CN113120231A - Fixed wing forest fire control scouting hits unmanned aerial vehicle - Google Patents
Fixed wing forest fire control scouting hits unmanned aerial vehicle Download PDFInfo
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- CN113120231A CN113120231A CN202110607214.5A CN202110607214A CN113120231A CN 113120231 A CN113120231 A CN 113120231A CN 202110607214 A CN202110607214 A CN 202110607214A CN 113120231 A CN113120231 A CN 113120231A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
- B64C27/26—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft characterised by provision of fixed wings
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
- A62C3/0228—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft
- A62C3/025—Fire extinguishing bombs; Projectiles and launchers therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/0009—Aerodynamic aspects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
- B64C27/24—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft with rotor blades fixed in flight to act as lifting surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/25—Fixed-wing aircraft
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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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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/28—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture specially adapted for farming
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Abstract
The invention relates to a fixed-wing unmanned aerial vehicle for forest fire fighting, which comprises a machine body, wherein main wings are fixedly arranged on two sides of the machine body, a thrust rotor wing is arranged at the tail part of the machine body, a machine frame is arranged in the main wings, lifting rotor wings are arranged at two ends of the machine frame, a temperature and humidity infrared sensor is fixedly arranged at the front end of the machine body, a projectile throwing device is fixedly arranged in the machine body, a high-definition camera is fixedly arranged at the center of the lower surface of the machine body, a signal processor, a controller and an ultrasonic module are arranged in the machine body, the machine body is driven by the lifting rotor wings to vertically take off and land and hover, the high-definition camera aims at the fire point identification, has the advantages of intelligence and application, adopts the scheme of intelligent image identification and processing and multi-sensor matching to carry out intelligent identification and control on the fire point, satisfy the forest fire control work under different complex environment.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a fixed-wing unmanned aerial vehicle for forest fire fighting and investigation.
Background
Unmanned aerial vehicle fire control is as a novel industrial technology, widely used in various fields, at home there have been many fire control agencies to use unmanned aerial vehicle to succeed in carrying out scene of a fire investigation monitoring, throwing attempts such as rescue goods and materials, the effect is very obvious, along with science and technology popularization, unmanned aerial vehicle also gets into everybody's field of vision gradually, wherein industrial unmanned aerial vehicle also applies gradually in the middle of each field, exert the effect of oneself, especially use the high-risk field that fire control is leading, utilize unmanned aerial vehicle to replace partial manpower action, to the fire prevention trade, its importance is self-evident.
But in present fire control field, the function that fire control unmanned aerial vehicle realized is too single, can't satisfy the forest fire control environment of complicated danger. Therefore, the technical personnel in the field provide a fixed wing forest fire fighting and fighting unmanned aerial vehicle to solve the problems in the background art.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides a fixed wing forest fire fighting investigation unmanned aerial vehicle.
The invention provides a fixed wing forest fire fighting investigation unmanned aerial vehicle, which adopts the following technical scheme:
the utility model provides a fixed wing forest fire control reconnaissance and play unmanned aerial vehicle, includes the fuselage, the equal fixed mounting in both sides of fuselage has the main wing, and the afterbody of fuselage installs the thrust rotor, the inside of main wing is provided with the frame, the lift rotor is all installed at the both ends of frame, fuselage front end fixed mounting has humiture infrared sensor, and the inside fixed mounting of fuselage has the device of throwing ammunition, the lower surface central point of fuselage puts fixed mounting and has high definition digtal camera, and the inside of fuselage is provided with signal processor, controller, ultrasonic module.
Preferably, the wing body of the main wing covers the solar cell panel, the beam structure of the main wing adopts a carbon fiber beam with the diameter of 10mm to provide enough strength, the outer section adopts upper and lower guard plates made of basswood, and the upper and lower edges of the main wing are supported by a light pine beam with the diameter of 5 mm.
Preferably, the number of the racks is two, and the two racks are fixedly embedded in the main wing.
Preferably, the output end of the temperature and humidity infrared sensor is in electric signal connection with the input end of the signal processor, and the output end of the signal processor is in electric signal connection with the input end of the controller.
Preferably, the inside of the projectile device is loaded with fire extinguishing bombs, a traction mechanism of the projectile device is additionally provided with a steering engine, and the input end of the projectile device is connected with the output end of the controller through an electric signal.
