CN114379776A - Cross-medium unmanned aerial vehicle device - Google Patents
Cross-medium unmanned aerial vehicle device Download PDFInfo
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- CN114379776A CN114379776A CN202210077020.3A CN202210077020A CN114379776A CN 114379776 A CN114379776 A CN 114379776A CN 202210077020 A CN202210077020 A CN 202210077020A CN 114379776 A CN114379776 A CN 114379776A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
- B64C27/46—Blades
- B64C27/473—Constructional features
- B64C27/50—Blades foldable to facilitate stowage of aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
- B64C35/008—Amphibious sea planes
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Abstract
The invention discloses a cross-medium unmanned aerial vehicle device, which relates to the technical field of cross-medium unmanned aerial vehicles and can comprise: the rotor wing structure comprises a main shell and a rotor wing, wherein the main shell comprises a first half shell and a second half shell, the rotor wing is installed on the second half shell through a folding device, and the folding device can drive the rotor wing to be unfolded outwards or folded on the second half shell; a shell driving mechanism is arranged between the first half shell and the second half shell and can drive the first half shell and the second half shell to be separated when the rotor wing needs to be unfolded; and after the rotor wing is folded, driving the first half shell and the second half shell to be butted. The invention solves the problems that the fixed wing unmanned aerial vehicle is difficult to control and has poor maneuverability after water outlet, and the posture of the unmanned aerial vehicle does not need to be adjusted before and after water outlet.
Description
Technical Field
The invention relates to the technical field of cross-medium unmanned aerial vehicles, in particular to a cross-medium unmanned aerial vehicle device.
Background
In recent years, aircrafts and submarines develop rapidly, the performances of various aircrafts flying in the air are more and more excellent and perfect, and submarines are also continuously developed and improved in diving performance. However, the two machines can only sail in a single medium, so that in order to combine the air flight capability of an aircraft and the diving navigation capability of a submarine, a new concept unmanned aerial vehicle crossing water and air mediums, namely a water and air medium crossing unmanned aerial vehicle, is created. The cross-water-air two-medium unmanned aerial vehicle is a combination of a submarine and an aircraft, can fly in the air like the aircraft, has better maneuvering capability and wide visual field, can also dive in the water like the submarine, and has good hiding capability and underwater operation capability.
In the aspect of military application, the cross-water-air two-medium unmanned aerial vehicle comprehensively utilizes the reconnaissance, penetration and attack capabilities of an airplane and a submarine, and can obtain more comprehensive enemy information with wide range under water, on the water surface and in the air by utilizing the characteristics of cross-media; by utilizing the air flight capability of the airplane, the battlefield situation can be rapidly mastered, and the airplane has a wider visual angle and rapid defense and attack capability; by utilizing the diving ability of the submarine, the underwater hiding, target detection and capability of concealing and hitting enemies can be realized. When the cross-medium unmanned aerial vehicle dives, the position of an enemy warship or submarine can be observed, so that a series of pre-war important tasks such as near-shore protection, breakthrough blocking, reconnaissance, special army action covering and the like can be performed; the main attack object is preferably a transport ship or a commercial ship of the enemy, and the water medium can be used for shielding to carry out hidden activities and carry out sudden attack on the enemy; the device has larger self-supporting power, endurance and operation radius, can be far away from a base, can independently operate in a longer time and a larger sea area to deepen into an enemy sea area, and has stronger assault power. When the cross-medium unmanned aerial vehicle flies from water to air through cross-medium, the cross-medium unmanned aerial vehicle can carry explosive, missile, torpedo and other devices to attack offshore and onshore targets, and the cross-medium unmanned aerial vehicle can greatly improve the comprehensive combat capability of modern navy.
