CN113386962B - Primary and secondary formula unmanned aerial vehicle system that can release recovery in air - Google Patents
Primary and secondary formula unmanned aerial vehicle system that can release recovery in air Download PDFInfo
- Publication number
- CN113386962B CN113386962B CN202110787476.4A CN202110787476A CN113386962B CN 113386962 B CN113386962 B CN 113386962B CN 202110787476 A CN202110787476 A CN 202110787476A CN 113386962 B CN113386962 B CN 113386962B
- Authority
- CN
- China
- Prior art keywords
- unmanned
- aerial vehicle
- unmanned aerial
- unfolding
- master
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000011084 recovery Methods 0.000 title claims abstract description 14
- 238000005096 rolling process Methods 0.000 claims description 15
- 238000004891 communication Methods 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 4
- 238000013461 design Methods 0.000 claims description 3
- 238000004804 winding Methods 0.000 claims description 2
- 150000001875 compounds Chemical class 0.000 claims 1
- 239000002131 composite material Substances 0.000 abstract description 6
- 238000005406 washing Methods 0.000 abstract description 3
- 230000008878 coupling Effects 0.000 abstract description 2
- 238000010168 coupling process Methods 0.000 abstract description 2
- 238000005859 coupling reaction Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000009527 percussion Methods 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
Classifications
-
- 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
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- 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
- B64D5/00—Aircraft transported by aircraft, e.g. for release or reberthing during flight
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/20—Launching, take-off or landing arrangements for releasing or capturing UAVs in flight by another aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U80/00—Transport or storage specially adapted for UAVs
- B64U80/80—Transport or storage specially adapted for UAVs by vehicles
- B64U80/82—Airborne vehicles
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Transportation (AREA)
- Air Bags (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a primary-secondary unmanned aerial vehicle system capable of releasing and recovering in the air, which adopts a multi-rotor wing or composite aircraft capable of hovering or flying forwards at a low speed as an unmanned master, and reduces the mutual coupling interference of washing air flows of the primary and secondary aircrafts by using a mode of releasing and recovering the unmanned submachine above the unmanned master, thereby improving the success rate of releasing and recovering the unmanned submachine. Meanwhile, a release recovery system near the center of the unmanned master is arranged, so that the influence of the impact load of the recovery process of the unmanned sub-machine on the unmanned master on the flight stability of the unmanned master is reduced. The folding and unfolding system is designed in a stacking mode, and a plurality of unmanned aerial vehicles are stacked inside the folding and unfolding system, so that the space utilization rate is improved.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a primary-secondary type unmanned aerial vehicle capable of being autonomously released and recovered in the air.
Background
Because unmanned aerial vehicle has characteristics such as receiving road conditions influence little, convenient flexibility, small-size unmanned aerial vehicle all has important effect in military and civilian fields such as aerial photography, calamity rescue, electric power inspection, environmental protection detection, traffic monitoring, investigation percussion at present. However, the small unmanned aerial vehicle is limited in practical application due to the characteristics of short range, short endurance time, poor load capacity and the like. For expanding small-size unmanned aerial vehicle operation application radius, prolong small-size unmanned aerial vehicle activity duration, reinforcing small-size unmanned aerial vehicle task reliability, reduce system cost simultaneously, this patent proposes one kind can be aerial independently release and retrieve, high space utilization's unmanned primary and secondary formula flight system. And conveying the submachine to a task scene to execute a task by using a mode that a single large-sized unmanned master machine carries a plurality of small-sized unmanned submachines. In the task process, the unmanned master machine serves as a guarantee system to provide communication guarantee for the submachine or replace a submachine battery. After the task is finished, the sub-machine independently falls into the main machine retraction mechanism, and the main machine carries the sub-machine back to supply and stand by.
The concept of the primary-secondary unmanned aerial vehicle system is already proposed in the second war, and in the 60 s of the nineteenth century, the American DC-130 carries the drone unmanned aerial vehicle to execute an airspace reconnaissance task; in 2016, "SW 6" unmanned light phase pearl maritime exhibition was carried until 11. However, these primary and secondary unmanned aerial vehicles can not accomplish aerial recovery, and the combat cost is high.
