CN104743107B - Multi-rotor aerocraft - Google Patents
Multi-rotor aerocraft Download PDFInfo
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- CN104743107B CN104743107B CN201510201730.2A CN201510201730A CN104743107B CN 104743107 B CN104743107 B CN 104743107B CN 201510201730 A CN201510201730 A CN 201510201730A CN 104743107 B CN104743107 B CN 104743107B
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Abstract
The invention provides a kind of multi-rotor aerocraft, including：Main rotor, it is driven by fuel engines, and the main rotor is arranged on the lower end or upper end of the center of the body of the fuel engines；And several secondary rotors, the secondary rotor are arranged in the surrounding of the body, the secondary rotor is driven by motor respectively.The multi-rotor aerocraft load-carrying is big, hours underway length.
Description
Technical field
The present invention relates to aircraft field, more particularly, to a kind of multi-rotor aerocraft.
Background technology
Aircraft (flight vehicle) is to be manufactured by the mankind, can fly away from ground, controlled in space flight and by people
Flying object.In existing flying object, with VTOL and hovering ability multi-rotor aerocraft have widely
Application field, its compared with traditional single-rotor helicopter, have it is simple in construction, safeguard easily, blade lethality it is small, operation peace
The characteristics of complete.The effect to become more and more important is not only played in military field, also photography, agricultural plant protection, power-line patrolling, friendship in the air
Multiple civil areas such as logical tour and Disaster Assessment are widely used.
At present, multi-rotor aerocraft is driven using battery powered motor, because the bottleneck of battery technology is not yet prominent
Broken, battery energy density is relatively low, therefore the load-carrying of multi-rotor aerocraft and hours underway are all extremely limited, and this strongly limits more
The application field of rotor craft.
The content of the invention
It is an object of the invention to provide a kind of multi-rotor aerocraft, by using the power scheme of oil electric mixed dynamic with
Solves the limited technical problem of existing multi-rotor aerocraft load-carrying and hours underway.
The present invention provides a kind of multi-rotor aerocraft, including：
Main rotor, it is driven by fuel engines, and the main rotor is arranged on the center of the body of the fuel engines
The lower end or upper end of position；And
Several secondary rotors, the secondary rotor are arranged in the surrounding of the body, and the secondary rotor is driven by motor respectively
It is dynamic.
In the program, main rotor is installed in the lower end at the center of the body of fuel engines or upper end, sent out by fuel oil
Motivation drives main rotor, there is provided the prevailing lift of aircraft.Meanwhile the driving of several motor is installed around body
Secondary rotor, there is provided the gesture stability torque and small part lift of aircraft, all secondary rotors are symmetrically distributed in body surrounding.At this
In scheme, the main rotor that the prevailing lift of aircraft is driven by fuel engines provides, and can greatly improve the load-carrying of aircraft
And endurance, the gesture stability torque of aircraft are directly provided by the secondary rotor of motor driving, are eliminated the single rotor of tradition and are gone straight up to
The complex mechanisms such as the pulp distance varying mechanism of machine, oar disk inclinator, improve reliability, security and the convenience of operation.The opposing party
Face, coarse adjustment can be carried out to aircraft lift by adjusting main rotor rotating speed, aircraft can be carried out by adjusting secondary rotor rotating speed
Gesture stability simultaneously carries out accurate adjustment to lift, and thick, the thin two-stage regulation mechanism of lift not only improves the economy for improving fuel oil and battery
Property, be advantageous to improve control accuracy again.
In such scheme, as needed, main rotor can use culvert type, to improve pneumatic efficiency.Also can use coaxial double
Oar, further increase lift, and anti-twisted torque of cancelling out each other.When the total life of aircraft changes greatly, (load-carrying changes, is quick
When lifting, attitude angle change greatly), just it is adjusted by adjusting the rotating speed of main rotor, is not required to frequently control fuel engines
Rotating speed.Meanwhile for secondary rotor, the propeller and motor of appropriate pitch may be selected, the lift that motor provides can be a certain
Fixed value is nearby adjusted, and for gesture stability, the rotation speed change of secondary rotor is smaller, at this time, it may be necessary to which reasonable selection motor is shared
Value of lift, when the value of lift shared is smaller to reduce battery power consumption it is favourable, the value of lift shared greatly to improve aircraft
Gesture stability ability it is favourable, above measure can improve the economy of fuel oil and battery.
