CN112550699A - Unmanned aerial vehicle on water with balanced actuating system of surface of water traveling - Google Patents
Unmanned aerial vehicle on water with balanced actuating system of surface of water traveling Download PDFInfo
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- CN112550699A CN112550699A CN202011544724.4A CN202011544724A CN112550699A CN 112550699 A CN112550699 A CN 112550699A CN 202011544724 A CN202011544724 A CN 202011544724A CN 112550699 A CN112550699 A CN 112550699A
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
- B64C35/001—Flying-boats; Seaplanes with means for increasing stability on the water
- B64C35/002—Flying-boats; Seaplanes with means for increasing stability on the water using adjustable auxiliary floats
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Abstract
The invention discloses an overwater unmanned aerial vehicle with a water surface running balance driving system, which relates to the technical field of the overwater unmanned aerial vehicle. The support frame is matched with the air bag cushion on the support frame in the horizontal state, so that the buoyancy of the unmanned aerial vehicle body can be increased, the unmanned aerial vehicle body can be balanced, and the unmanned aerial vehicle can run on water more stably and safely; the support frame can play the effect of supporting the fuselage on ground under the initial condition, realizes the dual-purpose of an object of support frame.
Description
Technical Field
The invention relates to the technical field of water unmanned aerial vehicles, in particular to a water unmanned aerial vehicle with a water surface running balance driving system.
Background
The pilotless airplane is an unmanned airplane which is operated by radio remote control and remote measuring equipment and a self-contained program control device. The aircraft is provided with a navigation flight control system, a program control device, a power supply and other equipment. The personnel of the ground remote control and telemetry station can track, position, remotely control and telemeter the personnel and transmit real-time data through the data chain and other equipment. Compared with a manned aircraft, the unmanned aerial vehicle has the characteristics of being suitable for various flight environment requirements, can especially bear the long-endurance flight or high-risk flight beyond the reach of manpower, has high flight line and attitude control precision, and can be widely used in the fields of aerial remote sensing, meteorological research, agricultural aerial seeding, pest control, emergency rescue, disaster relief, video shooting and the like; the method has special advantages in war, and can be widely applied to aerial investigation, monitoring, communication, anti-diving, electronic interference, weapon striking and the like.
Unmanned aerial vehicles can be classified into unmanned fixed-wing aircraft, unmanned vertical take-off and landing aircraft, unmanned airship, unmanned helicopter, unmanned multi-rotor aircraft, and the like. Along with the explosive development of the unmanned aerial vehicle, the unmanned aerial vehicle fully embodies the value and powerful functions thereof in all fields. At present, most unmanned aerial vehicles on the market fly in the sky to play the functions of the unmanned aerial vehicles, but few unmanned aerial vehicles capable of running on the water surface limit the development and application of the unmanned aerial vehicles in the water surface field. Especially, when the unmanned aerial vehicle runs into sudden severe weather or other conditions which are not beneficial to flying, the unmanned aerial vehicle is easy to cause the damage of the body or the accident caused by falling into the sea if the unmanned aerial vehicle flies forcibly, and unnecessary loss is caused, and the unmanned aerial vehicle can stably run on the water surface at the moment and is very important for the normal operation and protection of the unmanned aerial vehicle.
Disclosure of Invention
In view of this, the present invention provides an above-water unmanned aerial vehicle having a driving system for balancing driving of the above-water unmanned aerial vehicle, so that the unmanned aerial vehicle can drive on the water surface, and can perform balancing adjustment according to the water surface condition, thereby improving the stability and safety of the unmanned aerial vehicle during the driving on the water surface.
