CN111823797A - Duct type water-air amphibious unmanned aircraft capable of tilting - Google Patents
Duct type water-air amphibious unmanned aircraft capable of tilting Download PDFInfo
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- CN111823797A CN111823797A CN202010714204.7A CN202010714204A CN111823797A CN 111823797 A CN111823797 A CN 111823797A CN 202010714204 A CN202010714204 A CN 202010714204A CN 111823797 A CN111823797 A CN 111823797A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
- B64C35/008—Amphibious sea planes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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Abstract
The invention provides a ducted type tiltable water-air amphibious unmanned aircraft which comprises an aircraft hull and a ducted power set, wherein the ducted power set consists of a first ducted power set, a second ducted power set, a third ducted power set and a fourth ducted power set; the first duct power set and the fourth duct power set are arranged on the front portion of the ship body of the aircraft, and the second duct power set and the third duct power set are arranged on the rear portion of the ship body of the aircraft. The invention has the beneficial effects that: the redundancy of a power system is avoided, and the weight of the machine body is reduced; aiming at the complex scene of taking off and landing on the water surface, the device can take off and land vertically and can also take off and land in a sliding way; the ship body is designed into a streamline shape, accords with the fluid mechanics principle, and reduces the resistance of the navigation of the aircraft on the water surface; can be suitable for marshland, reservoir and lake with water grass cluster and other complex water areas.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a duct type tiltable water-air amphibious unmanned aerial vehicle.
Background
With the application development of the unmanned aerial vehicle technology, the cooperative operation of various unmanned systems is developed rapidly. The water-air amphibious unmanned aircraft can realize autonomous continuous navigation in the air and on water, and has the characteristics of high-speed maneuverability of the unmanned aircraft, high cruising capability of the unmanned ship and the like, so that the water-air amphibious unmanned aircraft has wide application prospect in the military and civil fields. With the diversification of task requirements, the design requirements on the amphibious unmanned aircraft are higher and higher. In order to expand the working environment of the existing amphibious unmanned aircraft, how to design a more reasonable and effective amphibious unmanned aircraft becomes one of the key problems studied by scientific researchers.
In order to fully utilize the advantages of high concealment of the water environment and high maneuverability of air flight, researchers at home and abroad develop the design and research of the water-air amphibious unmanned aircraft. For example, the invention discloses a water-air amphibious unmanned aerial vehicle with the publication number of CN105539847A, which comprises a shell, a driving system, a camera system and a counterweight system, wherein the driving system with propellers is simultaneously used as a lifting power part of an unmanned aerial vehicle and a pneumatic propulsion part of the unmanned aerial vehicle on the water, and the counterweight system can enable the unmanned aerial vehicle to be switched from a flight state to a water navigation state. However, the unmanned aerial vehicle can successfully realize the conversion between the flight attitude and the navigation attitude by being provided with the water bag and the submersible pump, and the shell can navigate under the reverse wind power.
As another Chinese patent with publication number CN110816829A, the invention discloses a four-rotor water-air amphibious unmanned boat, which adopts a multi-rotor system to combine the unmanned boat and an unmanned aerial vehicle together, and enhances the stability by designing two floating bodies similar to a catamaran; through the design that four supports and two platforms are fixed, carry on rotor module and propulsion module under water respectively, two sets of control system are used to two modules, do not influence each other, can improve unmanned ship's work efficiency. However, the rotor module of the unmanned boat can only take off and land vertically and relies on underwater propellers when navigating on the water.
Disclosure of Invention
The invention aims to change the traditional power direction mode to reuse a power system, and adopts a set of power system which can be used as a lifting system during flight and a pneumatic thrust system during navigation. Meanwhile, the amphibious unmanned aircraft is designed to be efficient, practical and safe for a complex scene of takeoff and landing on the water surface by facing to a variant structure of the amphibious unmanned aircraft. In order to achieve the purpose, the technical scheme adopted by the invention is as follows: a ducted tiltable water-air amphibious unmanned aerial vehicle, comprising: the aircraft body adopts a wide-body catamaran structure and has self-balancing capability; the hull shell is arranged in a streamline structure; a detachable mobile cover is arranged on the hull of the aircraft; the hull of the aircraft is fixedly connected with a vertical bearing seat and a vertical supporting seat.