In recent years, with the development of automation and intelligence technology, the united states of america has proposed a system in which an unmanned master unit and an unmanned slave unit are combined to perform tasks. However, at present, because the fixed-wing aircraft has a high flying speed and is difficult to achieve precise coordinated recovery at the same speed, the fixed-wing aircraft only stays at the concept stage at present.
The existing primary-secondary unmanned aerial vehicle system can realize the autonomous release of the empty base, but cannot realize the autonomous recovery of the empty base. The reason is as follows: the fixed wing configuration aircraft can not fly at low speed, so the submachine needs to guarantee synchronous high-speed flight with the master machine under the interference of washing down the master machine, and great requirements are provided for the accurate positioning and the cooperative capability of the submachine and the mobile high-speed forward flight capability and the anti-interference stable flight capability of the submachine. The helicopter-type aircraft can only release and recover the submachine from the lower part due to the huge propeller arranged at the top of the helicopter. However, due to the huge down-wash interference of the helicopter, the small unmanned aerial vehicle or other aircrafts cannot stably fly under the down-wash interference, and therefore the space-based recovery cannot be achieved.
Disclosure of Invention
In order to solve the problem of difficult space base recovery, a novel unmanned primary-secondary aircraft system capable of releasing and recovering space bases is provided, and an unmanned primary machine with multiple rotor wings or a composite structure is adopted to release and recover the unmanned secondary machine from the upper side of the unmanned primary machine. The specific technical scheme of the invention is as follows:
a primary-secondary unmanned aerial vehicle system capable of being released and recovered in the air comprises an unmanned master machine and at least one unmanned sub-machine arranged in the unmanned master machine,
wherein the unmanned aerial vehicle is a flight platform for executing tasks, the aerial release and recovery of the unmanned aerial vehicle are carried out from the upper part of the unmanned aerial vehicle,
in the takeoff stage, the unmanned mother aircraft hovers or flies forward at a low speed, and the unmanned mother aircraft is matched with the unmanned son aircraft to autonomously finish takeoff;
and in a landing stage, the unmanned aerial vehicle acquires the relative position and posture between the unmanned aerial vehicle and the unmanned master vehicle through the GPS, the RTK and the visual information, and then independently lands on the unmanned master vehicle.
Further, the unmanned master machine comprises a power system, an avionics system, a communication guarantee system, a machine body structure and a task load, and is characterized by further comprising a folding and unfolding guarantee system arranged at the geometric center of the unmanned master machine, wherein the folding and unfolding guarantee system adopts a stacking design and can simultaneously load a plurality of unmanned sub machines.
Further, the retraction support system comprises a retraction shelter, a hatch cover which is arranged at the top of the retraction shelter and can be opened and closed automatically, a guide rail which is arranged along the inner wall of the retraction shelter, rolling curtain type carrying platforms which are the same as the unmanned aerial vehicles in number, and a servo motor which controls the state of the rolling curtain type carrying platforms; the rolling curtain type carrying platform can be changed into a curling state from an unfolding state, and the winding and unwinding guarantee system is matched with the unmanned aerial vehicle to realize the one-by-one take-off and landing of the unmanned aerial vehicle.
Furthermore, the unmanned mother aircraft is any multi-rotor aircraft or a composite aircraft with rotors.
Further, the mother unmanned aircraft is an eight-rotor aircraft.
The invention has the beneficial effects that:
1. the invention adopts a multi-rotor wing or composite configuration as the master machine of the unmanned primary-secondary aircraft system, and releases and recovers the unmanned secondary machine in a hovering or low-speed advancing state, thereby greatly reducing the difficulty of mutual cooperative stable control of the primary and secondary machines.
2. The retraction and extension guaranteeing system is positioned near the gravity center of the unmanned master machine, so that the gravity center change of the system is small before and after the retraction and the release, and the pneumatic and impact disturbance caused in the retraction and extension process of the unmanned master machine is reduced. The mode of releasing and recovering the unmanned plane from the upper part is adopted, the influence of washing interference caused by the propeller is reduced, and the stability of the releasing and recovering process of the master-slave system is enhanced. The unmanned master machine has larger volume and weight than the unmanned aerial vehicle, and has stronger capability of being interfered by the outside, so that the unmanned master machine can still ensure the stable flight in the landing process of the unmanned aerial vehicle.
3. The primary-secondary unmanned aerial vehicle system can independently release and recover unmanned aerial vehicles in the air, expands the application range of small unmanned aerial vehicles, accelerates the task response speed of the unmanned aerial vehicles, and saves the application cost of the primary-secondary unmanned aerial vehicle system.
