CN204822096U - Unmanned aircraft - Google Patents
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- CN204822096U CN204822096U CN201520398168.2U CN201520398168U CN204822096U CN 204822096 U CN204822096 U CN 204822096U CN 201520398168 U CN201520398168 U CN 201520398168U CN 204822096 U CN204822096 U CN 204822096U
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Abstract
The utility model discloses an unmanned aircraft, including fuselage and gasbag. Above -mentioned gasbag sets up in above -mentioned fuselage top, when above -mentioned unmanned aircraft begins to fall or is about to fall, fills into the gas lighter than the air quality above -mentioned gasbag, makes above -mentioned air bag inflation.
Description
Technical field
The utility model relates to a kind of aircraft.More particularly, the utility model relates to a kind of unpiloted aircraft.
Background technology
Unmanned plane is a kind of unmanned vehicle handled by radio robot or self process controller.
From technical standpoint definition, unmanned vehicle can be divided into: pilotless helicopter, driverless operation fixed-wing aircraft, driverless operation multi-rotor aerocraft, unmanned airship, driverless operation parasol etc.
Such as Chinese patent: " agricultural depopulated helicopter " (number of patent application: 201410572827.X) discloses a kind of pilotless helicopter.Pilotless helicopter simple structure, cheap, simultaneously can vertical takeoff and landing, also can complete the flare maneuver of some complexity.
Such as Chinese patent again: " a kind of height-lock control control system of fixed-wing unmanned plane " (number of patent application: CN201120406739.4) discloses a kind of driverless operation fixed-wing aircraft.Driverless operation fixed-wing aircraft has the advantage that flying speed is fast, manoevreability is high, flying height is high.
Such as Chinese patent again: " the many rotor unmanned aircrafts of cable power " (number of patent application: CN201420016027.5) discloses a kind of driverless operation multi-rotor aerocraft.Driverless operation multi-rotor aerocraft structure is more compact, can produce greater lift, can vertical takeoff and landing, also has the features such as manipulation convenience, maneuverability, noise are little, good concealment, is widely used.
These different types of unmanned vehicles have respective feature, have different application prospects in different field.
At present, along with the development of adaptive control technology, unmanned vehicle has expanded all over the world and has studied widely, and makes some progress.Present unmanned vehicle has been widely used in the fields such as military affairs, agricultural, video capture, meteorology, geology, city management, rescue and relief work.
Adopt little miniature robot aircraft to implement to take photo by plane, become very fashionable demand, and complete the task of some performance, transmission and so in occasions such as activity, ceremonies by little miniature robot aircraft, also start to receive publicity.
Different from traditional ground movable equipment, unmanned vehicle is flight equipment, movement of aloft flying, and therefore unmanned vehicle allows the operating mode of user change aerial three dimensional space into from the two-dimensional space on ground.
The problem thereupon produced is, compared with carrying out the equipment of movement in the plane, unlike, the equipment of airflight, will from aerial pendant once power or balance go wrong.Therefore, if the manipulation error of car model, serious consequence is not had, but the manipulation error of unmanned vehicle or fault, then will very likely cause unmanned vehicle from aerial pendant, thus, very likely cause the damage of whole unmanned vehicle.
Prior art pays special attention to this problem, once attempts to improve manipulation stability by multiple aspect, attempts the possibility reducing air crash.Such as Chinese patent: " the four rotor wing unmanned aerial vehicle augmentation control methods based on Hybrid mode " (number of patent application: 201210424807.9).
Which disclose the method for designing of a kind of four rotor wing unmanned aerial vehicle augmentation control devices based on Hybrid mode in automatic control technology field.The method comprises: set four rotor wing unmanned aerial vehicle state variables and state handoff parameter; Set the height switching value of four rotor wing unmanned aerial vehicles, roll angle switching value, pitch angle switching value, roll angle critical value and pitch angle critical value; Setting discrete state set and discrete event set; Set four rotor wing unmanned aerial vehicle discrete state transition conditions; Judge the state of four rotor wing unmanned aerial vehicles, and design drop controller, trim controller, augmentation control device and runaway protector respectively according to its state.
