CN207374661U - Multi-rotor unmanned aerial vehicle - Google Patents
Multi-rotor unmanned aerial vehicle Download PDFInfo
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- CN207374661U CN207374661U CN201721271850.0U CN201721271850U CN207374661U CN 207374661 U CN207374661 U CN 207374661U CN 201721271850 U CN201721271850 U CN 201721271850U CN 207374661 U CN207374661 U CN 207374661U
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- 230000007246 mechanism Effects 0.000 claims abstract description 46
- 230000001141 propulsive effect Effects 0.000 claims abstract description 26
- 230000036544 posture Effects 0.000 claims description 71
- 230000033228 biological regulation Effects 0.000 claims description 4
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 3
- 239000004917 carbon fiber Substances 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 abstract description 6
- 230000001133 acceleration Effects 0.000 abstract description 5
- 238000000926 separation method Methods 0.000 abstract description 4
- 230000004044 response Effects 0.000 abstract description 3
- 230000001737 promoting effect Effects 0.000 abstract description 2
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- 230000008859 change Effects 0.000 description 6
- 230000001276 controlling effect Effects 0.000 description 6
- 230000002153 concerted effect Effects 0.000 description 4
- 230000003028 elevating effect Effects 0.000 description 2
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- 230000007613 environmental effect Effects 0.000 description 1
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Abstract
The utility model is related to a kind of multi-rotor unmanned aerial vehicles, the multi-rotor unmanned aerial vehicle includes frame main body, attitude coutrol mechanism and propulsive mechanism, the attitude coutrol mechanism includes symmetrically arranged posture horn, the posture horn centered on frame main body and has been horizontally disposed with motor and posture rotor；The posture rotor centers are symmetrical arranged；The propulsive mechanism includes the propulsion horn that is symmetrical set with the vertical section of frame main body, and two propulsion horns are symmetrically vertically installed with motor and promote rotor, and described two propulsion rotors rotate in the opposite direction；The barycenter of the propulsive mechanism is identical with the barycenter of entire unmanned plane.The utility model can guarantee the balance of power in vertical direction by posture rotor and promoting rotor control respectively and realize horizontal, vertical, pitching, rolling, yaw, acceleration, braking etc., solve the problems, such as tradition unmanned plane put down fly it is high；Posture is steady, mobility strong, has preferable dynamic response, realizes that the separation of position and posture controls, independent accurate.
Description
Technical field
The utility model belongs to vehicle technology field, specifically provides a kind of multi-rotor unmanned aerial vehicle.
Background technology
The advantages that multi-rotor unmanned aerial vehicle is simple in structure since its mobility is good, and cost is relatively low, was quickly sent out in recent years
Exhibition is taken photo by plane in video display, military investigation, disaster search and rescue, environmental monitoring, the fields such as demonstration flight show huge application potential.
Since multi-rotor unmanned aerial vehicle is the system of a drive lacking, generally position fortune is completed by designing Double Loop Control System
Dynamic and attitude motion, but there are problems for this method.
For example, Fig. 1 a, 1b, which are the flat of existing quadrotor unmanned plane, flies movement stress diagram, traditional quadrotor unmanned plane
It is flat fly in movement comprising as shown in Figure 1a by hover to advance with as shown in Figure 1 b by proceeding to hovering two parts.It is opening
During dynamic, as shown in Figure 1a, since propulsive force must be provided by lift component F in the horizontal direction, unmanned plane needs lean forward
Motive force is generated, quadrotor can generate attitudes vibration：In this change procedure, leaning forward for unmanned plane can be on altitude channel
Certain whereabouts is generated, is then risen, keeps attitude angle, realizes flat fly.In braking process, as shown in Figure 1 b, brake force
It must equally be provided by lift in horizontal component F, unmanned plane needs hypsokinesis to generate brake force, and quadrotor can generate posture change
Change：In this change procedure, hypsokinesis equally generates certain whereabouts on altitude channel, then rises, and brakes, hovering.