Preferably, the high definition digtal camera is the hemisphere type structure, and the inside nested filtration submodule piece that has of high definition digtal camera, the output of high definition digtal camera and signal processor's input signal connection.
Preferably, the ultrasonic module includes: the ultrasonic wave transmitting module and the filter, and the output end of the ultrasonic wave module is connected with the input end of the signal processor through an electric signal.
Preferably, the inside fixed mounting of main wing has the connecting rod, the afterbody fixed mounting of connecting rod has balanced fin, balanced fin is the type of falling V fin structure.
Preferably, the lower surface of the fuselage is fixedly provided with a nose landing gear at the nose position, and the lower surface of the fuselage is fixedly provided with a rear landing gear at the tail position.
In summary, the invention has the following beneficial technical effects:
the forest fire fighting robot adopts a fixed wing type, the machine body is driven by the lifting rotor wing to vertically take off, land and hover, the high-definition camera is used for identifying fire points, the forest fire fighting robot has the advantages of intelligence and application, the forest fire points are intelligently identified and controlled by adopting the scheme of intelligent image identification and processing and multi-sensor matching, the potential fire source is identified and detected, forest smoldering fire is struck and extinguished, and the forest fire fighting robot is in multifunctional integrated cooperation and meets forest fire fighting work in different complex environments.
Drawings
FIG. 1 is a schematic structural diagram of a fixed-wing forest fire fighting investigation unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 2 is an exploded view of a fixed wing forest fire fighting combat drone in an embodiment of the present invention;
FIG. 3 is a schematic view of a trapezoidal wing and an internal spar configuration in accordance with an embodiment of the present invention;
FIG. 4 is a diagram of exemplary parameters of a wing design according to an embodiment of the present invention;
FIG. 5 is a diagram of the specific parameters of the tail design in an embodiment of the present invention;
FIG. 6 is a schematic illustration of the lift-to-drag ratio of the main wing in an embodiment of the present invention;
FIG. 7 is a graph of a static stability analysis in an embodiment of the present invention;
FIG. 8 is a graph of dynamic stability analysis in an embodiment of the present invention;
FIG. 9 is a block diagram of electrical signal connections in an embodiment of the present invention;
fig. 10 is a block diagram of electrical connections of a solar cell module according to an embodiment of the invention.
Description of reference numerals: 1. a main wing; 2. a lift rotor; 3. a thrust rotor; 4. balancing the tail wing; 5. a connecting rod; 6. a frame; 7. a body; 8. a high-definition camera; 9. a nose landing gear; 10. a rear landing gear; 11. a projectile throwing device; 12. temperature and humidity infrared sensor.
Detailed Description
The present invention is described in further detail below with reference to figures 1-10.
The embodiment of the invention discloses a fixed wing forest fire fighting investigation unmanned aerial vehicle. Referring to fig. 1-10, a fixed wing forest fire control scouting hits unmanned aerial vehicle, includes fuselage 7, and the lower surface of fuselage 7 has nose landing gear 9 at aircraft nose fixed mounting position, and the lower surface of fuselage 7 has rear landing gear 10 at tail fixed mounting position, and the inside of fuselage 7 is provided with signal processor, controller, ultrasonic wave module, and the ultrasonic wave module includes: the output end of the ultrasonic wave module is connected with the input end of the signal processor through an electric signal, the main wings 1 are fixedly arranged on two sides of the machine body 7, in order to meet the requirement of high altitude and long voyage and pursue high aerodynamic efficiency, the primary machine adopts the main wing 1 with the fixed wing with a large aspect ratio, the design has the obvious advantages of high gradient of a lifting line and small resistance, the voyage can be effectively improved, the outer layer of the main wing 1 is wrapped with a carbon fiber material, the borne in-plane load can be more dispersed, the structural efficiency of a composite material can be greatly improved, the specific strength of the whole machine is greatly improved, the wing body of the main wing 1 covers a solar cell panel, a lithium polymer battery and a solar cell are adopted as double power sources, the breakthrough of the load carrying capacity and the endurance can be realized from multiple angles of energy, lifting, resistance reduction and weight reduction, and the 4s6p battery pack used by the invention can stably discharge to 12V from 16.8V in the capacity test of an ultra-large 21700 battery, the measured capacity exceeds 28800mha, it is estimated approximately that the power equipment theoretically can meet the requirement that