In the aspect of civil application, cross-medium unmanned aerial vehicle also has huge economic benefits and practical application meaning. The unmanned aerial vehicle crossing the water and air media can realize various natural disaster conditions such as air detection of fire, flood, sea disaster and the like as an unmanned aerial vehicle, and can also realize a series of tasks such as water quality monitoring, marine science research, property rescue, exploration and exploitation, scientific detection, equipment maintenance, search and rescue, submarine cable maintenance, underwater tour sightseeing, academic investigation and the like as an underwater detector or a submarine. The multi-medium unmanned aerial vehicle can realize functions and tasks which are multi-medium, multi-aspect and can be realized by various devices at present, so that the working efficiency is greatly improved, the production cost of various devices is saved, and the multi-purpose unmanned aerial vehicle is realized.
In order to develop the above-mentioned cross-media unmanned aerial vehicle, many people, teams and organizations have proposed various design methods, including "cormorant" submarine unmanned aerial vehicle in the united states, "seaseeker" unmanned aerial vehicle in the united states, "XFC submarine unmanned aerial vehicle developed by naval research laboratory," siddal et al of the british institute of science and technology, a paddle type propulsion imitation skipjack amphibious unmanned aerial vehicle "AquaMav" developed by using bionic animal design, "Ray Eagle (Eagle Ray) fixed wing cross-media craft developed by north carolina state university and specially drad science and imaging company, an imitation skipjack water air amphibious cross-media unmanned aerial vehicle developed by beijing aerospace university, a cross-media voyage developed by the university of air force, vonjin, etc. which changes the appearance by folding up the missile wing twice.
The basic scheme of the cross-medium unmanned aerial vehicle is as follows: when entering water, folding the wings through the variant structure and then diving into the water; when water comes out, the unmanned aerial vehicle is firstly enabled to float out of the water surface by changing the density of the unmanned aerial vehicle, then the posture is adjusted, the unmanned aerial vehicle is launched out of the water by self power or a carrier, and in the take-off process, wings are opened through a variant structure (shown in figures 1-3) to be converted into fixed wing flying.
The existing cross-medium unmanned aerial vehicle has the following common defects that when entering water, the folding wings dive into the water, and when leaving the water, the unmanned aerial vehicle depends on a self power device (such as a water pump and a chemical reaction device) or a carrier (an ejection device, a torpedo launcher or a small rocket booster), although the complete process of cross-medium can be completed: 1) the folding device has larger destructiveness to the structure when entering water from high altitude in the water entering process; 2) the medium-crossing unmanned aerial vehicles are single medium-crossing unmanned aerial vehicles, and can be used only by being adjusted again after being launched once; 3) when the water is converted into a fixed wing flying state after being discharged, the requirement on control is high, and the control difficulty is high.
Therefore, a novel cross-medium unmanned aerial vehicle device is provided to solve the above problems existing in the prior art.
Disclosure of Invention
The invention aims to provide a cross-medium unmanned aerial vehicle device, which solves the problems that a fixed wing unmanned aerial vehicle is difficult to control after water outlet and the maneuverability is poor, and the posture of the unmanned aerial vehicle does not need to be adjusted before and after water outlet.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a cross-medium unmanned aerial vehicle device, comprising: the rotor wing structure comprises a main shell and a rotor wing, wherein the main shell comprises a first half shell and a second half shell, the rotor wing is installed on the second half shell through a folding device, and the folding device can drive the rotor wing to be unfolded outwards or folded on the second half shell; a shell driving mechanism is arranged between the first half shell and the second half shell and can drive the first half shell and the second half shell to be separated when the rotor wing needs to be unfolded; and after the rotor wing is folded, driving the first half shell and the second half shell to be butted.
Preferably, the first half shell and the second half shell are both hemispherical shells, and the first half shell and the second half shell can form a sealed spherical main shell.
Preferably, the first half shell is provided with an accommodating cavity, and the accommodating cavity can accommodate the folded rotor wing.
Preferably, the folding device adopts a rotating arm, a first end of the rotating arm is hinged to the second half shell, a rotary wing rotating disk is rotatably mounted on a second end of the rotating arm, and the rotary wing is mounted on the rotary wing rotating disk.
Preferably, the rotor includes a plurality of rotor blade, a plurality of rotor blade all through the blade axis of rotation with the rotor rotary disk rotates and is connected.
