CN113955102B - Land-air double-domain allosteric duct unmanned aerial vehicle - Google Patents
Land-air double-domain allosteric duct unmanned aerial vehicle Download PDFInfo
- Publication number
- CN113955102B CN113955102B CN202111394261.2A CN202111394261A CN113955102B CN 113955102 B CN113955102 B CN 113955102B CN 202111394261 A CN202111394261 A CN 202111394261A CN 113955102 B CN113955102 B CN 113955102B
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- rod
- driving assembly
- land
- 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
- 230000003281 allosteric effect Effects 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 238000000034 method Methods 0.000 claims abstract description 11
- 230000008569 process Effects 0.000 claims abstract description 10
- 238000006243 chemical reaction Methods 0.000 claims abstract description 4
- 230000005484 gravity Effects 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 5
- 230000033228 biological regulation Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000009471 action Effects 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 24
- 238000010586 diagram Methods 0.000 description 4
- 238000012937 correction Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C37/00—Convertible aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C11/00—Propellers, e.g. of ducted type; Features common to propellers and rotors for rotorcraft
- B64C11/001—Shrouded propellers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/13—Propulsion using external fans or propellers
- B64U50/14—Propulsion using external fans or propellers ducted or shrouded
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Toys (AREA)
Abstract
The invention discloses a land-air double-domain allosteric ducted unmanned aerial vehicle, which comprises a body, a connecting rod mechanism and a driving assembly, wherein the body is provided with a plurality of air inlets; the unmanned aerial vehicle has the advantages that the unmanned aerial vehicle is simple in structure and has the capacity of adapting to the actions of the land and air double domains, the working state of the driving assembly can be changed by the aid of the connecting rod mechanism through the connecting rod mechanism, the purpose of changing the working state of the unmanned aerial vehicle is achieved, the whole state switching process is simple, meanwhile, all components of the driving assembly can play a positive role in two working states, and the problem that when the state of the existing unmanned aerial vehicle is switched, more components cannot be simultaneously suitable for the working reaction of the double states, the whole weight and the resistance are increased, and the reverse role is achieved. With the land mode and the flight mode, seamless switching between the two modes can be achieved without other auxiliary mechanisms.
Description
Technical Field
The invention is applied to the field of double-domain unmanned aerial vehicles, in particular to a land-air double-domain allosteric culvert unmanned aerial vehicle.
Background
The unmanned aerial vehicle is a powered, controllable and unmanned aerial vehicle capable of executing various tasks, is mainly applied to military aspects since birth and serves as an intelligent and informationized weapon, and plays an important role in reconnaissance, monitoring, communication, long-distance attack and the like. In recent years, unmanned aerial vehicles are increasingly applied to civilian use, and various countries are gradually opened to civilian use of unmanned aerial vehicles. Unmanned aerial vehicles have been widely used in public security, emergent search and rescue, agriculture and forestry, environmental protection, transportation, communication, video shooting etc. a plurality of fields. Undoubtedly, with the update and development of technology, the civil unmanned aerial vehicle will come to the development of blowout, and has very broad application prospect.
Because the land-air amphibious system has both ground movement capability and air movement capability, the functions of the land-air amphibious system are the combined design of a ground robot and a flying robot. At present, the mechanical structure design of the land-air amphibious system platform is characterized by being designed aiming at specific scenes. The common ground robots have a wheel type structure, a caterpillar structure, a bionic foot type structure and several composite structures. Robots using biomimetic foot structures are more adaptable to complex unstructured environments than robots of both wheeled and crawler-type structures. The flying robot has the common structural forms of fixed wing type, multi-rotor type, tilting type, helicopter type and the like, wherein the multi-rotor has the advantages of strong controllability, good maneuverability and the like relative to other forms of structures, and is a scheme with low cost and high efficiency. Therefore, the multi-rotor structure gradually becomes the most main structural mode of the land-air amphibious system platform. The current popular land-air amphibious platform is also only different in design difference of the ground walking part.
Disclosure of Invention
The invention aims to solve the technical problem of providing a land-air double-domain allosteric ducted unmanned aerial vehicle aiming at the defects of the prior art.