Preferably, in above-mentioned technical proposal, the main rotor is arranged on the lower end of the center of the body, the pair
The upside for the plane that plane where rotor is in where the main rotor.In this programme, the plane of secondary rotor is higher by main rotation
The certain height of the plane of the wing, to improve attitude stability.Moreover, the next installation on main rotor and secondary rotor, avoids main rotor
With interfering with each other for secondary rotor.
Preferably, in above-mentioned technical proposal, the number of the secondary rotor is 4, and the secondary rotor is with the body
The heart is symmetrical two-by-two.In this programme, by setting four secondary rotors, preceding secondary rotor, rear secondary rotor, left secondary are designed specifically to
Rotor and right secondary rotor, current secondary rotor and rear secondary rotor simultaneously acceleration or deceleration when, essence can be carried out to the total life of aircraft
Adjust；In current secondary rotor and rear secondary rotor when an acceleration, another deceleration, the pitch attitude of aircraft is can control, is changed simultaneously
Become total life direction, advance or astern speed so as to change of flight device；When right secondary rotor and left secondary rotor accelerate or subtracted simultaneously
When fast, the size (caused total life change can be adjusted by preceding secondary rotor and rear secondary rotor) of anti-twisted torque is can adjust, so as to
The yaw-position of change of flight device；When an acceleration, another deceleration in right secondary rotor and left secondary rotor, aircraft can control
Roll attitude, while change total life direction, so as to the side velocity of change of flight device.
Preferably, in above-mentioned technical proposal, the fuel engines directly drives the main rotor by main rotating shaft and revolved
Turn.In this programme, main rotating shaft is mounted directly on fuel engines, main rotor is by being directly connected, and so, fuel oil starts
Machine can directly drive main rotor work, and prevailing lift is provided for aircraft, and big by the air door of servos control engine
It is small to adjust the rotating speed of main rotor, so as to carry out coarse adjustment to the lift of aircraft.
Preferably, in above-mentioned technical proposal, the secondary rotor is arranged on around the body by horn.In this programme
In, by setting the installation horn of special secondary rotor, the installation of secondary rotor is firm, ensures the reliable of complete machine structure.
Preferably, in above-mentioned technical proposal, the motor is fixed on the termination of the horn, and the motor passes through pair
Rotary shaft directly drives the secondary rotor wing rotation.In this programme, motor is directly anchored to the termination of horn, and it is electronic
Secondary rotary shaft is mounted directly on machine, secondary rotary shaft is directly connected with secondary rotor, it is possible to which secondary rotor is directly driven by motor
Rotation, saves the mechanisms such as reduction gearing, compact-sized, and control is sensitive.And motor speed is higher, can improve motor and
The utilization ratio of propeller.
Preferably, in above-mentioned technical proposal, the plane where the secondary rotor has folder with the plane where the body
Angle.In this programme, the secondary rotor of relative direction can with inclined design, such as, the secondary rotor on left and right directions is rotating around wherein
When heart line rotates certain angle installation (the angular dimension equal direction that both rotate is opposite), plane where it and body institute
In plane into a small angle, make caused by lift have a small component, can to offset " reaction torque " caused by main rotor
To improve the response speed in aircraft rotary course., it is necessary to which the secondary rotor of reasonable selection left and right directions inclines in this programme
Oblique setting angle, when the anti-twisted torque that the small component of both pulling force is formed is with anti-twisted equalising torque caused by main rotor, both
The lift that lift component sum Ying Yuqi shares is equal.In addition, as needed, the secondary rotor of fore-and-aft direction can also tilt necessarily
Angle installation, with balance itself blade rotation caused by anti-twisted torque, can further improve rotation response speed.