the flight vehicle has endurance of 700 minutes in the air, however, in the actual flight, there are maneuvering actions such as take-off and landing, hovering and the like, the wind direction in the air is difficult to predict, and simultaneously, because the electricity consumption of the receiver, the camera, the image transmission and other airborne equipment also exists, in the actual cruising mission, the endurance of the flight vehicle is about 300 minutes, the wing body of the flight vehicle is paved with the solar panel, the endurance can be effectively improved by 30% by adopting the dual-power design, the beam structure of the main wing 1 adopts the carbon fiber beam with the diameter of 10mm to provide enough strength, the outer section adopts the upper and lower guard plates made of basswood, the upper and lower edges of the main wing 1 are supported by the light pine beam with the diameter of 5mm, the overall aircraft adopts ABAQUS software to carry out topological optimization on the composite beam structure of the main wing 1, the basic design is carried out on the appearance layout by adopting XFLR5, the aerodynamic appearance of the aircraft is optimized by using ANSYS simulation, the manufacturing process adopts integral forming, a large number of carbon fiber composite materials and glass fiber composite materials based on epoxy resin matrixes are adopted, wings are main components of the aircraft for generating lift force, the resistance of the wings accounts for about half of the total resistance of the aircraft, the design quality of the main wing 1 plays a decisive role on the performance of the aircraft, the main wing 1 of a second-generation aircraft adopts a sectional flat trapezoidal upper single wing which is divided into a middle section and a left outer section and a right outer section, compared with the first-generation aircraft of a rectangular main wing 1, the aircraft has better sideslip rolling stability, the root tip ratio of the main wing 1 is properly increased before the wing tip stalls, elliptical lift force distribution close to the minimum induced resistance is generated, the trapezoidal main wing 1 and an internal beam structure (refer to figure 3), and the beam structure adopts a carbon fiber beam with the diameter of 10, the outer section of the invention adopts upper and lower guard plates made of basswood, in addition, the invention carries out weight reduction hollowing on a ribbed plate made of balsa wood on the basis of keeping the wing load above 150, thereby increasing the load potential of the second-generation aircraft, (the specific parameters of wing design are shown in figure 4), the interior of the main wing 1 is fixedly provided with a connecting rod 5, the tail part of the connecting rod 5 is fixedly provided with a balance empennage 4, the balance empennage 4 is an inverted V-shaped empennage structure, the tail part of the aircraft body 7 is provided with a thrust rotor wing 3, the thrust rotor wing 3 plays a role of providing power for the aircraft body 7, the interior of the main wing 1 is provided with a stander 6, the number of the stander 6 is two, the two stander 6 are fixedly embedded and arranged in the interior of the main, four groups of brushless motors are carried on the frame 6 to drive the lifting rotor wings 2, so that the lifting rotor wings can obtain sufficient lifting force to complete tasks such as vertical take-off and landing, hovering in the air and the like; the flight platform can charge a high-capacity lithium ion battery in a wireless charging mode to achieve a full-automatic task target in the cruising process; software such as MISSIONPLANER and the like is matched with PIXHAWK flight control to realize automatic cruise of a specified course, a temperature and humidity infrared sensor 12 is fixedly installed at the front end of a machine body 7, the output end of the temperature and humidity infrared sensor 12 is in electric signal connection with the input end of a signal processor, the output end of the signal processor is in electric signal connection with the input end of a controller, a projectile throwing device 11 is fixedly installed inside the machine body 7, a fire extinguishing bomb is carried inside the projectile throwing device 11, an integrated foam core material is manufactured by imitating a classical framework type machine body 7, a carbon fiber material is covered on the outer layer of the foam core material to achieve the effect of structural reinforcement, more machine body 7 shapes and larger airborne spaces can be manufactured, the design requirements of carrying the fire extinguishing bomb can be better met, a steering engine is additionally installed on a traction mechanism of the projectile throwing device 11, the input end of the projectile throwing device 11 is in electric signal connection with, the high-definition camera 8 is of a hemispherical structure, the filtering submodule is nested in the high-definition camera 8, the output end of the high-definition camera 8 is in electric signal connection with the input end of the signal processor, after the fire source is collected by the high-definition camera 8, in the process of