Although the method can improve the flight stability degree of unmanned vehicle, the possibility all too bringing out air crash is many, the complexity of flight environment of vehicle, or is the generation that maloperation all still likely causes air crash.
Therefore, the risk of air crash is inevitable, even if improve the flight stability degree of unmanned vehicle, still need the generation performing reply emergency case, hope air crash evaded is placed on and do not allowed aviation accident occur, and is unpractical.
Therefore, some are suggested for the design plan of unmanned vehicle air crash.Such as on unmanned vehicle, parachute is installed, thus avoids the scheme of air crash.Such as Chinese patent: " a kind of urgent parachuting device and method for many rotor wing unmanned aerial vehicles " (number of patent application: 201410100519.7)
Which disclose a kind of urgent parachuting device and method for many rotor wing unmanned aerial vehicles, this device comprises the measurement and control unit be arranged in umbrella storehouse, unlocks steering wheel, throws umbrella spring, locking bolt, parachute and magnetic latching relay, described measurement and control unit comprises a microcontroller and an inertia motion measuring unit, microcontroller is electrically connected with unblock steering wheel, magnetic latching relay, unlock steering wheel to be connected with locking bolt by rocking arm, magnetic latching relay is used for the power supply of opening and closing rotor motor; Umbrella storehouse is fixed on many rotor wing unmanned aerial vehicles, and throw umbrella spring one end and be fixed on bottom umbrella storehouse, parachute is arranged on the other end of this throwing umbrella spring.The method is: obtain the instantaneous height of current unmanned plane, acceleration/accel, calculates the fall off rate of unmanned plane, judges whether unmanned plane is in dangerous fall condition, is, cuts off rotor motor power and parachute of dishing out makes unmanned plane safe landing.
But the mode of this parachute is valuable for fixed-wing formula unmanned vehicle or large-scale many rotary wind types unmanned vehicle.Because the tractive performance of these aircraft is comparatively strong, cost intensive, installs expensive, and has the parachute of certain deadweight, in general, is to one's profit.
For middle-size and small-size, miniature unmanned vehicle, especially many rotors unmanned vehicle, the mode of installing parachute is unpractical.Here three reasons are mainly contained.
First reason is, parachute has certain deadweight, lightweight for itself, the medium and small miniature robot aircraft that power is strong not, flying power is general, parachute is installed and has produced fundamental effect by the airworthiness of unmanned vehicle, thus affected the flying speed of unmanned vehicle and perform flare maneuver.
Second reason is, the opening time of parachute is long, deceleration is slow, for low-to-medium altitude air crash; parachute is at all not free to be opened, and has little time to have an effect, although or open; have little time the speed of falling reducing aircraft, flight protection cannot be provided to unmanned vehicle.Therefore for the air crash accident that low-to-medium altitude occurs, be the generation cannot avoiding air crash.
3rd reason is, parachute cost is higher, it is more difficult to reclaim, and for the unmanned vehicle of consumer level, substantially increases cost, and use and comparatively bother, thus extreme influence experience, cause bad impression to user.
For these shortcomings of parachute; someone proposes the method for installing ejection mechanism on unmanned vehicle, such as Chinese patent: " a kind of rotary wind type unmanned plane falling protecting device out of control and guard method " (number of patent application: 201410073540.2).
Which disclose a kind of rotary wind type unmanned plane falling protecting device out of control; comprise chassis and be arranged on the ejection mechanism on chassis; described ejection mechanism comprises: be fixed on the combustion chamber on chassis; the ejection guns of bottom and combustion chamber; be arranged on the parachute in ejection guns and ignition device; described ejection guns is provided with at least two, and each ejection guns hoop is uniformly distributed and disperses respectively to outer incline.Also disclose the unmanned plane falling guard method out of control of the rotary wind type unmanned plane falling protecting device out of control of a kind of rotary wind type unmanned plane and this patent of use.This patent is by arranging at least two ejection guns, and by ejection guns to being uniformly distributed and dispersing setting respectively to outer incline, thus reduce powder volume, thus alleviate the destruction of explosion time to unmanned plane, also counteract the impact of a part of antagonistic force to unmanned plane, alleviate gunpowder further and launch destruction to unmanned plane.