Preferably, in above-mentioned technical proposal, the fuel engines by petroleum pipeline by ground oil pump device fuel feeding, it is described
Motor is powered by power transmission line by ground power supply.
Preferably, in above-mentioned technical proposal, fuel tank or container are disposed with along the center annular of the body.In this programme
In, the fuel oil supply of fuel engines can be with individually designed fuel tank, and center annular of the fuel tank along the body is arranged, so
Influence of the fuel consumption to aircraft centroid position can be reduced.In addition, if the payload of aircraft is agricultural chemicals to be sprayed
Deng liquid load, then the container being circular layout around body center can be also used, can equally reduced liquid-consumed to aircraft matter
The influence of heart position.
Preferably, in above-mentioned technical proposal, the multi-rotor aerocraft also includes balance wing, the plane where the balance wing
It is vertical with the plane where the main rotor.In this programme, by setting balance wing to offset main rotor by balance wing
Anti-twisted torque, the control of yaw-position is carried out, and then the inclination established angle of the secondary rotor of left and right directions can be cancelled.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art
The required accompanying drawing used is briefly described in embodiment or description of the prior art, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the front view of multi-rotor aerocraft provided in an embodiment of the present invention；
Fig. 2 is the schematic perspective view of multi-rotor aerocraft provided in an embodiment of the present invention；
Fig. 3 is the another schematic perspective view of multi-rotor aerocraft provided in an embodiment of the present invention；
Fig. 4 is the schematic perspective view for the multi-rotor aerocraft that another embodiment of the present invention provides；
Fig. 5 is the schematic perspective view for the multi-rotor aerocraft that further embodiment of this invention provides；
Fig. 6 is the front view for the multi-rotor aerocraft that further embodiment of this invention provides；
Fig. 7 is the schematic perspective view of the multi-rotor aerocraft shown in Fig. 6.
Reference：
1- bodies；11- main rotors；12- pair rotors；
13- balance wings；112- main rotating shafts；121- horns；
122- motor；123- lithium battery kits；124- pair rotary shafts；
101- fuel tanks；102- containers；131- extension arms；
132- balancing motors.
Embodiment
Technical scheme is clearly and completely described below in conjunction with accompanying drawing, it is clear that described implementation
Example is part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Be easy to the description present invention and simplify description, rather than instruction or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that instruction or hint relative importance.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
Embodiment 1
Fig. 1 is the front view of multi-rotor aerocraft provided in an embodiment of the present invention；Fig. 2 is provided in an embodiment of the present invention more
The schematic perspective view of rotor craft；Fig. 3 is the another schematic perspective view of multi-rotor aerocraft provided in an embodiment of the present invention；Such as
Shown in Fig. 1-3, multi-rotor aerocraft provided in an embodiment of the present invention, including main rotor 11 and several secondary rotors 12, wherein
Main rotor 11 is driven by fuel engines (not shown), and main rotor 11 is arranged on the centre bit of the body 1 of fuel engines
The lower end or upper end put.Secondary rotor 12 is arranged in the surrounding of body 1, and secondary rotor 12 is driven by motor 122 respectively.
In such scheme, main rotor 11 is installed on the downside of the center of the body 1 of fuel engines, started by fuel oil
Machine drives main rotor 11, there is provided the prevailing lift of aircraft.Meanwhile several motor 122 are installed around body 1 and driven
Dynamic secondary rotor 12, there is provided the gesture stability torque and small part lift of aircraft, all secondary rotors 12 are symmetrically distributed in body 1
Surrounding.In the present embodiment, the main rotor 11 that the prevailing lift of aircraft is driven by fuel engines provides, and can carry significantly
The load-carrying of high aircraft and endurance, the secondary rotor 12 that the gesture stability torque of aircraft is directly driven by motor 122 provide, and save
The complex mechanisms such as pulp distance varying mechanism, the oar disk inclinator of traditional single-rotor helicopter have been removed, have improved reliability, security and behaviour
The convenience of work.On the other hand, coarse adjustment can be carried out to aircraft lift by adjusting the rotating speed of main rotor 11, by adjusting secondary rotation
The rotating speed of the wing 12 can carry out gesture stability to aircraft and carry out accurate adjustment to lift, and thick, the thin two-stage regulation mechanism of lift is existing
Beneficial to the economy for improving fuel oil and battery, be advantageous to improve control accuracy again.