Duct power pack: connected to the first front side of the aircraft hull are a first ducted power group and a fourth ducted power group; connected to the second rear side of the aircraft hull are a second ducted power group and a third ducted power group; the central connecting lines of the four duct power groups are connected to the hull of the aircraft in a square distribution manner; wherein the first and fourth ducted power groups are symmetric about the head of the aircraft hull and the second and third ducted power groups are symmetric about the tail of the aircraft hull; the rotating directions of the propellers of the first ducted power group and the third ducted power group are opposite to the rotating directions of the propellers of the second ducted power group and the fourth ducted power group. The first duct power set and the fourth duct power set are connected with a ship body of the aircraft through vertical bearing seats; the second duct power set and the third duct power set are also connected with the hull of the aircraft through vertical bearing seats.
A power transmission mechanism: the aircraft comprises a duct fixing seat, a rotating shaft and vertical bearing seats, wherein the duct fixing seat is connected with screw holes on two sides of a duct power set, the rotating shaft is connected with the duct fixing seat through the vertical bearing seats, and the rotating shaft is driven through a tilting mechanism to change the posture of the aircraft. Tilting mechanism: the gear transmission mechanism comprises a first straight gear, a second straight gear and a stepping motor, wherein the first straight gear is fixed on a rotating shaft, the second straight gear is connected on the rotating shaft of the stepping motor, and the first straight gear is meshed with the second straight gear.
Compared with the prior art, the invention has the following advantages due to the adoption of the technical scheme:
(1) according to the ducted type water-air amphibious unmanned aircraft, the power device is designed to be a ducted type, the advantages of large thrust, concentrated vectors, small acting radius and the like are achieved, and the ducted type water-air amphibious unmanned aircraft is safer and more reliable while the flying state and the flying stability are ensured.
(2) The invention relates to a ducted water-air amphibious unmanned aircraft, which changes the traditional power pointing mode, namely a multiplexing power system. By adopting one set of power system, the aircraft can be used as a lifting system during flight and a pneumatic thrust system during navigation, thereby avoiding the redundancy of the power system and reducing the weight of the aircraft body.
(3) The ducted water-air amphibious unmanned aircraft is oriented to a variant structure of the amphibious aircraft, and can take off and land vertically and can also take off and land in a sliding manner aiming at a complex scene of taking off and landing on the water surface.
(4) The ducted type water-air amphibious unmanned aircraft provided by the invention imitates the motion appearance of ship navigation, and the ship body is designed into a streamline type, so that the ducted type water-air amphibious unmanned aircraft conforms to the fluid mechanics principle, and the resistance of the aircraft in water surface navigation is reduced.
(5) The ducted water-air amphibious unmanned aircraft does not need an underwater propeller, and can adapt to complicated water areas such as marshland, reservoir and lakes with water and grass clusters and the like.
Drawings
Figure 1 is a diagram of the overall effect of a craft of embodiment 1 of the invention;
figure 2 is a schematic view of the hull structure of the aircraft of the invention;
FIG. 3 is a schematic view of the structure of the propeller of the aircraft of the present invention;
FIG. 4 is a schematic representation of a flight state of the aircraft of the present invention;
FIG. 5 is a schematic view of a tilt module of the aircraft of the present invention;
FIG. 6 is a schematic view of a navigation state of an aircraft of embodiment 1 of the present invention;
FIG. 7 is a schematic illustration of a transitional state of an aircraft of embodiment 1 of the present disclosure;
figure 8 is a schematic view of a tilt module of an aircraft according to embodiment 2 of the present invention;
FIG. 9 is a top view of a navigation state of an aircraft of embodiment 2 of the present invention;
FIG. 10 is a schematic view of the navigational state of an aircraft of embodiment 3 of the present invention;
FIG. 11 is a front view of a vehicle in accordance with embodiment 4 of the present invention;
figure 12 is a top view of a vehicle according to embodiment 4 of the present invention;
figure 13 is a schematic view of two upright bearing blocks of a aircraft head of embodiment 4 of the invention.