Drawings
In order to illustrate embodiments of the present invention or technical solutions in the prior art more clearly, the drawings which are needed in the embodiments will be briefly described below, so that the features and advantages of the present invention can be understood more clearly by referring to the drawings, which are schematic and should not be construed as limiting the present invention in any way, and for a person skilled in the art, other drawings can be obtained on the basis of these drawings without any inventive effort. Wherein:
FIG. 1 is a schematic view of the hatch of the present invention open;
FIG. 2 is a schematic view of the hatch closure of the present invention;
FIG. 3 is a schematic view of the interior of the hatch of the present invention after opening;
fig. 4 is a schematic view of the takeoff/landing of No. 1 drone of the present invention;
FIG. 5 is a schematic diagram of the retraction safeguard system of the present invention.
The reference numbers illustrate:
1, a propeller; 2-a rotor motor; 3-a servo motor; 4-a hatch cover; no. 5-1 unmanned aerial vehicle; no. 6-2 unmanned aerial vehicle; 7-a rectifying fuselage; 8-an oil tank; 9-oil-electric hybrid equipment; 10-the rest unmanned aerial vehicles; 11-folding and unfolding square cabin; 12-an onboard equipment bay; 13-rolling shutter type carrying platform (rolling state); 14-rolling shutter type carrying platform (unfolding state).
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention, taken in conjunction with the accompanying drawings and detailed description, is set forth below. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
As shown in fig. 1-4, the unmanned mother aircraft of the unmanned primary-secondary aircraft system in the invention adopts a multi-rotor wing or composite configuration, and can release and recover the unmanned son aircraft in a hovering or low-speed advancing state, thereby greatly reducing the difficulty of mutual cooperative and stable control of the mother aircraft and the unmanned mother aircraft. The unmanned aerial vehicle is released and recovered from the upper part, so that the interference of the rotor wing downwash of the unmanned aerial vehicle is avoided, the mutual coupling interference of the downwash air flow of the primary and secondary aircrafts is reduced, and the success rate of releasing and recovering the unmanned aerial vehicle is improved. The unmanned master machine has larger volume and weight than the unmanned aerial vehicle, and has stronger capability of being interfered by the outside, so that the unmanned master machine can still ensure the stable flight in the landing process of the unmanned aerial vehicle.
The invention is also provided with a retraction and extension guarantee system which is positioned near the central position of the unmanned master machine, thereby reducing the influence of the impact load of the unmanned master machine on the flight stability of the unmanned master machine in the recovery process of the unmanned master machine. The folding and unfolding system is designed in a stacking mode, and a plurality of unmanned aerial vehicles are stacked inside the folding and unfolding system, so that the space utilization rate is improved.
In particular to a primary-secondary unmanned aerial vehicle system capable of releasing and recovering in the air, which comprises an unmanned master machine and at least one unmanned sub-machine arranged in the unmanned master machine,
wherein the unmanned aerial vehicle is a flight platform for executing tasks, the aerial release and recovery of the unmanned aerial vehicle are carried out from the upper part of the unmanned aerial vehicle,
in the takeoff stage, the unmanned mother aircraft hovers or flies forward at a low speed, and the takeoff is automatically finished by matching with the unmanned aircraft;
and in the landing stage, the unmanned aerial vehicle autonomously lands on the unmanned master after acquiring the relative position and posture between the unmanned aerial vehicle and the unmanned master through the GPS, the RTK and the visual information.
In some embodiments, the unmanned master machine comprises a power system, an avionic system, a communication guarantee system, a machine body structure and a task load, and is characterized by further comprising a folding and unfolding guarantee system arranged at the geometric center of the unmanned master machine, wherein the folding and unfolding guarantee system adopts a stacking design and can load a plurality of unmanned sub machines at the same time.
In some embodiments, the retraction support system comprises a retraction square cabin 11, a cabin cover 4 which is arranged at the top of the retraction square cabin 11 and can be opened and closed automatically, a guide rail 12 arranged along the inner wall of the retraction square cabin 11, rolling curtain type carrying platforms with the same number as that of the unmanned aerial vehicles, and a servo motor 3 for controlling the state of the rolling curtain type carrying platforms; the rolling shutter type mounting platform can be changed from an unfolded state to a rolled state.