In the present embodiment, as needed, main rotor 11 can use culvert type, to improve pneumatic efficiency.Also can use altogether
The double oars of axle, further increase lift, and anti-twisted torque of cancelling out each other.When the total life of aircraft changes greatly (load-carrying change,
When fast lifting, attitude angle change greatly), just it is adjusted by adjusting the rotating speed of main rotor 11, is not required to frequently control fuel oil
The rotating speed of engine.Meanwhile for secondary rotor 12, the propeller and motor of appropriate pitch, the liter that motor provides may be selected
Power can be adjusted near a certain fixed value, and for gesture stability, the rotation speed change of secondary rotor 12 is smaller, at this time, it may be necessary to rationally select
The value of lift that motor is shared is selected, favourable to reducing battery power consumption when the value of lift shared is smaller, the value of lift shared is big
Favourable to the gesture stability ability of raising aircraft, above measure can improve the economy of fuel oil and battery.
As a kind of preferred embodiment, the number of secondary rotor 12 is designed as 4, secondary rotor 12 with the center of body 1 two-by-two
It is symmetrical.Specifically, in embodiment, four secondary rotors 12 be designed specifically to preceding secondary rotor, rear secondary rotor, left secondary rotor and
Right secondary rotor, current secondary rotor and rear secondary rotor simultaneously acceleration or deceleration when, accurate adjustment can be carried out to the total life of aircraft；Currently
In secondary rotor and rear secondary rotor when an acceleration, another deceleration, the pitch attitude of aircraft is can control, while change total life
Direction, advance or astern speed so as to change of flight device；It is adjustable when right secondary rotor and left secondary rotor acceleration or deceleration simultaneously
The size (caused total life change can be adjusted by preceding secondary rotor and rear secondary rotor) of anti-twisted torque is saved, so as to change of flight device
Yaw-position；When an acceleration, another deceleration in right secondary rotor and left secondary rotor, the rolling appearance of aircraft can control
State, while change total life direction, so as to the side velocity of change of flight device.
As a kind of preferred embodiment, on the basis of above-mentioned technical proposal, main rotor 11 is arranged on the centre bit of body
The lower end put, the plane where secondary rotor 12 are in the upside of the plane at the place of main rotor 11.By being so designed that, secondary rotor 12
Plane be higher by the certain height (referring to Fig. 1) of plane of main rotor 11, to improve attitude stability.Moreover, main rotor and pair
The next installation on rotor, avoid interfering with each other for main rotor and secondary rotor.
As a kind of preferred embodiment, on the basis of above-mentioned technical proposal, fuel engines is straight by main rotating shaft 112
Driving main rotor 11 is connect to rotate (referring to Fig. 3).Specifically, be mounted directly main rotating shaft 112 on fuel engines, main rotor 11 by
Directly it is connected, so, fuel engines can directly drive main rotor 11 and work, and prevailing lift is provided for aircraft, and
And the rotating speed of main rotor is adjusted by the air door size of servos control engine, so as to carry out coarse adjustment to the lift of aircraft.
In addition, secondary rotor 12 is arranged on around body 1 by horn 121, specifically, motor 122 is fixed on the end of horn 121
Head, motor 122 directly drive secondary rotor 12 by secondary rotary shaft 124 and rotated (referring to Fig. 1).In this programme, by motor
122 are directly anchored to the termination of horn 121, and secondary rotary shaft 124 is mounted directly on motor 122, and secondary rotary shaft 124 is direct
It is connected with secondary rotor 12, it is possible to secondary rotor 12 is directly driven by motor 122 and rotated, saves the mechanisms such as reduction gearing, is tied
Structure is compact, and control is sensitive.And the rotating speed of motor 122 is higher, the utilization ratio of motor and propeller can be improved.