Preferably, the rotor arm, the rotary-wing disk and the rotor blades are all connected with a power system, and the power system adopts a hydraulic system or a telex system.
Preferably, the rotor is provided with four, four the rotor is along the circumference equipartition, the rotor arm and the rotor rotary disk all corresponds and is provided with four, four the direction of rotation of rotor arm when opening and drawing in is unanimous, is two of diagonal distribution the direction of rotation of rotor rotary disk is unanimous.
Preferably, a water storage cabin is arranged in the first half shell and/or the second half shell, and a water outlet and a water inlet are arranged on the water storage cabin.
Preferably, the main shell is provided with a power emission device, and the power emission device can push the main shell to discharge water.
Preferably, the shell driving mechanism adopts a telescopic device, and the telescopic device can drive the first half shell to extend out or retract.
Compared with the prior art, the invention has the following beneficial technical effects:
1) the invention adopts the rotor wing structure, forms the rotor wing unmanned aerial vehicle, and the rotor wing is opened after water is discharged, thus solving the problems that the fixed wing unmanned aerial vehicle is difficult to control and has poor maneuverability after water is discharged, and the posture of the unmanned aerial vehicle does not need to be adjusted before and after water is discharged;
2) the unmanned aerial vehicle can be matched with a submarine, a warship, an aircraft carrier or a carrier provided with any launching device, and the aim of crossing media by the unmanned aerial vehicle for many times can be really realized;
3) the invention has the outer shell to cover the rotor wing when entering and exiting water, and has certain protection effect on the internal structure, thereby solving the problems of material strength and structural loss.
Compared with the prior art, other technical schemes in the specification of the invention also have the following beneficial technical effects:
1) the main shell of the unmanned aerial vehicle can adopt a spherical shape and a 'cannonball type' launching mode, so that the unmanned aerial vehicle can easily complete a medium crossing process;
2) the invention carries out accurate rotation control through a hydraulic system or a telex system, and further ensures that the rotor unmanned aerial vehicle has excellent maneuverability and controllability.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic diagram of a prior art cross-fold wing;
FIG. 2 is a schematic structural diagram of a variable sweep wing in the prior art;
FIG. 3 is a schematic structural diagram of a bionic ornithopter in the prior art;
FIG. 4 is an initial state diagram of the cross-media drone device of the present invention;
FIG. 5 is a view showing the first housing half extended outwardly after water is emitted in accordance with the present invention;
FIG. 6 is a view of the present invention with the rotating arms open;
fig. 7 is a state diagram (flight state) of the quad-rotor drone of the present invention after the rotor blades are opened;
FIG. 8 is a front view of the initial state of the present invention;
FIG. 9 is a side view of the initial state of the present invention;
FIG. 10 is a top view of the initial state of the present invention;
figure 11 is an elevation view of a quad-rotor drone version of the present invention;
figure 12 is a side view of a quad-rotor drone version of the present invention;
figure 13 is a top view of a quad-rotor drone configuration of the present invention;
the rotor comprises 1-rotor blade, 2-blade rotating shaft, 3-first half shell, 4-rotating arm, 5-rotor rotating disk and 6-second half shell.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a cross-medium unmanned aerial vehicle device, which solves the problems that a fixed wing unmanned aerial vehicle is difficult to control after water outlet and the maneuverability is poor, and the posture of the unmanned aerial vehicle does not need to be adjusted before and after water outlet.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example one
As shown in fig. 4 to 13, the present embodiment provides a cross-medium unmanned aerial vehicle device, including: the main shell comprises a first half shell 3 and a second half shell 6, the rotor is arranged on the second half shell 6 through a folding device, and the folding device can drive the rotor to be unfolded outwards or folded on the second half shell 6; a shell driving mechanism is arranged between the first half shell 3 and the second half shell 6, and the shell driving mechanism can drive the first half shell 3 and the second half shell 6 to be separated when the rotor wing needs to be opened; after the rotor is folded, the first half shell 3 and the second half shell 6 are driven to be butted.