The retraction and extension guarantee system is matched with the unmanned aerial vehicle, and the unmanned aerial vehicle can take off and land one by one. In the taking-off stage, after the upper layer unmanned aerial vehicle takes off, the servo motor 3 controls the rolling curtain type carrying platform to curl along the guide rail 12, and the lower layer unmanned aerial vehicle flies out after the rolling curtain type carrying platform finishes curling; and in the descending stage, after the lower-layer unmanned aerial vehicle descends, the curled rolling curtain type carrying platform 13 is unfolded along the guide rail 12, and the upper-layer unmanned aerial vehicle descends.
The power system comprises a propeller 1, a rotor motor 2, an oil-electric hybrid device 9, an oil tank 8 and the like, and for the power system of the unmanned mother aircraft, a motor or an oil engine or new energy power can be selected for power supply.
The task load can carry different loads according to different task working conditions.
The fairing body 7 is only used to improve flight performance and may be absent.
The unmanned mother aircraft is any multi-rotor aircraft or a composite aircraft with rotors.
The parent unmanned aircraft of fig. 1-4 is an eight-rotor aircraft. The air release process of the unmanned aerial vehicle comprises the following steps: the unmanned mother machine keeps a hovering or low-speed forward flying state, the hatch cover 4 is opened, unmanned sub machines such as the unmanned sub machine No. 1, the unmanned sub machine No. 2 and the unmanned sub machine No. 6 respectively take off from the interior of the collecting and releasing shelter 11 in sequence, and then the hatch cover 4 is closed.
The air autonomous landing recovery process of the unmanned aerial vehicle comprises the following steps: the unmanned master machine keeps a hovering state or a low-speed forward-flying state, the cabin cover 4 is opened, after the unmanned sub machine is positioned near the unmanned master machine through an onboard GPS or RTK, the relative position and the posture of the cabin 11 for receiving and releasing the unmanned master machine are assisted and guided by the unmanned sub machine through a visual or optical flow method, and the mutual cooperation of the master machine and the auxiliary machine and the autonomous landing of the unmanned sub machine are carried out.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. A primary-secondary unmanned aerial vehicle system capable of being released and recovered in the air is characterized by comprising an unmanned master machine and at least one unmanned sub-machine arranged in the unmanned master machine,
wherein the unmanned aerial vehicle is a flight platform for executing tasks, the aerial release and recovery of the unmanned aerial vehicle are carried out from the upper part of the unmanned aerial vehicle,
in the takeoff stage, the unmanned mother aircraft hovers or flies forward at a low speed, and the unmanned mother aircraft is matched with the unmanned son aircraft to autonomously finish takeoff;
in the landing stage, the unmanned aerial vehicle autonomously lands on the unmanned aerial vehicle after acquiring the relative position and posture between the unmanned aerial vehicle and the unmanned aerial vehicle through the GPS, the RTK and the visual information;
the unmanned master machine comprises a power system, an avionic system, a communication guarantee system, a machine body structure and a task load, and is characterized by further comprising a retraction guarantee system arranged at the geometric center of the unmanned master machine, wherein the retraction guarantee system adopts a stacked design and can simultaneously load a plurality of unmanned sub-machines;
the folding and unfolding security system comprises a folding and unfolding shelter (11), a cabin cover (4) which is arranged at the top of the folding and unfolding shelter (11) and can be opened and closed automatically, a guide rail (12) arranged along the inner wall of the folding and unfolding shelter (11), rolling curtain type carrying platforms with the same number as the unmanned aerial vehicles, and a servo motor (3) for controlling the state of the rolling curtain type carrying platforms; the rolling curtain type carrying platform can be changed into a curling state from an unfolding state, and the winding and unwinding guarantee system is matched with the unmanned aerial vehicle to realize the one-by-one take-off and landing of the unmanned aerial vehicle.
2. The aerial release retractable drone system of claim 1, wherein the drone mother aircraft is any multi-rotor craft or a compound craft with rotors.