Embodiment 2
Fig. 4 is the schematic perspective view for the multi-rotor aerocraft that another embodiment of the present invention provides；Fig. 5 is the another reality of the present invention
The schematic perspective view of the multi-rotor aerocraft of example offer is provided；As shown in Figures 4 and 5, more rotations that another embodiment of the present invention provides
Rotor aircraft, including main rotor 11 and several secondary rotors 12, wherein main rotor 11 is by fuel engines (not shown)
Driving, main rotor 11 are arranged on the lower end or upper end of the center of the body 1 of fuel engines.Secondary rotor 12 is arranged in body
1 surrounding, secondary rotor 12 are driven by motor 122 respectively.
In the present embodiment, the plane of secondary rotor 12 has angle with the plane of body 1 (referring to Fig. 4).Specifically, relatively
The inclined design of secondary rotor 12 in direction, such as, the secondary rotor 12 on left and right directions rotates certain angle rotating around its line of centres
During degree installation (angular dimension that both rotate is equal, in opposite direction), plane where it and the place plane of body 1 are into one small
Angle, caused lift is had a small component, to offset " reaction torque " caused by main rotor 11, aircraft rotation can be improved
Response speed during turning.In this programme, the inclination established angle of the secondary rotor 12 of reasonable selection left and right directions is specifically needed
Degree, when the anti-twisted torque that the small component of both pulling force is formed is with anti-twisted equalising torque caused by main rotor 11, both lift point
The lift that amount sum Ying Yuqi shares is equal.In addition, as needed, the secondary rotor 12 of fore-and-aft direction can also tilt certain angle
Degree installation, with balance itself blade rotation caused by anti-twisted torque, can further improve rotation response speed.
As a kind of preferred embodiment, in the technical scheme of above-described embodiment 1 or embodiment 2, motor can be by lithium
Battery case 123 is powered (referring to Fig. 4), and lithium battery kit 123 and controller are fixedly mounted on the upper end of body 1.In this programme, adopt
With lithium battery power supply, power reservoir capacity is strong, extends the endurance of aircraft.As a kind of preferred embodiment, in above-described embodiment 1 or real
On the basis of the technical scheme for applying example 2, the fuel oil supply of fuel engines can be with individually designed fuel tank, specifically can be along body
1 center annular is disposed with fuel tank 101.Furthermore it is possible to the container 102 of storage liquid is disposed with along the center annular of body 1, or
Person can also be circular layout around fuel tank 101 container 102 of storage liquid, in the technical program, fuel tank 101 or container
102 arrange along the center annular of body, can reduce fuel consumption, or the payload of aircraft is the liquid such as agricultural chemicals to be sprayed
When body is reduced, the influence to aircraft centroid position, ensure the balance of aircraft.
It should be noted that for needing the application scenario that stagnant hovering stops for a long time, fuel engines can pass through oil transportation
Pipe is powered by ground oil pump device fuel feeding, motor 122 by power transmission line by ground power supply.Because lifting capacity improves, oil transportation
Managing (and power transmission line) can be with longer, and the height of aircraft hovering can be higher.
Further, if it is desired to which the control moment in a direction requires bigger, can be by the power of corresponding motor 122
Improve or lengthen horn 121.
Embodiment 3
A kind of alternative solution of the present embodiment as embodiment 2, referring to Fig. 6 and Fig. 7, as needed, more rotor flyings
Device also includes balance wing 13, and the number of balance wing 13 is 1 or 2, and it is also directly driven by motor, in the present embodiment, puts down
Plane where the weighing apparatus wing 13 is vertical with the plane where main rotor 11, can so pass through balance wing 13 and offset the anti-of main rotor 11
Torsional moment, the control of yaw-position is carried out, and then the inclination established angle of the secondary rotor 12 of left and right directions can be cancelled.