extracting the fire source characteristic points, due to the fact that the fire source outline is irregular, a plurality of target images can be generated after the outline of the images is processed by an outline finding algorithm, a recognition mechanism can perform multiple nested recognition on the same fire point, a specific nested filtering submodule is designed by utilizing a dynamic programming algorithm, recognition results are filtered, compared with the layout of a conventional fixed wing aircraft and the layout of a first-generation aircraft, the second-generation aircraft abandons the back section in the aircraft body and adopts a control mode of an inverted V-shaped empennage, the scheme can effectively reduce a large amount of structural redundancy, and can provide enough stability and operability under the condition of minimum weight, meanwhile, the simple V-type tail design makes the manufacturing cost and the manufacturing difficulty of the aircraft decrease with a certain degree, (the tail specific data is shown in fig. 5), NACA4412 adopted by the wing of the main wing 1, the environment where the aircraft cruises is 0 to 3000 m in altitude, the flying speed is 0 to 50 m, the height from the ground is within one thousand m, the reynolds number variation range of the aircraft is 5 to 100 ten thousand under the condition calculated, the aircraft can stably provide the lift force in the range, the lift resistance of the main wing under various reynolds numbers is shown in fig. 6, the aircraft uses the structural layout of the carbon rod-supported inverted V-type tail to eliminate the viscous resistance generated by the middle and rear sections of the aircraft, the flight stability analysis of the aircraft (refer to fig. 8), a, the static stability analysis: when the Neutral Point (Neutral Point NP) is used as a critical Point of aircraft static stability and is superposed with the center of Gravity (Centre of Gravity CG), the pitching moment is a constant and is irrelevant to an attack angle, the center of Gravity is static stable before the Point, the center of Gravity is static unstable after the Point, and the static stability is better when the NP Point of the aircraft is behind the CG Point by observing the slope of the pitching moment coefficient; b. and (3) analyzing dynamic stability: in flight, a disturbance (manoeuvre or gust) excites all the modes to varying degrees: generally, the short-period and roll damping modes, which are more damped, disappear quickly, and the long-period and dutch roll are more pronounced (see fig. 9), which can be visually observed, and it can be seen from the illustrated transverse and longitudinal mode curves that most of the disturbances can be finally converged under the self-regulating action of the aircraft.
The implementation principle of the fixed wing forest fire fighting investigation unmanned aerial vehicle provided by the embodiment of the invention is as follows: the invention adopts a fixed wing attention 1 model, drives a machine body 7 to vertically take off and land and hover through a lifting rotor 2, provides power for the machine body 7 through a thrust rotor 3, utilizes a high-definition camera 8 to identify fire points, has the advantages of intelligence and application, adopts the scheme of intelligent image identification and processing and multi-sensor cooperation to intelligently identify and control the fire points of forest fires, has the main application directions of identifying and detecting potential fire sources, striking and extinguishing forest smoldering fires, and is multifunctional and integrated in cooperation, thereby meeting the forest fire fighting work in different complex environments.
The above are all preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, so: all equivalent changes made according to the structure, shape and principle of the invention are covered by the protection scope of the invention.
Claims (9)
1. The utility model provides a fixed wing forest fire control reconnaissance hits unmanned aerial vehicle, includes fuselage (7), its characterized in that: the equal fixed mounting in both sides of fuselage (7) has main wing (1), and the afterbody of fuselage (7) installs thrust rotor (3), the inside of main wing (1) is provided with frame (6), lift rotor (2) are all installed at the both ends of frame (6), fuselage (7) front end fixed mounting has humiture infrared sensor (12), and the inside fixed mounting of fuselage (7) has the bullet device (11) of throwing, the lower surface central point of fuselage (7) puts fixed mounting has high definition digtal camera (8), and the inside of fuselage (7) is provided with signal processor, controller, ultrasonic module.
2. The fixed wing forest fire fighting reconnaissance and attack unmanned aerial vehicle of claim 1, wherein: the solar cell panel is covered on the wing body of the main wing (1), the beam structure of the main wing (1) adopts a carbon fiber beam with the diameter of 10mm to provide enough strength, the outer section adopts upper and lower guard plates made of basswood, and the upper and lower edges of the main wing (1) are supported by a light pine beam with the diameter of 5 mm.