The invention solves the technical problems by the following technical means:
an overwater unmanned aerial vehicle with a water surface running balance driving system comprises a fuselage, a horn and a propeller thruster which are symmetrically arranged at two sides of the upper part of the fuselage, the propeller thruster is arranged at one end of the horn far away from the fuselage, the fuselage is composed of a cabin and a floating cabin positioned below the cabin, the tail part of the floating cabin is provided with a water jet thruster, the outer bottom of the floating cabin is provided with a water pressure sensor, the middle parts of two sides of the floating cabin are respectively provided with two support frames in parallel, one ends of the two support frames at the same side of the floating cabin far away from the floating cabin are connected with support foot plates, the floating cabin is provided with an opening penetrating through the floating cabin, the support frames are rotatably connected in the opening, the joint of the support frames and the floating cabin is provided with a flexible sealing sleeve for sealing the opening, one end of the support frames close to the floating cabin extends into the floating cabin, two sides, the cylinder shaft of the cylinder is rotatably connected with the middle part of the control rod, the two ends of the control rod are respectively connected with the end parts of the two support frames at the same side in the floating cabin, the air bag cushions are respectively arranged between the two support frames at the same side outside the floating cabin, the inflator is arranged in the floating cabin, the inflation inlet of the air bag cushion is connected with the inflator through a hose, the floating cabin is also internally provided with a control box and a power supply pack, the control box is internally provided with a flight control computer, a GPS differential positioning system, a wireless transceiver, a cylinder control device electrically connected with the cylinder, a propeller thruster, a water jet thruster, a water pressure sensor and a GPS differential positioning, the wireless transceiver and the cylinder control device are respectively and electrically connected with the flight control computer, and the power pack is used for supplying power to the propeller thruster, the water jet thruster, the water pressure sensor, the GPS differential positioning system, the wireless transceiver, the cylinder control device and the flight control computer. The GPS differential positioning system is used for sending measurement data to the flight control computer, and the flight control computer resolves and determines the space position information and the speed information of the unmanned aerial vehicle; the wireless transceiver is used for receiving the command of the remote controller in the manual mode and informing the flight control computer of finishing the action corresponding to the command.
Adopt wireless communication can accomplish the real-time data transmission of unmanned aerial vehicle and ground remote base station, the accessible receives the rotational speed of ground remote base station's remote control command control propeller, make unmanned aerial vehicle fall into the surface of water, and adopt water pressure sensor to realize in the twinkling of an eye with the surface of water contact in unmanned aerial vehicle fuselage bottom, the automatic support frame that realizes the fuselage both sides rotates to the horizontality, and aerifing of gasbag pad, make unmanned aerial vehicle trun into the state of traveling on water, then go on water through water jet propulsion drive unmanned aerial vehicle, and travel to the appointed place according to the instruction. The support frame is matched with the air bag cushion on the support frame in the horizontal state, so that the buoyancy of the unmanned aerial vehicle body can be increased, and the unmanned aerial vehicle body can be balanced, so that the unmanned aerial vehicle is more stable and safer when running on water; under the initial state, the support foot plate on the support frame can play the role of supporting the unmanned aerial vehicle body when the unmanned aerial vehicle stands on the external ground.
Further, showy cabin is with two mounting brackets of parallel arrangement between two support frames of one side, every mounting bracket is installed respectively on every support frame, parallel arrangement has two slide bars between two mounting brackets, two slide bars set up with two mounting brackets are perpendicular, the holding chamber has been seted up to two mounting brackets near the one end symmetry of floating the cabin, the both ends of one of them slide bar are rotated respectively and are connected in the holding intracavity, the holding chamber is provided with the wind spring, the wind spring suit is on the slide bar, the inboard one end and the slide bar fixed connection of wind spring, the outside one end and the holding intracavity wall fixed connection of wind spring, the spout has all been seted up to one side that the support frame was kept away from to two mounting brackets, the both ends of. This kind of design can be at the unmanned aerial vehicle flight in-process with the automatic roll-up of gasbag pad on the slide bar to reduce the resistance of unmanned aerial vehicle flight in-process.
Further, one side that two mounting brackets are close to the support frame all is equipped with many connecting rods, be equipped with on the position that the support frame corresponds with many connecting rod assorted sleeves, when the mounting bracket was installed on the support frame, many connecting rods respectively with imbed in the sleeve and through the bolt fastening. The locating installation of the installation rack can be rapidly realized through the matching of the connecting rod and the sleeve, the symmetry of the installation racks on the two sides is ensured, and the installation rack is convenient to disassemble.
Further, the outer sides of the two supporting frames at the same side of the floating cabin are provided with a plurality of limiting rods, and the two ends of the limiting rods are detachably arranged on the two supporting frames. Many gag levers can play the effect of restriction gasbag pad, and then reduce the atress of two slide bars to can reduce the fluctuation of gasbag pad at the surface of water, improve the stationarity that unmanned aerial vehicle surface of water went.