Although above-mentioned falling protecting device overcomes, parachute opening time is long, slow shortcoming of slowing down.But this falling protecting device must be arranged on the bottom of unmanned vehicle, therefore when landing bottom unmanned vehicle is not, cannot play a protective role.In addition, this falling protecting device cannot recycle, and use cost is higher.Therefore, the shortcoming of this falling protecting device still clearly, can not the safety of available protecting unmanned vehicle air crash.
In addition, in prior art, also have other some technical schemes, such as, promote the strength of material of unmanned vehicle and the rigidity of structure, thus promote the anti-ability of falling of unmanned vehicle.
But, when these ways above-mentioned all fundamentally cannot solve unmanned vehicle because of accident air crash, avoid the problem that infringement occurs.
Summary of the invention
In order to promote the anti-ability of falling of unmanned vehicle, this case proposes a kind of unmanned vehicle.
In one embodiment, unmanned vehicle, comprises fuselage and the first air bag.
Above-mentioned first air bag is arranged at above-mentioned body upper, when above-mentioned unmanned vehicle starts to fall or be about to fall, to above-mentioned first air bag insufflation gas, above-mentioned first air bag is expanded.
In one embodiment, the density ratio air of above-mentioned gas is little.
In one embodiment, unmanned vehicle also comprises the second air bag, is arranged at below above-mentioned fuselage.
In one embodiment, the buoyancy that can produce of above-mentioned second air bag is less than above-mentioned first air bag.
In one embodiment, when above-mentioned unmanned vehicle starts to fall or be about to fall, above-mentioned first air bag and above-mentioned second air bag are inflated simultaneously.
In one embodiment, when above-mentioned unmanned vehicle starts to fall or be about to fall, first above-mentioned first air bag is inflated, when above-mentioned unmanned vehicle meets pre-conditioned, above-mentioned second air bag is inflated.
In one embodiment, be above-mentionedly pre-conditionedly that above-mentioned unmanned vehicle falls and reaches Preset Time to preset height and/or above-mentioned unmanned vehicle fall time and/or reach Preset Time to the inflationtime of above-mentioned first air bag.
In one embodiment, chemical formula aeration or mechanical type aeration or electronic type aeration are adopted to above-mentioned air bag.
In one embodiment, when above-mentioned unmanned vehicle and above-mentioned flight controller out of touch time, then judge that above-mentioned unmanned vehicle starts to fall or be about to fall.
In one embodiment, above-mentioned flight controller can regularly send authorization information to above-mentioned unmanned vehicle transmission unit, when above-mentioned unmanned vehicle transmission unit does not receive above-mentioned authorization information in Preset Time, then judge that above-mentioned unmanned vehicle transmission unit cannot communicate with between above-mentioned flight controller.
In one embodiment, above-mentioned fuselage comprises acceleration pick-up, for detecting the acceleration/accel of above-mentioned unmanned vehicle vertical drop, when above-mentioned acceleration/accel reaches preset value, judges that above-mentioned unmanned vehicle starts to fall or be about to fall.
In one embodiment, above-mentioned flight controller is arranged the quick botton starting to inflate above-mentioned air bag, thus control above-mentioned first airbag aeration by above-mentioned flight controller.
The unmanned vehicle that this case discloses, fuselage arranges air bag, when unmanned vehicle accidental falling, the opportunity of first colliding surface that its kinetic energy that falls is maximum, desired by designer, minimum mode is damaged to aircraft and contacts to earth, and absorb impact.Such as, be land with alighting gear position, air bag inflated, thus the posture of unmanned vehicle can be adjusted, unmanned vehicle is landed with alighting gear frame, thus protection unmanned vehicle.
Accompanying drawing explanation
For above and other object of the present utility model, feature, advantage and embodiment can be become apparent, being described as follows of institute's accompanying drawings:
It is the schematic diagram of unmanned vehicle of the present utility model shown in Fig. 1.
It is the schematic diagram of the fuselage shown in Fig. 1 shown in Fig. 2.