The reference numbers in the figures are: 1. an aircraft hull; 2. a removable cover; 3. a first ducted power group; 4. a second ducted power group; 5. a third ducted power group; 6. a fourth ducted power group; 7. a rotating shaft; 8. a vertical bearing seat; 9. a vertical supporting seat; 10. a duct fixing seat; 11. a stepping motor; 12. a stepper motor support; 13. a first straight gear; 14. a second spur gear; 15. a forward propeller; 16. a reverse propeller; 17. a first bevel gear; 18. a second bevel gear; 19. a steering engine; 20. a steering engine bracket; 21. and (7) installing holes.
Detailed Description
The invention is described in detail below with reference to the figures and examples. The following embodiments are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
The first embodiment is as follows:
a ducted water-air amphibious unmanned aircraft, as shown in fig. 1-7, comprising:
aircraft hull 1: the hull 1 of the aircraft adopts a wide catamaran structure and has self-balancing capability; the hull shell is arranged in a streamline structure; the hull 1 of the aircraft is provided with a detachable mobile cover 2; the hull 1 of the aircraft is fixedly connected with a vertical bearing seat 8 and a vertical supporting seat 9.
Duct power pack: connected to a first side of the craft hull 1 are a first ducted power group 3 and a second ducted power group 4; connected to the second side of the aircraft hull 1 are a third ducted power group 5 and a fourth ducted power group 6; the central connecting lines of the four duct power groups are connected to the hull of the aircraft in a square distribution manner; wherein the first and fourth ducted power groups 3, 6 are symmetrical about the head of the aircraft hull 1, and the second and third ducted power groups 4, 5 are symmetrical about the tail of the aircraft hull 1; the rotation directions of the propellers of the first ducted power group 3 and the third ducted power group 5 are both the first direction; the rotation directions of the propellers of the second ducted power group 4 and the fourth ducted power group 6 are both the second direction; wherein the first direction and the second direction are opposite. The first duct power group 3 and the fourth duct power group 6 are connected with the aircraft hull 1 through vertical bearing seats 8; the second duct power set 4 and the third duct power set 5 are connected with the hull 1 of the aircraft through a vertical support seat 9; 12-blade propellers are adopted in the first duct power group 3, the second duct power group 4, the third duct power group 5 and the fourth duct power group 6.
A power transmission mechanism: the ducted aircraft comprises a ducted fixed seat 10, a rotating shaft 7 and a vertical bearing seat 8, wherein the ducted fixed seat 10 is connected with screw holes on two sides of a ducted power set, the rotating shaft 7 is a carbon fiber round pipe with the diameter of 15MM, the rotating shaft 7 is connected with the ducted fixed seat 10 through the vertical bearing seat 8, the rotating shaft 7 is driven through a tilting mechanism, and the posture of an aircraft is changed.
Tilting mechanism: the extension axle of first straight-tooth gear 13 is fixed on pivot 7, second straight-tooth gear 14 is connected in step motor 11's the pivot, first straight-tooth gear 13 with second straight-tooth gear 14 meshes, step motor 11 is worm gear speed reduction step motor, and the precision is high, and the noise is low, and the reduction ratio sets up in a flexible way and has self-locking function.