In the present embodiment, the first half-shell 3 and the second half-shell 6 are both hemispherical shells, and the first half-shell 3 and the second half-shell 6 can constitute a sealed spherical main shell; or other shapes can be selected according to the working requirement, such as an oval shape and the like; be provided with on the first half casing 3 and hold the chamber, hold the chamber and can hold the rotor of drawing in. In the embodiment, when the cross-medium unmanned aerial vehicle device is prepared to discharge water, the shape of the cross-medium unmanned aerial vehicle device is a sealed sphere, and water can be directly discharged by a submarine, a warship, an aircraft carrier or any launching device like a shell.
In this embodiment, the folding device may be a rotating arm 4, a first end of the rotating arm 4 is hinged with the second half-shell 6, and a second end of the rotating arm 4 is provided with a rotor; specifically, a rotary wing rotary disk 5 is rotatably mounted on the second end of the rotary arm 4, and a rotary wing is mounted on the rotary wing rotary disk 5.
In this embodiment, a rotor rotating disk 5 is provided with a blade rotating shaft 2, the rotor includes a plurality of rotor blades 1, preferably two, and the two rotor blades 1 are rotatably connected with the rotor rotating disk 5 through one blade rotating shaft 2.
In the embodiment, the rotating arm 4, the rotary wing rotating disk 5 and the rotary wing blades 1 are all connected with a power system, and are driven to move by the power system; wherein, the power system adopts a hydraulic system or an electric transmission system and the like. Specifically, the hydraulic system may include hydraulic components such as a hydraulic pump and a hydraulic cylinder, and is connected to the rotor arm 4, the rotor rotating disk 5, the rotor blade 1, and the like to realize hydraulic driving; the electric transmission system can comprise a driving motor, a speed reducer, a gear and other transmission mechanisms to realize electric driving.
In this embodiment, the rotor is provided with four, and four rotors are along the circumference equipartition, and rotor 4 and rotor rotary disk 5 all correspond and are provided with four, are that the rotation direction of two rotor rotary disks 5 of diagonal distribution is unanimous.
In this embodiment, the housing driving mechanism may adopt a telescopic device, and the telescopic device can drive the first half housing 3 to extend or retract; specifically, the telescopic device may adopt a cylinder, a telescopic rod or other piston type structures.
In the embodiment, after the cross-medium unmanned aerial vehicle device emits water at a certain height, the unmanned aerial vehicle utilizes the principle of a piston structure, the first half shell 3 extends upwards (can be precisely controlled by a hydraulic system or an telex system), the four rotating arms 4 rotate outwards and open in the same direction (clockwise or anticlockwise at the same time), then the two rotor blades 1 on the same rotating arm 4 rotate around the blade rotating shaft 2 in the opposite direction for 90 degrees and open, and at the moment, the cross-medium unmanned aerial vehicle device is converted into a four-rotor unmanned aerial vehicle; compared with the existing mode that the medium-crossing unmanned aerial vehicle adopts fixed-wing flight, the rotor unmanned aerial vehicle is easier to control and more flexible, and the four rotating arms 4 and the rotor blades 1 are accurately controlled in rotation through a hydraulic system or a telex system, so that the situation that the four-rotor unmanned aerial vehicle has excellent maneuverability and controllability is further ensured.
When the span medium unmanned aerial vehicle device is prepared to enter water, the rotor blades 1 stop rotating completely, the four rotating arms 4 rotate inwards, the rotor blades are folded to the original state, and the first half shell 3 slides downwards. At this moment, whole cross medium unmanned aerial vehicle device parcel is spherical, then freely falls to accomplish into water. In the embodiment, the cross-medium unmanned aerial vehicle device can vertically float on the water surface after entering water or absorb water through the water storage cabin to enable the cross-medium unmanned aerial vehicle device to submerge into water to wait for being recovered by a ship or a submarine, and a cycle of water entering and water exiting is completed.
After recovery, cross the medium unmanned aerial vehicle device and can launch out water once more to can realize that unmanned aerial vehicle strides the purpose of medium many times.