Figure 3 shows that the schematic diagram when air bag that fuselage is installed expands.
Figure 4 shows that schematic diagram fuselage being installed simultaneously air bag and ballonet.
Schematic diagram when Fig. 5 is air bag and ballonet expansion that fuselage is installed.
Detailed description of the invention
Below in conjunction with drawings and Examples, the technical scheme in the utility model is clearly and completely described.
It is the schematic diagram of unmanned vehicle 1 in the utility model one embodiment shown in Fig. 1.Unmanned vehicle 1 comprises fuselage 100, multiple rotor 200.
Unmanned vehicle 1 in this case is for driverless operation multi-rotor aerocraft, but, the kind of this case to unmanned vehicle 1 is not limited, and also can be pilotless helicopter, driverless operation fixed-wing aircraft, unmanned airship, driverless operation parasol etc.According to application scenarios and application, this case can select the kind of unmanned vehicle flexibly.
Be connected by support 300 between fuselage 100 with rotor 200.These supports can arrange cable, be electrically connected fuselage 100 and rotor 200.
In this form case, the number of the rotor 200 of unmanned vehicle 1 is for four, but in this case, the number of the rotor 200 of unmanned vehicle 1 does not think that four are limited.According to design requirement, the number of the rotor 200 of unmanned vehicle 1 also can be six, eight or other numbers.This case is not limited this.
Unmanned vehicle 1 also comprises multiple alighting gear 400, and alighting gear 400 is arranged on the bottom of unmanned vehicle 1.In the present embodiment, alighting gear 400 is arranged on support 300.When unmanned vehicle 1 falls within ground, alighting gear 400 is for supporting unmanned vehicle 1.
In this embodiment, unmanned vehicle 1 is provided with 4 alighting gears 400, but this case is not as limit, and the number of alighting gear can be determined according to design requirement.
In addition, the shape of alighting gear 400 is not also limited with the form shown in this embodiment, and its concrete form can be determined according to design requirement.
Continue to consult Fig. 1, above fuselage 100, be also provided with the first air bag 500.In the ordinary course of things, the first air bag 500 is receiving states.
Figure 2 shows that the schematic diagram of the fuselage 100 of the utility model unmanned vehicle 1.Main element can all be arranged in fuselage 100 by unmanned vehicle 1.Rotor 200 and fuselage 100 are electrically connected, and under the control of the inner member of fuselage, complete flight.
Fuselage 100 can comprise processing unit 101, detecting unit 102, transmission unit 103 and output unit 104.Detecting unit 102, transmission unit 103 and output unit 104 are connected with processing unit 101 respectively.
Processing unit 101 is data processing unit, can such as central process unit, for the treatment of various data, and can control other elements of unmanned vehicle 1.
Detecting unit 102 is detected under the control of processing unit 101.Detecting unit 101 can be various sensor, such as, can be sound transducer, for detecting sound; Such as can be imageing sensor again, for detecting or photographic images; Be such as again ultrasonic distance-measuring sensor, for detecting the distance of object; Be such as again angular rate sensor, the posture of detecting flight; Such as speed sensor again, for detecting flying speed; Such as infrared pickoff again, detects when dull thread for detecting; Such as acceleration pick-up again, for detecting acceleration/accel.
In this case, the type of the sensor of detecting unit 102 is not limited, according to application demand, one or more sensors can be designed, to realize different functions, thus both can detect the flight parameter of unmanned vehicle, can detect or take again the environment of surrounding.
Transmission unit 103 can carry out communication with flight controller 2, and controller of aircraft 2 by transfer instruction remote transmission to transmission unit 103, thus can control the flight of unmanned vehicle 1.Transmission unit 103 also can carry out communication with external device (ED), and namely transmission unit 103 can connect with external electronic such as such as notebook, mobile phone, earphone, intelligent watch, Intelligent bracelet.Realize communication.Transmit by the such as wireless mode such as infrared ray, bluetooth between transmission unit 103 and external device (ED).
Output unit 104 can be such as the output units such as loud speaker, telltale, flash light, exports acoustical signal and/or optical signal and/or the information such as image and/or vibration.
Figure 3 shows that schematic diagram when the first air bag 500 that fuselage 100 is installed expands.When unmanned vehicle 1 occurs or be about to aviation accident occurs, processing unit controls unmanned vehicle 1, inflates, thus the first air bag 500 is expanded, produce certain buoyancy to the first air bag 500.
Here, the gas be filled with in the first air bag 500 is the gas less than density of air, such as hydrogen, helium etc., and these lighter gases just can make air bag 300 expand, and could produce certain buoyancy.
Because the proportion of the first air bag 500 is lighter, when unmanned vehicle 1 falls, first air bag 500 can adjust the posture of unmanned vehicle 1, cause to fall and break in process, first air bag 500 is positioned at directly over unmanned vehicle 1, thus the alighting gear 400 of unmanned vehicle 1 is first landed, the most impaired fuselage 100 and rotor 200 then avoid and directly land.
In addition, due to the buoyancy that the first air bag 500 produces, the descending speed of the unmanned vehicle 1 that can also slow down, thus reduce stressed when landing of unmanned vehicle 1.
When first air bag 500 expands, volume is greater than volume during original storage, and when the first air bag 500 expands, can be such as the semicircle shown in this embodiment, certain this case be as limit, and form when the first air bag 500 expands can be determined according to design requirement.
Figure 4 shows that schematic diagram fuselage 100 being installed simultaneously the first air bag 500 and the second air bag 600.
First air bag 500 and the second air bag 600 are arranged at above and below fuselage 100 respectively.The second air bag 600 that the volume ratio being arranged at the first air bag 500 above fuselage 100 is arranged at below fuselage 100 is large.
When unmanned vehicle 1 falls or start to fall, the first air bag 500 and the second air bag 600 are inflated, the first air bag 500 and the second air bag 600 are expanded.
Consult Fig. 5, Fig. 5 is the first air bag 500 and the second air bag 600 schematic diagram when expanding that fuselage 100 is installed.The first air bag 500 to the second air bag 600 volume during expansion is large, and the buoyancy that the first air bag 500 to the second air bag 600 produces is large.
Therefore, when unmanned vehicle 1 falls, first air bag 500 and the second air bag 600 can adjust the posture of unmanned vehicle, in dropping process, first air bag 500 is positioned at directly over unmanned vehicle 1, second air bag 600 is then positioned at immediately below unmanned vehicle 1, and when unmanned vehicle 1 lands, the second air bag 600 achieves buffer action.
The inflationtime of the first air bag 500 and the second air bag 600 can be the same or different.When the first air bag 500a is different with the inflationtime of the second air bag 600, can first inflate the first air bag 500a, the inflation of the second air bag 600 then can work as meet certain pre-conditioned time start.Such as, detecting unit 102 detects unmanned vehicle 1 when falling to a certain height, or the time that unmanned vehicle 1 vertically declines reaches a certain Preset Time, or a certain Preset Time is reached to the time that the first air bag 500 is inflated, start to inflate the second air bag 600, thus ensure the maximum posture adjustment effect of the first air bag 500 pairs of unmanned vehicles 1.Can be such as when the first air bag 500 can be installed on fuselage 100 removably after being charged to certain hour to the first air bag 500, so, after use, can also realize changing.
To the inflation method of the first air bag 500 and the second air bag 600, chemical formula aeration can be adopted, also can adopt mechanical type aeration, electronic type aeration can also be adopted, will introduce in detail for the first air bag 500 below.
So-called chemical formula aeration is the reaction utilizing chemical substance, produces gas.Such as, in the first air bag 500, good seal is used for producing wherein a kind of chemical substance of gas, and the chemical substance being used for other to produce gas is positioned in the first air bag 500.When needs are inflated the first air bag 500, the chemical substance of above-mentioned good seal is discharged in the first air bag 500, reacts with the chemical substance in the first air bag 500.
So-called mechanical type aeration, drives a kind of flip flop equipment of gas filled device exactly, gas filled device is inflated the first air bag 500 with mechanical force.
So-called electronic type aeration, drives a kind of trigger mechanism of gas filled device exactly with electric signal, make gas filled device start inflation to the first air bag 500.
In above-described embodiment, carrying out inflation to the first air bag 500 and the second air bag 600 can have number of mechanisms, for the first air bag 500, will introduce several inflation mechanism below.
These inflation mechanism can select inflate the first air bag 500 suitable opportunity, namely judge whether unmanned vehicle starts to fall or be about to fall.
The lost contact judgment mechanism of automatic inflating mechanism: namely judge that whether unmanned vehicle 1 out of touch with controller 2, when unmanned vehicle 1 and controller 2 out of touch time, judge unmanned vehicle start to fall or be about to fall.Specific as follows, whether flight controller 2 can send authorization information to the transmission unit 103 of unmanned vehicle 1 with the fixed cycle, normal to verify the communication between flight controller 2 and unmanned vehicle 1.If the transmission unit 103 of unmanned vehicle 1 does not receive authorization information in Preset Time, then judge that unmanned vehicle 1 cannot receive any instruction from flight controller 2, now judge that unmanned vehicle 1 starts to fall or be about to fall, and now just starts to inflate the first air bag 500.
The acceleration/accel judgment mechanism of automatic inflating mechanism: namely judge whether the acceleration/accel of unmanned vehicle 1 vertical drop reaches preset value.Namely detecting unit 102 detects the acceleration/accel of unmanned vehicle 1, when unmanned vehicle acceleration/accel vertically downward reaches preset value, then judges that unmanned vehicle 1 starts to fall or be about to fall, and starts inflation to the first air bag 500.
Manual inflation's mechanism: consider that unmanned vehicle 1 most of time is all carry out control flight within sweep of the eye user, in the normal situation that communicates between flight controller 2 with unmanned vehicle 1, if some emergency situations cause unmanned vehicle 1 (as rotor 200 fault) out of control, now user can control unmanned vehicle 1 by flight controller 2 and starts to inflate the first air bag 500, such as, on flight controller 2, arrange the shortcut started airbag aeration.
The unmanned vehicle that this case discloses, fuselage arranges air bag, when unmanned vehicle accidental falling, air bag is inflated, thus the posture of unmanned vehicle can be adjusted, make unmanned vehicle on the opportunity of maximum first colliding surface of its kinetic energy that falls, desired by designer, damage minimum mode to aircraft to contact to earth, and absorb impact.Such as, be land with alighting gear position, thus available protecting unmanned vehicle.
Although disclose specific embodiment of the utility model in embodiment above; so itself and be not used to limit the utility model; have in the utility model art and usually know the knowledgeable; not departing from principle of the present utility model and spirit when; when carrying out various change and modification to it, therefore protection domain of the present utility model is when being as the criterion depending on those as defined in claim.
Claims (10)
1. a unmanned vehicle, is characterized in that comprising:
Fuselage; And
First air bag, is arranged at above-mentioned body upper, wherein, when above-mentioned unmanned vehicle starts to fall or be about to fall, to above-mentioned first air bag insufflation gas, above-mentioned first air bag is expanded.
2. unmanned vehicle according to claim 1, is characterized in that the density ratio air of above-mentioned gas is little.
3. unmanned vehicle according to claim 1, characterized by further comprising:
Second air bag, is arranged at below above-mentioned fuselage.
4. unmanned vehicle according to claim 3, is characterized in that the buoyancy that above-mentioned second air bag can produce is less than above-mentioned first air bag.
5. unmanned vehicle according to claim 3, is characterized in that, when above-mentioned unmanned vehicle starts to fall or be about to fall, inflating above-mentioned first air bag and above-mentioned second air bag simultaneously.
6. unmanned vehicle according to claim 3, it is characterized in that when above-mentioned unmanned vehicle starts to fall or be about to fall, first above-mentioned first air bag is inflated, when above-mentioned unmanned vehicle meets pre-conditioned, above-mentioned second air bag is inflated.
7. unmanned vehicle according to claim 6, it is characterized in that above-mentionedly pre-conditionedly being that above-mentioned unmanned vehicle falls and reaches Preset Time to preset height and/or above-mentioned unmanned vehicle fall time and/or reach Preset Time to the inflationtime of above-mentioned first air bag.