In order to solve the technical problems, the land-air double-domain allosteric ducted unmanned aerial vehicle comprises a body, a connecting rod mechanism and a driving assembly;
the connecting rod mechanisms are symmetrically arranged on two sides of the machine body, and the driving components are correspondingly arranged at one end of the connecting rod mechanisms;
the linkage mechanism is used for changing the working state of the driving assembly, and the driving assembly comprises a rotating piece driven by a motor.
As a possible implementation manner, further, the link mechanism comprises a driving rod, a first steering engine for controlling the driving rod to swing is arranged on the machine body corresponding to the driving rod, one end of the driving rod is connected with the output end of the first steering engine, the other end of the driving rod is rotationally linked with one end of the push rod, a limiting swing rod is arranged between the push rod and the machine body, one end of the limiting swing rod is rotationally connected with the middle part of the push rod, the other end of the limiting swing rod is rotationally connected with the bottom angle of one side of the machine body, the other end of the push rod is fixedly connected with one end of the driving assembly base, a driven rod is arranged between the driving assembly base and the machine body, one end of the driven rod is rotationally connected with the top angle of one side of the machine body, and the other end of the driven rod is connected with one end of the driving assembly base far away from the push rod.
As a possible implementation manner, further, the driving assembly comprises a motor base, a motor and a rotating piece, wherein the motor base is connected to the driving assembly base through a pin, one end of the motor is installed on the motor base, the other end of the motor is in transmission connection with the rotating piece, and a second steering engine for controlling the swinging angle of the motor base is arranged on the driving assembly base.
As a possible implementation manner, the driving assembly further comprises a duct member, and the duct member is sleeved on the periphery of the rotating member and is fixedly connected with the outer edge of the motor base.
As a possible implementation mode, further, the machine body is a hollowed-out double-layer rectangular frame, a steering engine mounting groove is formed in the machine body, and mounting holes are formed in four corners of the machine body corresponding to the connecting rod mechanisms.
As a possible embodiment, further, the rotating member is a propeller blade.
As a possible implementation mode, further, the first steering engine works to drive the driving rod to swing so as to push the push rod to move outwards until the driving assembly base swings from the vertical state to the horizontal state, the transition process from the first state to the second state of the unmanned aerial vehicle is completed, and in the process, the limiting swing rod and the driven rod are matched to rotate.
As a possible implementation manner, further, when the unmanned aerial vehicle is in the first state, the duct member is horizontally placed on the ground; the rotating piece simultaneously rotates in the same direction, the torsion of the rotating piece drives the whole gravity center of the unmanned aerial vehicle to change instantaneously and the surface of the ground roll is carried out by utilizing the circular section surface of the duct piece according to inertia; the rotation piece reversely rotates simultaneously to cause the duct piece to receive two radial forces, so that the unmanned aerial vehicle is driven to integrally rotate.
As a possible implementation manner, further, when the unmanned aerial vehicle is in the second state, the duct piece swings to the vertical state, the rotation piece rotates and produces lift, drives the unmanned aerial vehicle to fly upwards, and second steering engine work drives control motor cabinet swing adjustment rotation piece angle and carries out unmanned aerial vehicle flight angle's regulation.
The invention adopts the technical scheme and has the following beneficial effects:
the invention has simple structure and capability of adapting to the actions of the land and air double domains, and can change the working state of the driving component by using the connecting rod mechanism through arranging the connecting rod mechanism between the machine body and the driving component, so that the aim of changing the working state of the unmanned aerial vehicle can be fulfilled, the whole state switching process is simple, meanwhile, each component of the driving component can play a positive role in two working states, and the problem that more components cannot be simultaneously suitable for the working reaction of the double states when the state of the existing unmanned aerial vehicle is switched is solved, and the whole weight and the resistance are increased to play a reverse role. With the land mode and the flight mode, seamless switching between the two modes can be achieved without other auxiliary mechanisms. The land type motor is driven by the reverse torque generated by the power system and is matched with the vector system to control the motor to control the direction; the flying mode is a ducted double rotor wing, and is mainly controlled by pitching and differential motion of a motor, and the two modes are converted through a five-link system.