Example two
The embodiment is an improvement on the basis of the first embodiment, and the improvement is as follows: a water storage cabin is arranged in the first half shell 3 and/or the second half shell 6, a water outlet and a water inlet are arranged on the water storage cabin, and the water outlet and the water inlet can share the same port.
In the embodiment, the main shell can be provided with a power emission device, and the power emission device can push the main shell to discharge water; wherein, the power transmitting device can be selected from the prior art according to requirements, such as a water pump, a chemical reaction device and the like.
The cross-medium unmanned aerial vehicle device can be released by the submarine, and floats out of the water surface through the water storage cabin (the density of the cross-medium unmanned aerial vehicle device is changed by drainage, the cross-medium unmanned aerial vehicle device floats on the water surface vertically like a fishing buoy, then the cross-medium unmanned aerial vehicle device emits water by utilizing the power emission device of the cross-medium unmanned aerial vehicle device, and the cross-medium unmanned aerial vehicle device can suck water through the water storage cabin after entering the water to enable the cross-medium unmanned aerial vehicle device to submerge into the water and wait for being recovered by a ship or the submarine.
The cross-medium unmanned aerial vehicle device skillfully combines a variant structure with a quad-rotor unmanned aerial vehicle, effectively achieves the purpose of cross-medium, and has high innovation and feasibility; the four non-rotating arms and the rotor blades are precisely controlled in rotation through a hydraulic system or a telex system, and the quad-rotor unmanned aerial vehicle has excellent maneuverability and controllability; in the water inlet and outlet processes, the vertical state can be kept all the time, so the preparation work before water inlet and outlet is simpler, the angle and the posture of the unmanned aerial vehicle do not need to be adjusted, water is directly emitted like a shell, and the realization is easier; in the process of crossing water-air medium and the process of crossing air-water medium, the unmanned aerial vehicle is always in a sealed ball state wrapped by the shell, the appearance reduces the resistance in the process of crossing medium, simultaneously protects the structure of the unmanned aerial vehicle to a certain extent, and solves the problems of material strength and rigidity.
The cross-medium unmanned aerial vehicle device can be applied to military aspects and civil aspects; in the aspect of military application, the cross-medium unmanned aerial vehicle is matched with a warship, an aircraft carrier and the like, and the reconnaissance, penetration and attack capabilities of the aircraft and the submarine are comprehensively utilized. In the aspect of civil application, the cross-medium unmanned aerial vehicle is matched with a ship, the application of three dimensions of sea, land and air is realized, only one cross-medium unmanned aerial vehicle can realize the functions and tasks which can be realized by various devices, the working efficiency is greatly improved, the production cost of various devices is saved, and the multi-purpose device is realized.
The cross-medium unmanned aerial vehicle device disclosed by the invention is more applied as follows:
military application aspect: reconnaissance, penetration, mastery of battlefield situation, wide visual angle, rapid hitting ability, latency, target detection, capability of hiding hitting enemy, capability of carrying explosive, missile, torpedo and other devices, capability of observing the position of enemy warship or submarine, near-shore protection, breakthrough blocking, covering special troops and the like;
the civil application aspect: the method comprises the following steps of detecting various natural disaster conditions such as fire, flood, sea disaster and the like, monitoring water quality, researching oceanic science, rescuing property, exploring and exploiting, scientifically detecting, maintaining equipment, searching and rescuing, maintaining submarine cables, traveling underwater and sightseeing, researching and surveying and the like.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. A cross-media drone assembly, characterized by: the method comprises the following steps: the rotor wing structure comprises a main shell and a rotor wing, wherein the main shell comprises a first half shell and a second half shell, the rotor wing is installed on the second half shell through a folding device, and the folding device can drive the rotor wing to be unfolded outwards or folded on the second half shell; a shell driving mechanism is arranged between the first half shell and the second half shell and can drive the first half shell and the second half shell to be separated when the rotor wing needs to be unfolded; and after the rotor wing is folded, driving the first half shell and the second half shell to be butted.