As shown in fig. 4, which is a schematic view of the aircraft flying in the air, when the unmanned aircraft flies in the air, the first ducted power group 3 and the fourth ducted power group 6 rotate to the vertical direction under the action of the tilting mechanism, so as to push the unmanned aircraft to fly in the air. The unmanned aircraft flies in the air, and counteracts the reactive torque between the duct groups by using a differential control principle and the symmetry of the structure body. Under the condition of no wind, when the propellers of the four ducts all rotate at the same rotating speed, the unmanned aircraft is in a hovering state; when the rotation speed of the propellers of the four ducts is simultaneously increased (decreased) by the same amount, the unmanned aerial vehicle will move vertically upwards (downwards); when the rotating speeds of the propellers of the first ducted power group 3 and the fourth ducted power group 6 are simultaneously reduced (increased) at the same amount, and the rotating speeds of the propellers of the second ducted power group 4 and the third ducted power group 5 are simultaneously increased (decreased) at the same amount, the unmanned aircraft flies forward (backward); when the rotating speeds of the propellers of the third ducted power group 5 and the fourth ducted power group 6 are simultaneously decreased (increased) at the same amount, and the rotating speeds of the propellers of the first ducted power group 3 and the second ducted power group 4 are simultaneously increased (decreased) at the same amount, the unmanned aircraft flies horizontally to the right (left); when the rotation speeds of the propellers of the first ducted power group 3 and the third ducted power group 5 are simultaneously decreased (increased) at the same amount, and the rotation speeds of the propellers of the second ducted power group 4 and the fourth ducted power group 6 are simultaneously increased (decreased) at the same amount, the unmanned aircraft will yaw clockwise (counterclockwise).
As shown in fig. 5, which is a schematic view of the aircraft of the present invention traveling in water, the first ducted power train 3 and the fourth ducted power train 6 are tilted forward by a fixed angle under the tilting mechanism to generate a tension force in an upward direction, which passes through the center of gravity of the hull 1 of the aircraft, and ensures that the force effectively acts on the entire hull of the aircraft. And the pulling force is orthogonally decomposed into an upward pulling force and a forward pulling force. The upward pulling force is balanced with the upward pulling force generated by the second duct power set 4 and the third duct power set 5 fixed at the stern of the ship body 1 of the aircraft, so that the pitching angle of the aircraft on the water surface is kept stable, and the stability of the aircraft on the water surface is enhanced. The forward component force is used for providing power for water surface navigation, the forward inclination angle is changed, and the two forward forces can change the pulling force through the differential speed of the propellers of the first duct power set 3 and the fourth duct power set 6, so that the change of the course angle is realized, and the water surface turning action is completed. The two fixed second duct power groups 4 and the third duct power groups 5 which are arranged at the stern of the ship body 1 of the aircraft can also enhance the transverse stability of the ship body, and the propeller rotating speeds of the second duct power groups 4 and the third duct power groups 5 are controlled through the roll angle of attitude resolution feedback to ensure that the aircraft cannot roll on the water surface.
As shown in fig. 6, which is a schematic diagram of the vehicle of the present invention performing water-air transition state transition, the unmanned vehicle of the present invention can take off and land vertically and can also take off and land by taxiing. When the aircraft vertically takes off or lands, the first duct power group 3 and the fourth duct power group 6 are parallel to the second duct power group 4 and the third duct power group 5 under the action of the tilting mechanism, the aircraft moves upwards when the lift force is greater than the gravity of the aircraft, and reversely lands downwards, and the aircraft hovers at a certain height when the lift force is balanced with the self gravity of the aircraft. When the unmanned aircraft takes off smoothly, the first duct power group 3 and the fourth duct power group 6 tilt forward by an angle of 45 degrees under the action of the tilting mechanism, so that upward oblique pulling force is generated, at the moment, the unmanned aircraft moves forward and ascends, after taking off smoothly, the first duct power group 3 and the fourth duct power group 6 tilt to 90 degrees, and at the moment, the unmanned aircraft flies like four rotors. The gliding landing and the gliding takeoff principle of the unmanned aircraft are the same.
Example two:
a ducted water-air-amphibious unmanned aircraft is shown in figures 2-4 and figures 8-9, and the difference from the first embodiment is that: the head of the unmanned aircraft is fixedly connected with a vertical supporting seat 9, the tail of the unmanned aircraft is fixedly connected with a vertical bearing seat 8, and the power transmission mechanism and the tilting mechanism are also arranged at the stern.
As shown in fig. 8, which is a schematic view of the aircraft tilting module of the present invention, an extension shaft of the first bevel gear 17 is fixed on the rotating shaft 7, the second bevel gear 18 is connected to the rotating shaft of the steering engine 19, and the first bevel gear 17 is engaged with the second bevel gear 18.