Further, the flexible sealing sleeve is of a telescopic corrugated structure. The telescopic corrugated structure can play a good sealing role and reduce the volume of the flexible sealing sleeve under the condition of adapting to the rotation process of the support frame.
Furthermore, an inertia measurement unit and an air pressure sensor are mounted on the body, and the inertia measurement unit and the air pressure sensor are electrically connected with the flight control computer respectively;
the inertial measurement unit is used for determining the attitude of the unmanned aerial vehicle and measuring the course of the unmanned aerial vehicle relative to the magnetic field;
and the air pressure sensor sends the measured environmental air pressure data to the flight control computer to be resolved to determine the altitude of the unmanned aerial vehicle.
Further, an external storage module is also mounted on the aircraft body, and the inertial external storage module is electrically connected with the flight control computer; the external storage module is used for storing the attitude and the position information of the unmanned aerial vehicle in the flight process, and facilitating offline analysis of flight data of the unmanned aerial vehicle and adjustment of parameters.
Furthermore, a visual module is also mounted on the fuselage and electrically connected with the flight control computer; the vision module sends the image information to the flight control computer, and the flight control computer identifies the aerial flying object according to the image information, and simultaneously calculates the position and the speed information of the target relative to the unmanned aerial vehicle, so as to guide the unmanned aerial vehicle to track the target.
The invention has the beneficial effects that: the unmanned aerial vehicle can complete real-time data transmission between the unmanned aerial vehicle and the ground remote base station by adopting wireless communication, the rotating speed of the propeller can be controlled by receiving a remote control command of the ground remote base station, so that the unmanned aerial vehicle falls into the water surface, the support frames on two sides of the body can be automatically rotated to be in a horizontal state at the moment when the bottom of the body of the unmanned aerial vehicle is contacted with the water surface by adopting a water pressure sensor, the air bag cushion is inflated, the unmanned aerial vehicle is converted into a water running state, then the unmanned aerial vehicle is driven to run on the water by the water jet. The support frame is matched with the air bag cushion on the support frame in the horizontal state, so that the buoyancy of the unmanned aerial vehicle body can be increased, and the unmanned aerial vehicle body can be balanced, so that the unmanned aerial vehicle is more stable and safer when running on water; support foot board on the support frame cooperation support frame under the initial condition can play the effect that unmanned aerial vehicle supported the fuselage when outside ground standing, and then realized a thing dual-purpose of support frame.
Drawings
FIG. 1 is a schematic view of the present invention in a water running state;
FIG. 2 is a transverse cross-sectional view of the present invention in a water-surface driving condition;
FIG. 3 is a longitudinal cross-sectional view of the invention in a water-surface driving condition;
FIG. 4 is an enlarged view of a portion A of FIG. 2;
FIG. 5 is a schematic structural view of the present invention in a ground stop state;
FIG. 6 is a side view of the present invention in a ground stop condition;
FIG. 7 is a block diagram of the architecture of an embodiment of the present invention;
the device comprises a machine body 1, a machine room 101, a floating cabin 102, a machine arm 2, a propeller thruster 3, a water jet thruster 4, a water pressure sensor 5, a support frame 6, a support foot plate 7, an opening 8, a flexible sealing sleeve 9, a cylinder 10, a control rod 11, an airbag cushion 12, an inflator 13, a hose 14, a control box 15, a power pack 16, a mounting frame 17, a sliding rod 18, an accommodating cavity 19, a coil spring 20, a sliding groove 21, a connecting rod 22, a sleeve 23 and a limiting rod 24.