Drawings
The invention is described in further detail below with reference to the attached drawings and detailed description:
FIG. 1 is a schematic view of the whole structure of the first state of the present invention;
FIG. 2 is a schematic view of a first state structure of the linkage mechanism of the present invention;
FIG. 3 is a schematic diagram of a link mechanism state change process according to the present invention;
FIG. 4 is a schematic view of a link mechanism in a second state;
FIG. 5 is a schematic diagram of a driving assembly according to the present invention;
FIG. 6 is a schematic view of the adjustment state of the rotary member of the driving assembly according to the present invention;
FIG. 7 is a diagram showing the lifting force of the present invention;
FIG. 8 is a pitch stress schematic of the present invention;
FIG. 9 is a roll force schematic of the present invention;
FIG. 10 is a schematic diagram of yaw stress of the present invention;
FIG. 11 is a schematic view of the forward force of the present invention;
FIG. 12 is a schematic view of the steering effort of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
As shown in fig. 1, the invention provides a land-air double-domain allosteric ducted unmanned aerial vehicle, which comprises a body 1, a link mechanism 2 and a driving assembly 3;
the connecting rod mechanisms 2 are symmetrically arranged on two sides of the machine body 1, and the driving assembly 3 is correspondingly arranged at one end of the connecting rod mechanisms 2;
the linkage mechanism 2 is used for changing the working state of the driving assembly 3, and the driving assembly 3 comprises a rotating member 32 driven by a motor 31.
As shown in fig. 2, the link mechanism 2 includes a driving rod 21, a first steering engine 11 for controlling the driving rod 21 to swing is disposed on the machine body 1 corresponding to the driving rod 21, one end of the driving rod 21 is connected with an output end of the first steering engine 11, the other end of the driving rod is rotationally linked with one end of a push rod 22, a limit swing rod 23 is disposed between the push rod 22 and the machine body 1, one end of the limit swing rod 23 is rotationally connected with the middle of the push rod 22, the other end of the limit swing rod is rotationally connected with a bottom angle on one side of the machine body 1, the other end of the push rod 22 is fixedly connected with one end of a driving assembly base 25, a driven rod 24 is disposed between the driving assembly base 25 and the machine body 1, one end of the driven rod 24 is rotationally connected with a top angle on one side of the machine body 1, and the other end of the driven rod 24 is connected with one end of the driving assembly 3 base far away from the push rod 22.
The first steering engine 11 works to drive the driving rod 21 to swing and push the push rod 22 to move outwards until the driving assembly base 25 swings from a vertical state to a horizontal state (the process is shown in fig. 3), the conversion process from the first state (fig. 2) to the second state (fig. 4) of the unmanned aerial vehicle is completed, and in the process, the limiting swing rod 23 and the driven rod 24 are matched to rotate.
As shown in fig. 5-6, the driving assembly 3 includes a motor base 33, a motor 31 and a rotating member 32, the motor base 33 is connected to the driving assembly base 25 through a pin, one end of the motor 31 is mounted on the motor base 33, the other end of the motor 31 is in transmission connection with the rotating member 32, and a second steering engine 34 for controlling the swinging angle of the motor base 33 is disposed on the driving assembly base 25.
As a possible embodiment, the driving assembly 3 further includes a duct member 35, and the duct member 35 is sleeved on the periphery of the rotating member 32 and is fixedly connected with the outer edge of the motor base 33.
As a possible implementation manner, further, the machine body 1 is a hollowed double-layer rectangular frame, a steering engine mounting groove is formed in the machine body 1, and mounting holes are formed in four corners of the machine body 1 corresponding to the connecting rod mechanisms 2.
As a possible embodiment, further, the rotating member 32 is a propeller type blade.
When the unmanned aerial vehicle is in the first state, the duct member 35 is horizontally arranged on the ground; the rotating member 32 simultaneously rotates in the same direction, and the torsion force drives the whole gravity center of the unmanned aerial vehicle to change instantaneously and the surface of the ground roll is carried out by utilizing the circular cross-section surface of the duct member 35 according to inertia; the rotation member 32 rotates reversely at the same time, so that the duct member 35 receives two radial forces, and the unmanned aerial vehicle is driven to rotate as a whole.