3. The aerial release retractable drone system of claim 2, wherein the drone mother aircraft is an eight-rotor craft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110787476.4A CN113386962B (en) | 2021-07-13 | 2021-07-13 | Primary and secondary formula unmanned aerial vehicle system that can release recovery in air |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110787476.4A CN113386962B (en) | 2021-07-13 | 2021-07-13 | Primary and secondary formula unmanned aerial vehicle system that can release recovery in air |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113386962A CN113386962A (en) | 2021-09-14 |
| CN113386962B true CN113386962B (en) | 2022-08-16 |
Family
ID=77625940
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110787476.4A Active CN113386962B (en) | 2021-07-13 | 2021-07-13 | Primary and secondary formula unmanned aerial vehicle system that can release recovery in air |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113386962B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113879536A (en) * | 2021-10-25 | 2022-01-04 | 北京航空航天大学 | Multilayer primary and secondary formula unmanned vehicles winding and unwinding devices |
| CN114044162A (en) * | 2021-10-25 | 2022-02-15 | 北京航空航天大学 | Primary and secondary formula unmanned aerial vehicle ground test device |
| CN114771835A (en) * | 2022-04-28 | 2022-07-22 | 复旦大学 | Fixed wing unmanned aerial vehicle air landing system |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009048666A2 (en) * | 2007-07-20 | 2009-04-16 | Kevin Keaveney | Air launch and recovery pylon |
| CN106005410B (en) * | 2016-07-05 | 2019-05-24 | 国网浙江省电力有限公司衢州供电公司 | A kind of primary and secondary UAV system |
| CN110435369B (en) * | 2019-07-18 | 2024-01-30 | 天津理工大学 | Triphibian robot system and working method thereof |
| CN212313886U (en) * | 2020-01-15 | 2021-01-08 | 邓爱军 | Combined type unmanned aerial vehicle |
| CN112158333A (en) * | 2020-10-22 | 2021-01-01 | 中国科学院沈阳自动化研究所 | Air releasing and recovering device for reversed fish fork type primary-secondary unmanned aerial vehicle |
| CN213620242U (en) * | 2020-10-29 | 2021-07-06 | 海创飞龙(福建)科技有限公司 | Mounting device of unmanned aerial vehicle primary and secondary machine |
-
2021
- 2021-07-13 CN CN202110787476.4A patent/CN113386962B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113386962A (en) | 2021-09-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113386962B (en) | Primary and secondary formula unmanned aerial vehicle system that can release recovery in air | |
| US11420737B2 (en) | High speed multi-rotor vertical takeoff and landing aircraft | |
| US10040553B2 (en) | Vertical take-off and landing detachable carrier and system for airborne and ground transportation | |
| EP3127809B1 (en) | Release and capture of a fixed-wing aircraft | |
| CN108146169B (en) | Wing rear-folding type air-ground dual-purpose carrier | |
| EP3604001B1 (en) | Modular aircraft assembly for airborne and ground transport | |
| EP3290334A1 (en) | Aircraft for vertical take-off and landing | |
| CN107792381B (en) | Unmanned aerial vehicle air-based towing net type recovery device and method | |
| CN104364154A (en) | Aircraft, preferably unmanned | |
| CN103935512A (en) | High endurable multi-rotor craft | |
| CN108052121A (en) | A kind of moveable unmanned cruising inspection system | |
| CN113371182A (en) | Barrel-type transmitted reconnaissance attack rotor unmanned aerial vehicle | |
| CN105109694A (en) | Novel anti-falling airplane and anti-falling control method | |
| US11993161B2 (en) | External power assist systems for charging batteries onboard eVTOL aircraft | |
| CN107434036A (en) | Ferried in the air without combustion powered arrow ship and float airport air transport system | |
| CN114194387B (en) | Coaxial anti-oar double-rotor type sky removes runway | |
| CN110104199A (en) | A kind of lifting gear for unmanned plane Air Launched Platform | |
| CN115648869A (en) | Reconfigurable hovercar and hovercar control method | |
| CN113859569A (en) | Portable swarm unmanned aerial vehicle system and use method thereof | |
| CN106800091A (en) | The fixed wing aircraft that balloon auxiliary suspends | |
| CN211893637U (en) | Vertical take-off and landing fixed wing aircraft and vertical take-off and landing aircraft carrier serving as carrier | |
| CN205010497U (en) | Novel prevent weighing down aircraft | |
| CN111422342A (en) | Shape-variable fixed-wing micro aircraft | |
| RU216350U1 (en) | VEHICLE | |
| RU2789564C1 (en) | Vehicle, transport system (variants) and the vehicle moving method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |