the embodiment of the present invention includes four ducts located on different sides of the drone, and the four The ducts on the different sides of the drone provide power and direction adjustment for the drone, avoiding the damage that the peripheral propeller may cause to humans, and making the drone's flight more flexible, and the user's operation. More convenient.
  • the drone uses a hybrid electric or electric charging device to enhance endurance.
  • FIG. 1 is a schematic structural view of a ducted drone according to an embodiment of the present invention.
  • FIG. 2 is a schematic structural view of a ducted unmanned aerial vehicle power system according to an embodiment of the present invention
  • FIG. 3 is a schematic structural diagram of a wireless charging and receiving apparatus according to an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a receiving module circuit according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural view of a ducted drone according to an embodiment of the present invention.
  • FIG. An embodiment All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without making creative labor are within the scope of the present invention.
  • FIG. 1 is a schematic structural diagram of a ducted drone according to an embodiment of the present invention.
  • the drone includes: a fuselage main body 9, a first duct 1, a second duct 2, a third duct 3, a fourth duct 4, a front landing gear and a rear landing gear;
  • the first duct 1 is connected to the first side of the fuselage main body 9;
  • the second duct 2 is connected to the second side of the fuselage main body 9;
  • the third duct 3 is connected to the third side of the fuselage main body 9;
  • the fourth duct 4 is connected to the fourth side of the fuselage main body 9; wherein the first duct 1 and the third duct 3 are symmetrically disposed with respect to the fuselage main body 9, and the second culvert The track 2 and the fourth duct 4 described above are symmetrically disposed with respect to the fuselage body 9;
  • the front landing gear is disposed below the head of the body main body 9, and the rear landing gear is disposed below the tail portion of the body main body 9;
  • the first duct 1 and the second duct 2, the third duct 3 and the fourth duct 4 are provided with a blade and an engine for driving the blade.
  • the fuselage body may have different shapes, such as a positive direction, a rectangular shape, a hexagonal shape, a circular shape, or the like.
  • the first duct 1, the second duct 2, and the third duct 3 of the third duct 3 have the same specifications and can be regarded as the same duct.
  • the first duct 1 , the second duct 2, the third duct 3, and the foregoing Four-way duct 4 powers the drone and controls the flight of the drone.
  • the drone described above can use a fuel transmitter to power the blades.
  • the front landing gear and the rear landing gear are respectively connected to the corresponding steering gears to ensure the normal take-off and landing of the drone.
  • the first duct 1, the second duct 2, the third duct 3, and the fourth duct 4 are all controlled by the controller of the drone, and the blades of the ducts are coordinated and controlled.
  • the rotational speed and the flight of the drone are controlled by controlling the rotation of each of the above-described steering gears.
  • the drone controls the direction of the drone by four ducts, and the flight is more flexible.
  • the embodiment of the present invention provides a connection mode of the duct and the steering gear of the drone, as follows:
  • the first duct 1 controls the steering gear 5 through the first duct direction
  • the first side of the fuselage body 9 is rotatably connected;
  • the second duct 2 is rotatably connected to the second side of the fuselage main body 9 by the second duct direction control steering gear 6;
  • the third duct 3 is rotatably connected to the third side of the fuselage main body 9 through the third duct direction control steering gear 7;
  • the fourth duct 4 is rotatably coupled to the fourth side of the body main body 9 via the fourth duct direction control steering gear 8.
  • the first bypass direction control steering gear 5, the second bypass direction control steering gear 6, the third bypass direction control steering gear 7, and the fourth bypass direction control steering gear 8 respectively pass through a rotating shaft
  • the corresponding ducts are connected.
  • the controller can control the direction of the corresponding duct by controlling the rotation of the steering gear in each of the above directions. For example, turning the direction of all four ducts to the front, the drone will fly straight ahead at maximum speed.
  • each of the ducts can be easily changed in direction and angle, thereby conveniently changing the flight state of the drone.
  • the embodiment of the present invention provides a connection mode of the steering gear and the main body of the main body of the drone, as follows:
  • the first bypass direction control steering gear 5 is rotationally coupled to the first side of the fuselage main body 9 through the first steering wheel.
  • the second duct direction control steering gear 6 is rotatably connected to the second side of the fuselage main body 9 through the second steering wheel
  • the third bypass direction control steering gear 7 is rotatably connected to the third side of the fuselage main body 9 through the third steering wheel
  • the fourth bypass direction control steering gear 8 is rotationally coupled to the fourth side of the fuselage main body 9 through the fourth steering wheel.
  • each of the ducts is rotatably connected to the corresponding side of the fuselage body through a corresponding steering wheel, so that the above-mentioned respective ducts can be changed by a larger angle.
  • first duct 1, the second duct 2, the third duct 3, and the fourth duct 4 are given as follows:
  • the duct 1, the second duct 2, the third duct 3 and the fourth duct 4 are the same and the ratio of the inner diameter of the duct to the duct width is in the range of 1.4-1.6, and the paddle is at the distance duct.
  • the ratio of the diameter of the duct exit to the inside diameter of the duct is in the range of 1.1-1.2.
  • each of the above-mentioned ducts includes a duct entrance, a duct main body and a duct exit, wherein the duct entrance is located at an air inlet end of the corresponding duct, and the duct exit is located at an air outlet end of the corresponding duct, the culvert
  • the channel inlet and the above-mentioned duct exit are respectively located on both sides of the corresponding duct body and are connected to the corresponding duct body.
  • the diameter of the duct outlet is the diameter of each of the duct outlets, and the inner diameter of the duct is the diameter of the duct where the paddle is located.
  • the ducts with different specifications have a great influence on the performance of the drone.
  • the ducts in this embodiment can provide more power for the drone under the same conditions.
  • the drone can be provided with more lifting force.
  • the ratio of the diameter of the duct exit of the above duct to the inner diameter of the duct is in the range of 1.1-1.2, the ducted lift of the above duct is greater.
  • the above duct width is the height of the above duct, and the ratio of the inner diameter of the duct to the duct width is the duct aspect ratio.
  • the ducts in the embodiments of the present invention can provide more power to the drone.
  • a specific duct is proposed, as follows:
  • the first duct 1, the second duct 2, the third duct 3, and the fourth duct 4 are the same
  • the ratio of the inner diameter of the above duct to the width of the duct is 1.5
  • the ratio of the diameter of the duct exit to the inner diameter of the duct is 1.15.
  • the above-mentioned drone further includes: a fuel engine 201, a generator 203, and a power split device 202;
  • the fuel engine 201 and the generator 203 are respectively connected to the power distribution device 202;
  • the power distribution device 202 converts the power generated by the fuel engine 201 into driving the first duct 1, the second duct 2, the third duct 3, and the fourth duct 4, respectively.
  • the fuel engine can be used to power the generator to fully utilize the kinetic energy of the fuel engine.
  • the unmanned aerial vehicle further includes: a rechargeable battery;
  • the rechargeable battery is electrically connected to the generator; and the rechargeable battery is rectified and filtered by the alternating current generated by the generator to be charged.
  • the wireless charging device can be wirelessly charged for the drone, as shown in FIG. 3, the wireless charging device includes: a receiving coil 301 and a receiving module circuit 302;
  • the receiving coil 301 and the receiving module circuit 302 are electrically connected;
  • the receiving coil 301 is configured to introduce a current generated by the electromagnetic induction field into the receiving module circuit 302.
  • the receiving module circuit 302 is configured to charge the rechargeable battery after adjusting the current to a current that satisfies the charging requirement of the rechargeable battery.
  • the receiving coil 301 can induce an electromagnetic field to generate a current, and introduce the generated current into the receiving module circuit 302.
  • the receiving module circuit 302 processes the received circuit and then charges the rechargeable battery.
  • the wireless charging receiving device supports at least one of electromagnetic induction charging, magnetic field resonance charging, and radio wave charging.
  • the above wireless charging receiving device can integrate two types of wireless charging methods: electromagnetic induction charging and magnetic field resonant charging.
  • the two wireless charging devices can respectively occupy a part of the wireless charging receiving device, and the wireless charging receiving device can also collectively support a plurality of wireless charging modes.
  • the wireless charging receiving device can select an appropriate wireless charging method according to the charging mode of the wireless charging device. As shown in FIG.
  • the receiving module circuit 302 may include a buck circuit 401, a rectifying circuit 402, and a charging control circuit 403.
  • the receiving coil 301 induces an electromagnetic field to generate a current, and then the voltage is reduced by the step-down circuit 401, and is rectified by the rectifier circuit 402, and finally charged.