As a possible implementation manner, further, when the unmanned aerial vehicle is in the second state, the duct piece 35 swings to the vertical state, the rotation piece 32 rotates to generate lift force, drives the unmanned aerial vehicle to fly upwards, and the second steering engine 34 works to drive the control motor base 33 to swing to adjust the angle of the rotation piece 32 to adjust the flight angle of the unmanned aerial vehicle.
The unmanned aerial vehicle has a land mode and a flight mode, and can be seamlessly switched between the land mode and the flight mode without other auxiliary mechanisms. The land type motor is driven by the reverse torque generated by the power system and is matched with the vector system to control the motor to control the direction; the flying mode is a ducted double rotor wing, and is mainly controlled by pitching and differential motion of a motor, and the two modes are converted through a five-link system.
The transverse double-rotor aircraft adopts two groups of lifting mechanisms which are transversely and symmetrically distributed, each group of lifting mechanisms can deflect independently around a pitching axis, 3 translational degrees of freedom of the aircraft can be completed by controlling 4 parameters of lifting force provided by two motors and included angles between lifting force provided by the two lifting mechanisms and a vertical plane, and 3 rotational degrees of freedom are controlled to complete movements such as vertical take-off and landing, translation, steering and the like.
Vertical (lifting) motion: the movement of the aircraft in the vertical direction is controlled by the increase and decrease of the motor thrust T1 and T2. As shown in fig. 7, in order to realize the attitude control of each degree of freedom in the vertical state flight, the designed unmanned aerial vehicle adopts a swinging double-rotor structure with the direction of the propellers being adjustable in a small range, the rotation directions of the two propellers are opposite, the motor is controlled by a steering engine in the direction of the axis of the machine body, the swinging amplitude is +/-30 degrees, the normal direction of the motion plane of the connecting rod is taken as the advancing direction (x axis), the thrust direction of the propellers is taken as the vertical motion direction (z axis), and the two sides perpendicular to the axis of the aircraft are taken as the yaw direction (y axis). When hovering, the working directions of the two propellers are opposite, the rotating speeds are equal, and the counter-torsion forces are equal, so that vertical upward tension force is generated to overcome the gravity force, and the hovering control is realized.
Pitching motion: as shown in fig. 8, a navigational coordinate system is used to effect pitch (back and forth) movement of the drone by simultaneously deflecting the rotor orientations in the same direction. When the two rotors move forwards, the vector system controls the motors on the left side and the right side to deflect forwards at the same time, a beta angle is formed between the two motors and a zy plane, the rotating speeds of the two motors are equal, at the moment, the tensile force generated by the two rotors can be decomposed into a horizontal forward tilting tensile force and a vertical upward tensile force for overcoming gravity, and the larger the deflection angle is, the larger the forward tilting tensile force is, the higher the forward moving speed/tilting speed is; and translate or tilt backward, both motors tilt backward at the same time. When hovering, if a disturbance in the x direction is generated, the gravity center moves forwards to form an angle theta with the original plumb face, and the gravity center is under the centroid, so that a correction moment My can be provided, and the self-stabilizing effect is achieved.
Roll (sideslip) motion: as shown in fig. 9, the roll (sideslip) motion of the aircraft is achieved by varying the rotational speed of the two motors and the amount of counter-torque difference from the correction slip. When translating leftwards, the rotating speed of the motor on the right side is increased, the pulling force T2 of the propeller is increased, the rotating speed of the motor on the left side is reduced, the pulling force T1 of the propeller is reduced, and the lifting force direction forms an phi angle with the zx plane, so that the aircraft rolls leftwards; meanwhile, due to the fact that the rotating speeds of the motors at the two sides are different, a small amount of reverse torque difference can be generated, the course of the aircraft is deflected, the motors at the two sides are required to be deflected in a small amount to correct the difference of the reverse torque, when the left side is translated, the left side motor rotates clockwise, the right side motor rotates anticlockwise, the correction direction is that the left side motor deflects forwards (x), and the right side motor deflects backwards (-x). When translating right (right sideslip), the rotation speed of the left motor is increased, the rotation speed of the right motor is reduced, the left motor is corrected in a backward (-x) deflection way, and the right motor is corrected in a forward (x) deflection way. Meanwhile, the unmanned aerial vehicle also has a correcting moment Mx in the transverse rolling direction, so the unmanned aerial vehicle also has transverse self-stabilizing capability.