As shown in fig. 9, which is a sailing state top view of the aircraft of the present invention, the first ducted power group 3 and the fourth ducted power group 6 are fixedly connected to the head of the unmanned aircraft through an upright support 9, and the second ducted power group 4 and the third ducted power group 5 are connected to the tail of the unmanned aircraft through an upright support 8. The second duct power group 4 and the third duct power group 5 lean forward by a fixed angle under the action of the tilting mechanism of the aircraft and balance with the upward tension of the first duct power group 3 and the fourth duct power group 6, and simultaneously provide the tension for sailing on the water surface of the aircraft. The steering of the aircraft is achieved by varying the differential speed of the propellers of the second ducted power group 4 and the third ducted power group 5.
Example three:
a ducted water-air-amphibious unmanned aircraft is shown in figures 2-5 and 10, and is different from the second embodiment in that: the head and the tail of the unmanned aircraft are fixedly connected with vertical bearing seats 8, the first duct power set 3 and the fourth duct power set 6 can be driven by the tilting mechanism to drive the rotating shaft 7 to tilt, and the second duct power set 4 and the third duct power set 5 can also be synchronously tilted.
As shown in fig. 10, the first and fourth ducted power banks 3, 6, the second and third ducted power banks 4, 5 are fixedly connected to the surface of the unmanned vehicle by vertical bearing blocks 8, which are a schematic view of the sailing state of the vehicle of the present invention. When the unmanned aircraft flies in the air, the four duct power groups synchronously tilt to the vertical direction under the action of the front and rear tilting mechanisms to push the unmanned aircraft to fly in the air; when the unmanned aircraft navigates in water, the four ducted power groups complete the actions of navigating and turning on the water surface by changing the forward-leaning angle and the rotating speed of the propeller.
Example four:
a ducted water-air-amphibious unmanned aircraft is shown in figures 2-5 and figures 11-13, and the difference from the third embodiment is that: the head and the tail of the unmanned aircraft are fixedly connected with vertical supporting seats 9, mounting holes 21 with M3 threaded apertures are reserved in the two vertical supporting seats 9 of the head of the unmanned aircraft, and M3 screws respectively penetrate through the vertical supporting seats 9 and the rotating shaft 7 from top to bottom to be tightly connected.
As shown in fig. 11, in a front view of the aircraft of the present invention, the vertical support 9 of the aircraft nose near the first ducted power group 3 is reserved with mounting holes 21 with M3 threaded apertures at 30 ° and 60 ° from the vertical, and the vertical support 9 of the aircraft nose near the fourth ducted power group 6 is reserved with mounting holes 21 with M3 threaded apertures at 45 ° and 90 ° from the vertical. According to different requirements, the rotating shaft 7 is fixed in different mounting holes, and the unmanned aircraft can sail on the water at different inclination angles.
As shown in fig. 12, which is a top view of the aircraft of the present invention, a mounting hole 21 with M3 threaded aperture is reserved at the top of the vertical support seat 9 of the aircraft head near the fourth ducted power group 6, and the vertical support seat 9 and the rotating shaft 7 can be tightly connected by passing through the vertical support seat 9 and the rotating shaft from top to bottom with M3 screws. The four duct power groups are fixed in the vertical direction through manual setting, so that the unmanned aircraft flies in the air in a four-rotor-like mode.
Finally, it should be noted that: the above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and it will be apparent to those skilled in the art that various changes and modifications can be made in the technical features of the present invention without departing from the technical principles of the present invention, and the technical solutions described in the embodiments are not limited to the embodiments described above.
Claims (10)
1. A ducted type tiltable water-air amphibious unmanned aircraft is characterized by comprising an aircraft hull and a ducted power set, wherein the ducted power set consists of a first ducted power set, a second ducted power set, a third ducted power set and a fourth ducted power set, four sets of ducted power sets can be fixed on the hull in an angle-adjustable manner, and the central connecting lines of the four ducted power sets are square; the first duct power set and the fourth duct power set are arranged on the front portion of the ship body of the aircraft, and the second duct power set and the third duct power set are arranged on the rear portion of the ship body of the aircraft.