Detailed Description
The present invention will be described in detail with reference to examples below:
as shown in fig. 1-7
An overwater unmanned aerial vehicle with a water surface running balance driving system comprises a body 1, machine arms 2 and propeller propellers 3 which are symmetrically arranged on two sides of the upper portion of the body 1, the propeller propellers 3 are arranged on one end, far away from the body 1, of the machine arm 2, the body 1 is composed of a cabin 101 and a floating cabin 102 positioned below the cabin 101, the tail portion of the floating cabin 102 is provided with a water jet propeller 4, the outer bottom of the floating cabin 102 is provided with a water pressure sensor 5, the middle portions of two sides of the floating cabin 102 are respectively provided with two support frames 6 in parallel, one ends, far away from the floating cabin 102, of the two support frames 6 on the same side of the floating cabin 102 are connected with support foot plates 7, the floating cabin 102 is provided with an opening 8 penetrating through the floating cabin 102, the support frames 6 are rotatably connected in the opening 8, a flexible sealing sleeve 9 for sealing the opening 8 is arranged at the connection position of the support frames 6 and the floating cabin 102, the two sides of the top in the floating cabin 102 are respectively provided with an air cylinder 10, the air cylinder shaft of the air cylinder 10 is vertically connected with a control rod 11, the air cylinder shaft of the air cylinder 10 is rotatably connected with the middle part of the control rod 11, the two ends of the control rod 11 are respectively connected with the end parts of the two support frames 6 at the same side in the floating cabin 102, an air bag cushion 12 is respectively arranged between the two support frames 6 at the same side outside the floating cabin 102, an inflator 13 is arranged in the floating cabin 102, the inflation inlet of the air bag cushion 12 is connected with the inflator 13 through a hose 14, the floating cabin 102 is also internally provided with a control box 15 and a power supply pack 16, a flight control computer, a GPS differential positioning system, a wireless transceiver and an air cylinder control device which is electrically connected with the air cylinder 10 are arranged in the control box 15, a propeller 3, a water jet propeller 4, a water pressure sensor 5, the power pack 16 is used for supplying power to the propeller 3, the water jet 4, the water pressure sensor 5, the GPS differential positioning system, the wireless transceiver, the cylinder control device and the flight control computer. The GPS differential positioning system is used for sending measurement data to the flight control computer, and the flight control computer resolves and determines the space position information and the speed information of the unmanned aerial vehicle; the wireless transceiver is used for receiving the command of the remote controller in the manual mode and informing the flight control computer of finishing the action corresponding to the command.
Adopt wireless communication can accomplish unmanned aerial vehicle and the real-time data transmission of ground remote base station, the accessible receives the rotational speed of ground remote base station's remote control command control propeller, make unmanned aerial vehicle fall into the surface of water, and adopt water pressure sensor 5 to realize in the twinkling of an eye with the surface of water contact in 1 bottom of unmanned aerial vehicle fuselage, the automatic support frame 6 that realizes 1 both sides of fuselage rotates to the horizontality, and the aerifing of gasbag pad 12, make unmanned aerial vehicle trun into the state of traveling on water, then go on water through water jet 4 drive unmanned aerial vehicle, and travel appointed place according to the instruction. The support frame 6 is matched with the airbag cushion 12 on the support frame 6 in the horizontal state, so that the buoyancy of the unmanned aerial vehicle body 1 can be increased, and the unmanned aerial vehicle body 1 can be balanced, so that the unmanned aerial vehicle is more stable and safer when running on water; support foot board 7 on support frame 6 of support frame 6 cooperation under initial condition can play the effect that unmanned aerial vehicle supported fuselage 1 when outside ground is stood.
One side that two mounting brackets 17 are close to support frame 6 all is equipped with many connecting rods 22, be equipped with on the position that support frame 6 corresponds with many connecting rods 22 assorted sleeve 23, when mounting bracket 17 installed on support frame 6, many connecting rods 22 respectively with imbed in the sleeve 23 and through the bolt fastening. The positioning installation of the installation rack 17 can be realized rapidly by the matching of the connecting rod 22 and the sleeve 23, the symmetry of the installation racks 17 at two sides is ensured, and the disassembly is convenient.
The floating cabin 102 is provided with a plurality of limiting rods 24 at the same side of the two supporting frames 6, and the two ends of the limiting rods 24 are detachably mounted on the two supporting frames 6. The limiting rods 24 can play a role in limiting the airbag cushion 12, so that the stress of the two sliding rods 18 is reduced, the fluctuation of the airbag cushion 12 on the water surface can be reduced, and the stability of the unmanned aerial vehicle running on the water surface is improved.
The flexible sealing sleeve 9 is of a telescopic corrugated structure. The telescopic corrugated structure can play a good sealing role and reduce the volume of the flexible sealing sleeve 9 under the condition of adapting to the rotation process of the support frame 6.