8. unmanned vehicle according to claim 1, is characterized in that when above-mentioned unmanned vehicle and outside flight controller are out of touch, then judging that above-mentioned unmanned vehicle starts to fall or be about to fall.
9. unmanned vehicle according to claim 1, it is characterized in that above-mentioned fuselage comprises acceleration pick-up, for detecting the acceleration/accel of above-mentioned unmanned vehicle vertical drop, when above-mentioned acceleration/accel reaches preset value, judge that above-mentioned unmanned vehicle starts to fall or be about to fall.
10. unmanned vehicle according to claim 1, is characterized in that on above-mentioned flight controller, arrange the quick botton starting to inflate above-mentioned air bag, thus controls above-mentioned first airbag aeration by above-mentioned flight controller.
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| CN201520398168.2U CN204822096U (en) | 2015-06-10 | 2015-06-10 | Unmanned aircraft |
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| CN201520398168.2U CN204822096U (en) | 2015-06-10 | 2015-06-10 | Unmanned aircraft |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104943872A (en) * | 2015-06-10 | 2015-09-30 | 刘亚敏 | Unmanned aircraft and protecting method thereof |
| CN105416571A (en) * | 2015-12-11 | 2016-03-23 | 谭圆圆 | Unmanned aerial vehicle |
| CN106005451A (en) * | 2016-08-03 | 2016-10-12 | 安徽钰龙信息科技有限公司 | Water travel protection system for shipborne unmanned aerial vehicle based on Internet of Things |
| CN106167091A (en) * | 2016-08-31 | 2016-11-30 | 成都九洲迪飞科技有限责任公司 | Inflation rotor wing unmanned aerial vehicle |
| WO2017219201A1 (en) * | 2016-06-20 | 2017-12-28 | 李珂悦 | Unmanned aerial vehicle |
| WO2017219199A1 (en) * | 2016-06-20 | 2017-12-28 | 李珂悦 | Unmanned aerial vehicle |
| CN110928115A (en) * | 2019-12-16 | 2020-03-27 | 赵霄阳 | Commercial long-range projection arrangement |
| TWI709836B (en) * | 2019-06-14 | 2020-11-11 | 研能科技股份有限公司 | Micro detecting device |
| TWI709737B (en) * | 2019-06-14 | 2020-11-11 | 研能科技股份有限公司 | Micro detecting device |
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2015
- 2015-06-10 CN CN201520398168.2U patent/CN204822096U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104943872A (en) * | 2015-06-10 | 2015-09-30 | 刘亚敏 | Unmanned aircraft and protecting method thereof |
| CN105416571A (en) * | 2015-12-11 | 2016-03-23 | 谭圆圆 | Unmanned aerial vehicle |
| WO2017219201A1 (en) * | 2016-06-20 | 2017-12-28 | 李珂悦 | Unmanned aerial vehicle |
| WO2017219199A1 (en) * | 2016-06-20 | 2017-12-28 | 李珂悦 | Unmanned aerial vehicle |
| CN106005451A (en) * | 2016-08-03 | 2016-10-12 | 安徽钰龙信息科技有限公司 | Water travel protection system for shipborne unmanned aerial vehicle based on Internet of Things |
| CN106005451B (en) * | 2016-08-03 | 2018-10-26 | 安徽钰龙信息科技有限公司 | A kind of boat-carrying unmanned plane based on Internet of Things traveling waterborne protects system |
| CN106167091A (en) * | 2016-08-31 | 2016-11-30 | 成都九洲迪飞科技有限责任公司 | Inflation rotor wing unmanned aerial vehicle |
| TWI709836B (en) * | 2019-06-14 | 2020-11-11 | 研能科技股份有限公司 | Micro detecting device |
| TWI709737B (en) * | 2019-06-14 | 2020-11-11 | 研能科技股份有限公司 | Micro detecting device |
| CN110928115A (en) * | 2019-12-16 | 2020-03-27 | 赵霄阳 | Commercial long-range projection arrangement |
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