As a kind of preferred embodiment, the multi-rotor aerocraft includes 4 secondary rotors 12 and 1 balance wing 13, specifically,
Extend extension arm 131 on the horn of a secondary rotor 12 wherein, balancing motor is fixedly mounted in the termination of extension arm 131
132, balance wing 13 is driven by balancing motor 132, and the specific installation of balance wing 13 is the same as other secondary rotors 12.Certainly, balance wing
13 can also be arranged on the other positions around body, for example separately set horn in the centre position of two secondary rotors.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, either which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (3)
- A kind of 1. multi-rotor aerocraft, it is characterised in that including：One main rotor, it is driven by fuel engines, and the main rotor is arranged on the center of the body of the fuel engines The lower end of position；AndSeveral secondary rotors, the secondary rotor are arranged in the surrounding of the body, and the secondary rotor is driven by motor respectively；Plane where the secondary rotor has angle with the plane where the body；The fuel engines is by petroleum pipeline by ground oil pump device fuel feeding, and the motor is by power transmission line by ground power supply Power supply；The upside for the plane that plane where the secondary rotor is in where the main rotor；The number of the secondary rotor is 4, and the secondary rotor is symmetrical two-by-two with the center of the body；The fuel engines directly drives the main rotor by main rotating shaft and rotated；The secondary rotor is arranged on around the body by horn；The motor is fixed on the termination of the horn, and the motor directly drives the secondary rotor by secondary rotary shaft and revolved Turn.
- 2. multi-rotor aerocraft according to claim 1, it is characterised in that be disposed with oil along the center annular of the body Case or container.
- 3. multi-rotor aerocraft according to claim 1, it is characterised in that the multi-rotor aerocraft also includes balance wing, Plane where the balance wing is vertical with the plane where the main rotor.
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| CN201510201730.2A CN104743107B (en) | 2015-04-24 | 2015-04-24 | Multi-rotor aerocraft |
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| CN105329448B (en) * | 2015-11-24 | 2018-04-13 | 中国航空工业集团公司沈阳飞机设计研究所 | A kind of vertical take-off and landing drone oil electric mixed dynamic system |
| US10882615B2 (en) * | 2015-12-09 | 2021-01-05 | Ideaforge Technology Pvt. Ltd. | Multi-rotor aerial vehicle with single arm failure redundancy |
| CN105730685A (en) * | 2016-02-04 | 2016-07-06 | 刘海涛 | Multi-rotor aircraft |
| CN105775118B (en) * | 2016-05-03 | 2017-12-19 | 北方民族大学 | Jamproof unmanned plane device and control method during one kind hovering |
| CN105691613B (en) * | 2016-05-04 | 2019-04-02 | 北方民族大学 | A kind of unmanned plane device steadily gone up and down and control method |
| CN105882954A (en) * | 2016-05-25 | 2016-08-24 | 沈阳航空航天大学 | Hybrid-power unmanned aerial vehicle with four auxiliary wings and control method thereof |
| CN106585966A (en) * | 2016-12-13 | 2017-04-26 | 天津传承科技有限公司 | Electromechanical integration unmanned aerial vehicle device capable of smoothly taking off and landing |
| CN109388145B (en) * | 2017-08-07 | 2020-08-21 | 深圳市道通智能航空技术有限公司 | Method and device for controlling aircraft and aircraft |
| CN108706096A (en) * | 2018-04-02 | 2018-10-26 | 夏贵荣 | A kind of holder by adjusting the movement of rotor distance controlling quadrotor drone |
| CN108622398B (en) * | 2018-06-04 | 2023-07-25 | 广州市华科尔科技股份有限公司 | Oil-electricity hybrid multi-rotor unmanned aerial vehicle control system and control method |
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| US20130134253A1 (en) * | 2011-11-28 | 2013-05-30 | Carter Aviation Technologies, Llc | Power Rotor Drive for Slowed Rotor Winged Aircraft |
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| CN103625640A (en) * | 2013-10-25 | 2014-03-12 | 南京航空航天大学 | Multi-rotor unmanned aerial vehicle |
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