An inertial measurement unit and an air pressure sensor are mounted on the fuselage 1, and the inertial measurement unit and the air pressure sensor are electrically connected with a flight control computer respectively; the inertia measurement unit is used for determining the attitude of the unmanned aerial vehicle and measuring the course of the unmanned aerial vehicle relative to the magnetic field; the air pressure sensor is used for sending measured environmental air pressure data to the flight control computer to be resolved to determine the altitude of the unmanned aerial vehicle.
The aircraft body 1 is also provided with an external storage module, and the inertial external storage module is electrically connected with the flight control computer; external storage module is used for preserving the gesture and the positional information of unmanned aerial vehicle flight in-process, makes things convenient for off-line analysis unmanned aerial vehicle flight data, adjustment parameter.
The fuselage 1 is also provided with a vision module which is electrically connected with a flight control computer; the vision module sends the image information to the flight control computer, and the flight control computer identifies the aerial flying object according to the image information, and simultaneously calculates the position and the speed information of the target relative to the unmanned aerial vehicle, so as to guide the unmanned aerial vehicle to track the target.
Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims. The techniques, shapes, and configurations not described in detail in the present invention are all known techniques.
Claims (8)
1. An overwater unmanned aerial vehicle with a water surface running balance driving system comprises a body, machine arms and propeller propellers which are symmetrically arranged on two sides of the upper portion of the body, wherein the propeller propellers are arranged on one end, far away from the body, of the machine arm, the propeller propellers are characterized in that the body is composed of a cabin and a floating cabin positioned below the cabin, a water jet propeller is arranged at the tail of the floating cabin, a water pressure sensor is arranged at the outer bottom of the floating cabin, two support frames are respectively arranged in the middle of two sides of the floating cabin in parallel, one ends, far away from the floating cabin, of the two support frames on the same side of the floating cabin are connected with a support foot plate, an opening penetrating through the floating cabin is formed in the floating cabin, the support frames are rotatably connected in the opening, a flexible sealing sleeve used for sealing the opening is arranged at the joint of the support frames and the floating cabin, one end, close, the two sides of the top in the floating cabin are respectively provided with an air cylinder, the air cylinder shaft of the air cylinder is vertically connected with a control rod, the air cylinder shaft of the air cylinder is rotatably connected with the middle part of the control rod, the two ends of the control rod are respectively connected with the end parts of two support frames at the same side in the floating cabin, an air bag cushion is respectively arranged between the two support frames at the same side outside the floating cabin, an inflator is arranged in the floating cabin, the inflation inlet of the air bag cushion is connected with the inflator through a hose, the floating cabin is also internally provided with a control box and a power supply set, the control box is internally provided with a flight control computer, a GPS differential positioning system, a wireless transceiver and an air cylinder control device which is electrically connected with the air cylinder, the propeller, the water jet propeller, the water pressure sensor, the GPS differential positioning system, the wireless transceiver and the, the power pack is used for supplying power to the propeller, the water jet propeller, the water pressure sensor, the GPS differential positioning system, the wireless transceiver, the cylinder control device and the flight control computer.
2. The unmanned aerial vehicle on water with the driving system for balancing running on water surface of claim 1, wherein two mounting frames are arranged in parallel between two supporting frames on the same side of the floating cabin, each mounting frame is respectively arranged on each supporting frame, two sliding rods are arranged in parallel between the two mounting frames, the two sliding rods are perpendicular to the two mounting frames, one end of each mounting frame, which is close to the floating cabin, is symmetrically provided with a containing cavity, two ends of one sliding rod are respectively and rotatably connected with the containing cavity, the containing cavity is provided with a coil spring, the coil spring is sleeved on the sliding rod, one end of the inner side of the coil spring is fixedly connected with the sliding rod, one end of the outer side of the coil spring is fixedly connected with the inner wall of the containing cavity, one side of each mounting frame, which is far away from the supporting frame, two ends of the air bag cushion are respectively fixed on the two sliding rods.
3. The unmanned aerial vehicle on water with balanced actuating system of surface of water traveling of claim 2, characterized in that, two one side that the mounting bracket is close to the support frame all is equipped with many connecting rods, be equipped with on the position that the support frame corresponds with many connecting rod assorted sleeves, when the mounting bracket was installed on the support frame, many the connecting rod respectively with imbed in the sleeve and through bolt fastening.