  • the electric control circuit 403 charges the above rechargeable battery.
  • a flight control method for a drone is provided, which is specifically as follows:
  • the drone further includes: a controller;
  • the third ducted direction control steering gear 7 of the third duct 3 and the third engine, the fourth duct direction control steering gear 8 of the fourth duct 4, and the fourth engine and the above-mentioned landing gear steering gear are electrically connected ;
  • the controller controls the rotational speeds of the first engine, the second engine, the third engine, and the fourth engine, and the first duct 1, the second duct 2, and the third duct 3
  • the flight of the drone is controlled in the direction of the fourth duct 4 described above.
  • the transmitter is disposed inside the corresponding duct, and drives the corresponding blade to rotate.
  • the controller controls the direction of the respective steering wheels to change the direction of the corresponding ducts, and controls the speed of the blades to adjust the respective torques to realize flight control of the drone.
  • the unmanned aerial vehicle further includes: a power detecting module 502 and a wireless communication module 503;
  • the power detecting module 502 is electrically connected to the controller 501 and the rechargeable battery 504, and the wireless communication module 503 is electrically connected to the controller 501;
  • the power detecting module 502 is configured to send the detected power data of the rechargeable battery 504 to the controller;
  • the controller 501 is configured to: after determining that the power of the rechargeable battery 504 is less than a preset value according to the foregoing power quantity data sent by the power quantity detecting module 502, send the power shortage instruction to the control device by using the wireless communication module 503.
  • the low battery command indicates that the power of the drone is less than the preset value.
  • the controller 501 may notify the power detecting module 502 to detect the remaining power of the rechargeable battery with a certain period of time, and according to whether the remaining power is less than a preset value.
  • the above control device may be a controller for controlling the above-mentioned drone, or may be another terminal to which the drone is bound, such as a mobile phone, a wearable device, or the like.
  • the wireless communication module 503 sends an alarm message to the user's mobile phone, and the mobile phone binds to the mobile phone through a specific application.
  • the power detecting module 502 detects the power of the battery, and sends the power to the corresponding control device through the wireless communication module 503, so that the user can be prompted to perform charging.
  • the unmanned aerial vehicle may have a binding relationship with the terminal device.
  • the terminal device such as a mobile phone, a tablet computer, a desktop computer, etc.
  • the terminal device can be bound to the unmanned aerial vehicle through a specific application, and after the binding, the terminal device can send various instructions to the drone, such as a charging instruction, a rising instruction, Drop instructions, etc.
  • the up command can indicate that the drone is flying upwards.
  • the descent command instructs the drone to fly downward.
  • the controller may control the wireless communication module to send remaining power information, altitude information and coordinate information of the drone to the terminal device.
  • the terminal device can actively acquire the information of the drone through the server, and can also send corresponding instructions to the drone through the server.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Toys (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un véhicule aérien sans pilote à conduit, comprenant : un corps de véhicule aérien (9), un premier conduit (1), un deuxième conduit (2), un troisième conduit (3), un quatrième conduit (4), un train d'atterrissage avant et un train d'atterrissage arrière. Le premier conduit (1) est relié à un premier côté du corps de véhicule (9). Le deuxième conduit (2) est relié à un second côté du corps de véhicule (9). Le troisième conduit (3) est relié à un troisième côté du corps de véhicule (9). Le quatrième conduit (4) est relié à un quatrième côté du corps de véhicule (9). Le train d'atterrissage avant est disposé au-dessous de la tête du corps de véhicule (9). Le train d'atterrissage arrière est disposé au-dessous de la queue du corps de véhicule (9). Le premier conduit (1), le deuxième conduit (2), le troisième conduit (3) et le quatrième conduit (4) sont tous pourvus de pales et de moteurs destinés à entraîner les pales en rotation. Le véhicule aérien sans pilote dans des modes de réalisation de la présente invention garantit un vol flexible, une sécurité élevée, des opérations commodes et une longue durée de vol.
PCT/CN2017/074723 2016-12-07 2017-02-24 Véhicule aérien sans pilote à conduit WO2018103203A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201611114275.3 2016-12-07
CN201611114275.3A CN106672230A (zh) 2016-12-07 2016-12-07 涵道式无人机