2. The ducted tileable water-air amphibious unmanned aerial vehicle of claim 1, wherein: a power transmission mechanism and a tilting mechanism are arranged between the first culvert power set and the fourth culvert power set, the power transmission mechanism comprises a culvert fixing seat, a rotating shaft and a vertical bearing seat, the culvert power set is connected with the culvert fixing seat through screw holes on two sides, the rotating shaft penetrates through the vertical bearing seat to be connected with an extending shaft of the culvert fixing seat, and the vertical bearing is fixed on the upper surface of a ship body of the aircraft; the tilting mechanism further comprises a first straight gear, a second straight gear and a stepping motor, an extension shaft of the first straight gear is fixedly connected to the middle of the rotating shaft, the middle of the second straight gear is fixed to the rotating shaft of the stepping motor, and the first straight gear is meshed with the second straight gear; the canting mechanism is fixed on the upper surface of the hull of the aircraft.
3. The ducted tileable water-air amphibious unmanned aerial vehicle of claim 1, wherein: a power transmission mechanism and a tilting mechanism are arranged between the second culvert power set and the third culvert power set, the power transmission mechanism comprises a culvert fixing seat, a rotating shaft and a vertical bearing seat, the culvert power set is connected with the culvert fixing seat through screw holes on two sides, the rotating shaft penetrates through the vertical bearing seat to be connected with an extending shaft of the culvert fixing seat, and the vertical bearing is fixed on the upper surface of the hull of the aircraft; the tilting mechanism further comprises a first bevel gear, a second bevel gear and a stepping motor, wherein an extension shaft of the first bevel gear is fixedly connected to the middle part of the rotating shaft, the middle part of the second bevel gear is fixed on the rotating shaft of the stepping motor, and the first bevel gear is meshed with the second bevel gear; the canting mechanism is fixed on the upper surface of the hull of the aircraft.
4. The ducted tileable water-air amphibious unmanned aerial vehicle of claim 1, wherein: the first duct power set and the fourth duct power set are connected through a rotating shaft, the front portion and the rear portion of the ship body of the aircraft are fixedly connected with vertical supporting seats, a plurality of mounting holes with M3 thread apertures are reserved in the two vertical supporting seats at the front portion of the ship body of the aircraft, and M3 screws respectively penetrate through the vertical supporting seats and the rotating shaft from top to bottom to enable the rotating shaft to be tightly and fixedly connected with the vertical supporting seats.
5. The ducted tileable water-air amphibious unmanned aerial vehicle of any one of claims 1 to 4, wherein: the rotating directions of the propellers of the first ducted power group and the third ducted power group are both the first direction; the rotating directions of the propellers of the second ducted power group and the fourth ducted power group are both the second direction; wherein the first direction and the second direction are opposite.
6. The ducted tileable water-air amphibious unmanned aerial vehicle of any one of claims 1 to 4, wherein: all duct power unit insides all are provided with a screw and drive screw pivoted fixed motor, duct power unit screw is the leaf screw, and the duct material is carbon fiber reinforced plastics.
7. The ducted tileable water-air amphibious unmanned aerial vehicle of any one of claims 1 to 4, wherein: the rotating shaft is a 15MM carbon fiber round tube.
8. The ducted tileable water-air amphibious unmanned aerial vehicle of claim 2 or 3, wherein: the stepping motor is a worm and gear speed reduction stepping motor.
9. The ducted tileable water-air amphibious unmanned aerial vehicle of claim 2 or 3, wherein: the stepping motor is connected with the hull of the aircraft through the mounting bracket.
10. The ducted tileable water-air amphibious unmanned aerial vehicle of any one of claims 1 to 4, wherein: the hull of the aircraft is a wide catamaran, and the hull is arranged into a streamline structure; a sealed cabin is arranged inside the hull of the aircraft, and a detachable movable cover is arranged at the top of the sealed cabin.
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| CN202010714204.7A CN111823797A (en) | 2020-07-23 | 2020-07-23 | Duct type water-air amphibious unmanned aircraft capable of tilting |
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| CN202010714204.7A CN111823797A (en) | 2020-07-23 | 2020-07-23 | Duct type water-air amphibious unmanned aircraft capable of tilting |
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Application publication date: 20201027 |