3. The fixed wing forest fire fighting reconnaissance and attack unmanned aerial vehicle of claim 1, wherein: the number of the machine frames (6) is two, and the two machine frames (6) are fixedly embedded in the main wing (1).
4. The fixed wing forest fire fighting reconnaissance and attack unmanned aerial vehicle of claim 1, wherein: the output end of the temperature and humidity infrared sensor (12) is in electric signal connection with the input end of the signal processor, and the output end of the signal processor is in electric signal connection with the input end of the controller.
5. The fixed wing forest fire fighting reconnaissance and attack unmanned aerial vehicle of claim 1, wherein: the inside of the projectile throwing device (11) is loaded with fire extinguishing bombs, a traction mechanism of the projectile throwing device (11) is additionally provided with a steering engine, and the input end of the projectile throwing device (11) is connected with the output end of the controller through an electric signal.
6. The fixed wing forest fire fighting reconnaissance and attack unmanned aerial vehicle of claim 1, wherein: high definition digtal camera (8) are hemisphere type structure, and the inside nested filtration submodule piece that has of high definition digtal camera (8), the output and the input signal connection of signal processor of high definition digtal camera (8).
7. The fixed wing forest fire fighting reconnaissance and attack unmanned aerial vehicle of claim 1, wherein: the ultrasonic module includes: the ultrasonic wave transmitting module and the filter, and the output end of the ultrasonic wave module is connected with the input end of the signal processor through an electric signal.
8. The fixed wing forest fire fighting reconnaissance and attack unmanned aerial vehicle of claim 1, wherein: the inside fixed mounting of main wing (1) has connecting rod (5), the afterbody fixed mounting of connecting rod (5) has balanced fin (4), balanced fin (4) are the type of falling V fin structure.
9. The fixed wing forest fire fighting reconnaissance and attack unmanned aerial vehicle of claim 1, wherein: the lower surface of fuselage (7) is at aircraft nose fixed mounting there is nose undercarriage (9), and the lower surface of fuselage (7) is at tail fixed mounting there is rear landing gear (10).
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| CN202110607214.5A CN113120231A (en) | 2021-06-01 | 2021-06-01 | Fixed wing forest fire control scouting hits unmanned aerial vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113815855A (en) * | 2021-09-29 | 2021-12-21 | 安徽徽光智能科技有限责任公司 | Examine and beat integrative unmanned aerial vehicle |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN206125423U (en) * | 2016-11-02 | 2017-04-26 | 北京航空航天大学 | VTOL fixed wing uavs with power device verts |
| CN108039011A (en) * | 2018-01-08 | 2018-05-15 | 南京森林警察学院 | A kind of mist detecting device for being used to prevent forest fire |
| CN210437388U (en) * | 2019-08-12 | 2020-05-01 | 云南骏鹰航空科技有限公司 | Forest fire-fighting fixed wing unmanned aerial vehicle |
| CN211996145U (en) * | 2020-04-15 | 2020-11-24 | 西安深瞳智控技术有限公司 | Reconnaissance and fire fighting integrated forest fire-fighting fixed wing unmanned aerial vehicle with accurate fire extinguishing function |
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| CN206125423U (en) * | 2016-11-02 | 2017-04-26 | 北京航空航天大学 | VTOL fixed wing uavs with power device verts |
| CN108039011A (en) * | 2018-01-08 | 2018-05-15 | 南京森林警察学院 | A kind of mist detecting device for being used to prevent forest fire |
| CN210437388U (en) * | 2019-08-12 | 2020-05-01 | 云南骏鹰航空科技有限公司 | Forest fire-fighting fixed wing unmanned aerial vehicle |
| CN211996145U (en) * | 2020-04-15 | 2020-11-24 | 西安深瞳智控技术有限公司 | Reconnaissance and fire fighting integrated forest fire-fighting fixed wing unmanned aerial vehicle with accurate fire extinguishing function |
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| CN113815855A (en) * | 2021-09-29 | 2021-12-21 | 安徽徽光智能科技有限责任公司 | Examine and beat integrative unmanned aerial vehicle |
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