Yaw (steering) motion: as shown in fig. 10, yaw (steering) motion is achieved by differentially deflecting the two-sided motors to generate torque. When the aircraft rotates left, the left motor deflects backwards (-x) by an angle alpha, the right motor deflects forwards (x) by an angle alpha, and the rotating speeds of the motors at the two sides are unchanged, at this time, the two motors at the two sides respectively generate rotating moment Mz so that the aircraft generates rotating motion by taking the aircraft body as an axis, and therefore yaw motion is realized.
Land type ground mode
Forward movement: as shown in FIG. 11, the five-bar mechanism can be used for converting a flying mode into a land mode, the land mode is a two-wheel structure, and forward rolling moment My is provided to roll towards the positive x-axis direction by means of reverse twists M1 and M2 of the motor.
Steering movement: turning in the z-axis direction of the wheels can be controlled by the drive assembly such that the wheels create a turning angle y with the y-axis, completing the turning motion, as shown in fig. 12.
The system fuses and perceives the pose of the organism through the gyroscope, the accelerometer and the magnetometer, and feeds back data to the controller in real time so as to update the motion pose. When the machine body advances, the system controls and outputs PWM waveforms through given instructions, and the PWM waveforms are input to the motor driving module so as to control the running speed of the machine body; when the machine body turns to control, the thought of the optimal curvature method is combined, the expected steering angle of the machine body is continuously corrected by using the course angle measured by the magnetometer, the turning angular speed value can be obtained through the action of the motion controller, the turning radius is calculated according to the motion model, and then the linear speed of the movement of the machine body can be obtained by multiplying the two values, so that the running speed of the machine body can be obtained.
While the foregoing is directed to embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.
Claims (8)
1. The utility model provides a land empty double-domain allosteric duct unmanned aerial vehicle which characterized in that: the device comprises a machine body, a connecting rod mechanism and a driving assembly;
the connecting rod mechanisms are symmetrically arranged on two sides of the machine body, and the driving components are correspondingly arranged at one end of the connecting rod mechanisms;
the connecting rod mechanism is used for changing the working state of the driving assembly, and the driving assembly comprises a rotating piece driven by a motor;
the connecting rod mechanism comprises a driving rod, a first steering engine for controlling the driving rod to swing is arranged on the machine body in a corresponding manner, one end of the driving rod is connected with the output end of the first steering engine, the other end of the driving rod is rotationally connected with one end of the push rod, a limiting swing rod is arranged between the push rod and the machine body, one end of the limiting swing rod is rotationally connected with the middle part of the push rod, the other end of the limiting swing rod is rotationally connected with the bottom corner of one side of the machine body, the other end of the push rod is fixedly connected with one end of the driving assembly base, a driven rod is arranged between the driving assembly base and the machine body, one end of the driven rod is rotationally connected with the top corner of one side of the machine body, and the other end of the driven rod is connected with one end of the driving assembly base far away from the push rod.
2. The land-air double-domain allosteric ducted unmanned aerial vehicle of claim 1 wherein: the driving assembly comprises a motor base, a motor and a rotating piece, wherein the motor base is connected to a driving assembly base through a pin, one end of the motor is installed on the motor base, the other end of the motor is in transmission connection with the rotating piece, and a second steering engine for controlling the swing angle of the motor base is arranged on the driving assembly base.
3. The land-air double-domain allosteric ducted unmanned aerial vehicle of claim 2 wherein: the driving assembly further comprises a duct piece, and the duct piece is sleeved on the periphery of the rotating piece and fixedly connected with the outer edge of the motor base.