2. The cross-media drone apparatus of claim 1, wherein: the first half shell and the second half shell are both hemispherical shells, and the first half shell and the second half shell can form a spherical main shell.
3. The cross-media drone apparatus of claim 2, wherein: the first half shell is provided with an accommodating cavity, and the accommodating cavity can accommodate the rotor wing after being folded.
4. The cross-media drone apparatus of claim 1, wherein: folding device adopts the rotor arm, the first end of rotor arm with the second half casing is articulated, rotate on the second end of rotor arm and install the rotor rotary disk, the rotor install in on the rotor rotary disk.
5. The cross-media drone apparatus of claim 4, wherein: the rotor includes a plurality of rotor blade, a plurality of rotor blade all through the blade axis of rotation with the rotor rotary disk rotates to be connected.
6. The cross-media drone apparatus of claim 5, wherein: the rotor arm, the rotor rotary disk and the rotor blades are all connected with a power system, and the power system adopts a hydraulic system or an electric transmission system.
7. The cross-media drone apparatus of claim 4, wherein: the rotor is provided with four, four the circumference equipartition is followed to the rotor, the rotor arm and the rotor rotary disk all corresponds and is provided with four, four the direction of rotation of rotor arm when opening and drawing in is unanimous, is two that the diagonal distributes the direction of rotation of rotor rotary disk is unanimous.
8. The cross-media drone apparatus of claim 1, wherein: and a water storage cabin is arranged in the first half shell and/or the second half shell, and a water outlet and a water inlet are arranged on the water storage cabin.
9. The cross-media drone apparatus of claim 8, wherein: the main casing body is provided with a power emission device, and the power emission device can push the main casing body to discharge water.
10. The cross-media drone apparatus of claim 1, wherein: the shell driving mechanism adopts a telescopic device, and the telescopic device can drive the first half shell to extend out or retract.
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| CN202210077020.3A CN114379776B (en) | 2022-01-24 | 2022-01-24 | Cross-medium unmanned aerial vehicle device |
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| CN202210077020.3A CN114379776B (en) | 2022-01-24 | 2022-01-24 | Cross-medium unmanned aerial vehicle device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130206915A1 (en) * | 2010-04-22 | 2013-08-15 | Jean-Marc (Joseph) Desaulniers | Vertical take-off and landing multimodal, multienvironment, gyropendular craft with compensatory propulsion and fluidic gradient collimation |
| KR102128678B1 (en) * | 2019-01-31 | 2020-07-01 | 부산대학교 산학협력단 | Unmanned aerial vehicle for rescue |
| CN113085462A (en) * | 2021-04-23 | 2021-07-09 | 南京航空航天大学 | Cross-medium unmanned aerial vehicle device and control method thereof |
| CN113320676A (en) * | 2021-06-03 | 2021-08-31 | 南京航空航天大学 | Cross-medium aircraft device and control method thereof |
| CN113753220A (en) * | 2021-07-06 | 2021-12-07 | 南京航空航天大学 | Water-air amphibious multi-rotor aircraft capable of being automatically folded and working method thereof |
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2022
- 2022-01-24 CN CN202210077020.3A patent/CN114379776B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130206915A1 (en) * | 2010-04-22 | 2013-08-15 | Jean-Marc (Joseph) Desaulniers | Vertical take-off and landing multimodal, multienvironment, gyropendular craft with compensatory propulsion and fluidic gradient collimation |
| KR102128678B1 (en) * | 2019-01-31 | 2020-07-01 | 부산대학교 산학협력단 | Unmanned aerial vehicle for rescue |
| CN113085462A (en) * | 2021-04-23 | 2021-07-09 | 南京航空航天大学 | Cross-medium unmanned aerial vehicle device and control method thereof |
| CN113320676A (en) * | 2021-06-03 | 2021-08-31 | 南京航空航天大学 | Cross-medium aircraft device and control method thereof |
| CN113753220A (en) * | 2021-07-06 | 2021-12-07 | 南京航空航天大学 | Water-air amphibious multi-rotor aircraft capable of being automatically folded and working method thereof |
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