4. The unmanned aerial vehicle on water with balanced actuating system of surface of water traveling of claim 3, characterized in that, the floating cabin is provided with many gag levers with the outside of two spinal branch strut on the same side, and the both ends of many gag levers detachably install on two spinal branch strut.
5. The waterborne unmanned aerial vehicle with surface running balance driving system according to any one of claims 1-4, wherein the flexible sealing sleeve is of a telescopic corrugated structure.
6. The waterborne unmanned aerial vehicle with the water surface running balance driving system according to claim 5, wherein an inertial measurement unit and an air pressure sensor are further mounted on the unmanned aerial vehicle body, and the inertial measurement unit and the air pressure sensor are electrically connected with a flight control computer respectively;
the inertial measurement unit is used for determining the attitude of the unmanned aerial vehicle and measuring the course of the unmanned aerial vehicle relative to the magnetic field;
and the air pressure sensor sends the measured environmental air pressure data to the flight control computer to be resolved to determine the altitude of the unmanned aerial vehicle.
7. The above-water unmanned aerial vehicle with the water surface running balance driving system according to claim 6, wherein an external storage module is further mounted on the body, and the inertial external storage module is electrically connected with a flight control computer;
external storage module for save unmanned aerial vehicle flight in-process gesture and positional information make things convenient for off-line analysis unmanned aerial vehicle flight data, adjustment parameter.
8. The waterborne unmanned aerial vehicle with the water surface running balance driving system according to claim 7, wherein a vision module is further mounted on the body and electrically connected with a flight control computer;
the vision module sends the image information to the flight control computer, and the flight control computer identifies the aerial flying object according to the image information, and simultaneously calculates the position and speed information of the target relative to the unmanned aerial vehicle, so as to guide the unmanned aerial vehicle to track the target.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011544724.4A CN112550699A (en) | 2020-12-24 | 2020-12-24 | Unmanned aerial vehicle on water with balanced actuating system of surface of water traveling |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011544724.4A CN112550699A (en) | 2020-12-24 | 2020-12-24 | Unmanned aerial vehicle on water with balanced actuating system of surface of water traveling |
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| CN112550699A true CN112550699A (en) | 2021-03-26 |
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| US20160114887A1 (en) * | 2002-10-01 | 2016-04-28 | Dylan T X Zhou | Amphibious vertical takeoff and landing unmanned system and flying car with multiple aerial and aquatic flight modes for capturing panoramic virtual reality views, interactive video and transportation with mobile and wearable application |
| CN106005434A (en) * | 2016-06-30 | 2016-10-12 | 张春生 | Shipborne unmanned aerial vehicle water traveling protection system based on Internet of Things |
| CN106627010A (en) * | 2016-11-17 | 2017-05-10 | 苏州航天***工程有限公司 | Water-air amphibious unmanned aerial vehicle |
| CN108128108A (en) * | 2018-01-18 | 2018-06-08 | 浙江大学 | It is a kind of based on bionics principle three dwell movement quadrotor unmanned plane |
| US20190233077A1 (en) * | 2018-01-29 | 2019-08-01 | Yu Tian | Vtol fixed-wing flying platform system |
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2020
- 2020-12-24 CN CN202011544724.4A patent/CN112550699A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160114887A1 (en) * | 2002-10-01 | 2016-04-28 | Dylan T X Zhou | Amphibious vertical takeoff and landing unmanned system and flying car with multiple aerial and aquatic flight modes for capturing panoramic virtual reality views, interactive video and transportation with mobile and wearable application |
| CN106005434A (en) * | 2016-06-30 | 2016-10-12 | 张春生 | Shipborne unmanned aerial vehicle water traveling protection system based on Internet of Things |
| CN106627010A (en) * | 2016-11-17 | 2017-05-10 | 苏州航天***工程有限公司 | Water-air amphibious unmanned aerial vehicle |
| CN108128108A (en) * | 2018-01-18 | 2018-06-08 | 浙江大学 | It is a kind of based on bionics principle three dwell movement quadrotor unmanned plane |
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Application publication date: 20210326 |
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