Publications (1)

Publication Number Publication Date
WO2018103203A1 true WO2018103203A1 (fr) 2018-06-14

Family

ID=58867720

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/074723 WO2018103203A1 (fr) 2016-12-07 2017-02-24 Véhicule aérien sans pilote à conduit

Country Status (2)

Country Link
CN (1) CN106672230A (fr)
WO (1) WO2018103203A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109159633A (zh) * 2018-08-31 2019-01-08 长春工程学院 一种两栖无人机
CN109435604A (zh) * 2018-12-18 2019-03-08 北京理工大学 飞行汽车
US20220122576A1 (en) * 2019-07-23 2022-04-21 Panasonic Intellectual Property Management Co., Ltd. Unmanned aircraft and information processing method

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109747833A (zh) * 2017-11-03 2019-05-14 智飞智能装备科技东台有限公司 一种可移动涵道喷洒设备
CN108945412A (zh) * 2018-06-21 2018-12-07 北京理工大学 重型旋翼飞行器的动力系统、启动控制方法及系统

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104787316A (zh) * 2015-04-17 2015-07-22 何春旺 多旋翼飞行器
CN204548496U (zh) * 2015-04-17 2015-08-12 何春旺 涵道动力装置及飞行器
CN204822069U (zh) * 2015-06-19 2015-12-02 中国船舶工业系统工程研究院 一种涵道四旋翼无人机构型
CN105752320A (zh) * 2016-04-01 2016-07-13 陈方平 一种涵道式无人机及其控制方法

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN204489196U (zh) * 2015-02-12 2015-07-22 深圳大学 一种燃料动力多旋翼无人机
CN107458613A (zh) * 2015-04-17 2017-12-12 珠海磐磊智能科技有限公司 飞行器
CN204623849U (zh) * 2015-04-17 2015-09-09 何春旺 涵道动力装置和飞行器
CN204568060U (zh) * 2015-04-17 2015-08-19 何春旺 涵道动力装置及飞行器
CN105235897B (zh) * 2015-10-16 2017-10-20 华南理工大学 一种机臂轴可转动的平行轴四轴飞行器

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104787316A (zh) * 2015-04-17 2015-07-22 何春旺 多旋翼飞行器
CN204548496U (zh) * 2015-04-17 2015-08-12 何春旺 涵道动力装置及飞行器
CN204822069U (zh) * 2015-06-19 2015-12-02 中国船舶工业系统工程研究院 一种涵道四旋翼无人机构型
CN105752320A (zh) * 2016-04-01 2016-07-13 陈方平 一种涵道式无人机及其控制方法

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109159633A (zh) * 2018-08-31 2019-01-08 长春工程学院 一种两栖无人机
CN109435604A (zh) * 2018-12-18 2019-03-08 北京理工大学 飞行汽车
CN109435604B (zh) * 2018-12-18 2024-04-05 北京理工大学 飞行汽车
US20220122576A1 (en) * 2019-07-23 2022-04-21 Panasonic Intellectual Property Management Co., Ltd. Unmanned aircraft and information processing method
US11741932B2 (en) * 2019-07-23 2023-08-29 Panasonic Intellectual Property Management Co., Ltd. Unmanned aircraft and information processing method

Also Published As

Publication number Publication date
CN106672230A (zh) 2017-05-17

Similar Documents

Publication Publication Date Title
WO2018103203A1 (fr) Véhicule aérien sans pilote à conduit
US20210114727A1 (en) In-flight battery recharging system for an unmanned aerial vehicle
CN205891228U (zh) 一种飞行机器人
US8167234B1 (en) Insect-like micro air vehicle having perching, energy scavenging, crawling, and offensive payload capabilities
CN106655322B (zh) 服务型无人机、无人机充电系统及充电方法
CN205469865U (zh) 带自动充电装置的无人值守的无人机起降平台及系统
CN106414238B (zh) 无人机配置和用于无人机内燃机的电池增大，以及相关的系统和方法
US20170015417A1 (en) Multi-Propulsion Design for Unmanned Aerial Systems
JP2019501057A (ja) マイクロハイブリッド発電機システムドローン
KR101407722B1 (ko) 자가발전형 쿼드콥터
CN105292477A (zh) 腕式便携伴飞自主监控无人机
CN206865192U (zh) 空中无人机充电平台
CN108146608A (zh) 一种具有矢量推力的旋翼与充气气囊复合式浮空飞行器
CN108706099A (zh) 一种倾转三轴复合翼无人机及其控制方法
CN110134133A (zh) 一种多旋翼自动控制无人机系统
CN205574270U (zh) 一种基于四旋翼飞行器的运载机械手
CN107856856A (zh) 一种飞行球形机器人
CN204078068U (zh) 一种超长续航能力的四轴飞行器
CN106005371B (zh) 差分直驱全动三舵面无人机
CN105109695A (zh) 一种油电混合多功能飞行器
CN105035328B (zh) 一种混合动力飞行器
CN106240800A (zh) 一种无人机可折叠机翼
WO2023155498A1 (fr) Véhicule aérien sans pilote de côté arrière à charge automatique adapté à un lanceur
CN207141405U (zh) 一种油电混合长续航多旋翼无人机动力系统
CN107757914A (zh) 双动力垂直起降固定翼无人机

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: 17879519

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17879519

Country of ref document: EP

Kind code of ref document: A1