4. The land-air double-domain allosteric ducted unmanned aerial vehicle of claim 1 wherein: the machine body is a hollowed double-layer rectangular frame, steering engine mounting grooves are formed in the machine body, and mounting holes are formed in four corners of the machine body corresponding to the connecting rod mechanisms.
5. The land-air double-domain allosteric ducted unmanned aerial vehicle of claim 1 wherein: the rotating piece is a propeller type blade.
6. A land-air double-domain allosteric ducted unmanned aerial vehicle according to claim 3, wherein: the first steering engine works to drive the driving rod to swing so as to push the push rod to move outwards until the driving assembly base swings from a vertical state to a horizontal state, the conversion process from the first state to the second state of the unmanned aerial vehicle is completed, and the limiting swing rod and the driven rod are matched to rotate in the process.
7. The land-air double-domain allosteric ducted unmanned aerial vehicle of claim 6 wherein: when the unmanned aerial vehicle is in a first state, the duct member is horizontally arranged on the ground; the rotating piece simultaneously rotates in the same direction, the torsion of the rotating piece drives the whole gravity center of the unmanned aerial vehicle to change instantaneously and the surface of the ground roll is carried out by utilizing the circular section surface of the duct piece according to inertia; the rotation piece reversely rotates simultaneously to cause the duct piece to receive two radial forces, so that the unmanned aerial vehicle is driven to integrally rotate.
8. The land-air double-domain allosteric ducted unmanned aerial vehicle of claim 6 wherein: when the unmanned aerial vehicle is in the second state, duct piece swing to vertical state, the rotation piece rotates and produces the lift, drives unmanned aerial vehicle and flies upward, second steering engine work drives control motor cabinet swing regulation rotation piece angle and carries out unmanned aerial vehicle flight angle's regulation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111394261.2A CN113955102B (en) | 2021-11-23 | 2021-11-23 | Land-air double-domain allosteric duct unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111394261.2A CN113955102B (en) | 2021-11-23 | 2021-11-23 | Land-air double-domain allosteric duct unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113955102A CN113955102A (en) | 2022-01-21 |
| CN113955102B true CN113955102B (en) | 2024-01-30 |
Family
ID=79471645
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111394261.2A Active CN113955102B (en) | 2021-11-23 | 2021-11-23 | Land-air double-domain allosteric duct unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113955102B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11660920B2 (en) * | 2018-02-28 | 2023-05-30 | Stmicroelectronics S.R.L. | Multi-environment flexible vehicle |
| CN114776932B (en) * | 2022-05-04 | 2023-12-19 | 中南大学 | Duct power robot for high-altitude pipeline detection |
| CN115157947B (en) * | 2022-08-04 | 2023-04-07 | 哈尔滨工业大学 | Air-ground amphibious allosteric robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202319771U (en) * | 2011-11-07 | 2012-07-11 | 上海工程技术大学 | Air-land dual-purpose aircraft |
| CN104669964A (en) * | 2015-03-11 | 2015-06-03 | 北京工业大学 | Water-land-air triphibious unmanned investigation device |
| KR101529856B1 (en) * | 2015-03-20 | 2015-06-17 | 양연철 | Flight vehicle having flying function of helicopter |
| KR20170092068A (en) * | 2016-02-02 | 2017-08-10 | 서울과학기술대학교 산학협력단 | A unmanned robot caparable of operating in the air and on the ground |
| CN108750088A (en) * | 2018-05-31 | 2018-11-06 | 江苏常探机器人有限公司 | Rear single screw folding composite wing cargo aircraft with the compound auxiliary wing of thrust |
| CN111845232A (en) * | 2020-06-19 | 2020-10-30 | 北京理工大学 | Wheel hub duct shared sea, land and air submersible multi-purpose unmanned platform |
| CN112078298A (en) * | 2020-10-13 | 2020-12-15 | 河北工业大学 | Rotary wheel type water, land and air multi-purpose mobile aircraft |
| CN113135078A (en) * | 2021-05-27 | 2021-07-20 | 彭千祝 | Electric automobile capable of floating and crossing obstacles |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6642166B2 (en) * | 2016-03-22 | 2020-02-05 | 富士通株式会社 | Flyer and how to use it |
-
2021
- 2021-11-23 CN CN202111394261.2A patent/CN113955102B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202319771U (en) * | 2011-11-07 | 2012-07-11 | 上海工程技术大学 | Air-land dual-purpose aircraft |
| CN104669964A (en) * | 2015-03-11 | 2015-06-03 | 北京工业大学 | Water-land-air triphibious unmanned investigation device |
| KR101529856B1 (en) * | 2015-03-20 | 2015-06-17 | 양연철 | Flight vehicle having flying function of helicopter |
| KR20170092068A (en) * | 2016-02-02 | 2017-08-10 | 서울과학기술대학교 산학협력단 | A unmanned robot caparable of operating in the air and on the ground |
| CN108750088A (en) * | 2018-05-31 | 2018-11-06 | 江苏常探机器人有限公司 | Rear single screw folding composite wing cargo aircraft with the compound auxiliary wing of thrust |
| CN111845232A (en) * | 2020-06-19 | 2020-10-30 | 北京理工大学 | Wheel hub duct shared sea, land and air submersible multi-purpose unmanned platform |
| CN112078298A (en) * | 2020-10-13 | 2020-12-15 | 河北工业大学 | Rotary wheel type water, land and air multi-purpose mobile aircraft |
| CN113135078A (en) * | 2021-05-27 | 2021-07-20 | 彭千祝 | Electric automobile capable of floating and crossing obstacles |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113955102A (en) | 2022-01-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113955102B (en) | Land-air double-domain allosteric duct unmanned aerial vehicle | |
| JP2021176757A (en) | Vertical takeoff and landing (vtol) air vehicle | |
| CN110316370B (en) | Layout and control method of distributed power tilting wing aircraft | |
| US20160059958A1 (en) | Controlling Rotary Wing Aircraft | |
| US20200207469A1 (en) | Multi-modal vehicle | |
| CN106892094A (en) | A kind of individually controllable four rotor unmanned aircraft of space six degree of freedom and its control method | |
| CN112298552B (en) | Miniature double-flapping-wing aircraft capable of being controlled by autonomous stability augmentation and control moment generation method thereof | |
| CN110844066B (en) | Flapping wing aircraft with tandem double-pair-wing structure and control method thereof | |
| CN110126562A (en) | A kind of air-ground integrated electrical parallel connection formula wheel foot driving mechanism | |
| CN113844221B (en) | Amphibious three-mode flight adsorption wall climbing robot and control method | |
| CN104859854A (en) | Heavy-load low-structure-complexity double-coaxial-twin-rotor unmanned aerial vehicle | |
| CN111452969A (en) | Tailstock type flying wing layout unmanned aerial vehicle capable of taking off and landing vertically | |
| CN107352029A (en) | A kind of electronic multiaxis tilting rotor wing unmanned aerial vehicle system | |
| CN112034868A (en) | Yaw control method and mechanism of bionic micro flapping wing aircraft | |
| CN107797567B (en) | Internal deflection type non-planar six-rotor aircraft and control method | |
| CN114715392B (en) | Variant flying wing type tilting rotor unmanned aerial vehicle | |
| CN108423167B (en) | Dual control system aircraft | |
| CN113830301A (en) | Many rotor crafts of lift wing with control surface | |
| CN108427432B (en) | Non-planar three-rotor aircraft and control method | |
| CN113419552B (en) | Vector control method for transverse double-rotor unmanned aerial vehicle | |
| CN213534368U (en) | Amphibious spherical coaxial aircraft | |
| CN114394228A (en) | Aircraft and control method thereof | |
| CN113200145A (en) | Portable micro coaxial double-propeller unmanned aerial vehicle and control method thereof | |
| CN112631321A (en) | Multi-shaft rotor unmanned aerial vehicle and flight control method thereof | |
| CN216232964U (en) | Unmanned aerial vehicle capable of vertically taking off and landing with tiltable rotor |
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 |