As described above, as soon as horizontal startup and level braking in time horizontal movement, the posture and height of unmanned plane need
Change twice so that whole system can not be precisely controlled.Further, since the pitch angle of unmanned plane is confined, lift institute
The horizontal component that can be generated is very limited so that and traditional multi-rotor unmanned aerial vehicle can not generate higher acceleration and speed, into
And affect the mobility of whole system.
The current research for the multi-rotor unmanned aerial vehicle above problem generally stays at mechanical mechanism, and rare control system changes
Into.It is broadly divided into following three classes：
First, tilting type unmanned plane increases by two rotors that can be rotated around wing, this structure on the wing of fixed-wing
Unmanned plane can realize VTOL, and larger speed can be obtained, but the characteristic due to Fixed Wing AirVehicle in itself, machine
Dynamic property is low, and model is excessively complicated, and the problem of very big is caused to control；
2nd, more rotors are attached on Fixed Wing AirVehicle, form combination aircraft, and this kind of dummy vehicle is simple, continuation of the journey
Time is long, but is limited by the characteristic of fixed-wing, and mobility is low, it is impossible to which realization is precisely controlled；
3rd, increase one or two auxiliary rotors in multi-rotor aerocraft afterbody to generate larger power, but will push away
It is set into rotor to afterbody so that entire aircraft barycenter is not or not center so that the operating status unstable condition of aircraft.And
And the dynamic equipment of tail can generate pitching torque by body, influence attitude of flight vehicle stabilization, be caused to flying vehicles control very big
Trouble.
Therefore, the good more rotors of a kind of good attitude of flight vehicle stability, mobility strong, dynamic response are lacked in the prior art
Unmanned plane also lacks a kind of suitable position and attitude separation control method, to realize the independent precisely control of each passage of unmanned plane
System.
Correspondingly, this field needs a kind of new multi-rotor unmanned aerial vehicle and its control method to solve the above problems.
Utility model content
In order to solve the above problem of the prior art, the utility model provides a kind of multi-rotor unmanned aerial vehicle, the unmanned plane
Posture is steady, simple and reasonable, mobility strong, can realize high-speed flight, capable of fast starting and braking.
The utility model additionally provides a kind of control method of multi-rotor unmanned aerial vehicle, according to actual needs posture is supplied to revolve
The wing and/or the propulsion corresponding power of rotor realize that the separation of different position and posture controls, independent accurate.
To achieve the above object, the multi-rotor unmanned aerial vehicle of the utility model includes frame main body and attitude coutrol mechanism, institute
Attitude coutrol mechanism is stated fixed to the frame main body or is made into integration with the frame main body, which is characterized in that is described more
Rotor wing unmanned aerial vehicle is further included fixed to the frame main body or the propulsive mechanism being made into integration with the frame main body, described to push away
Include into mechanism compared with symmetrically arranged two propulsion units of the frame main body, each propulsion unit is included from the rack
The propulsion horn of main body extension and the propulsion rotor being arranged on the propulsion horn and propulsion rotor drive device, it is described to push away
The propulsion rotor is connected into rotor drive device, for driving the propulsion rotor rotational.
In the preferred embodiment of above-mentioned multi-rotor unmanned aerial vehicle, the attitude coutrol mechanism is included around the frame main body
The multiple posture control units being uniformly arranged in the circumferential direction, each posture control unit include the posture extended from the frame main body
Horn and the posture rotor being arranged on the posture horn and posture rotor drive device, the posture rotor drive device
The posture rotor is connected to, for driving the posture rotor rotational.
In the preferred embodiment of above-mentioned multi-rotor unmanned aerial vehicle, the attitude coutrol mechanism includes 4 gesture stability lists
Member, each the angle between the posture horn of adjacent posture control unit is 90 degree.
In the preferred embodiment of above-mentioned multi-rotor unmanned aerial vehicle, during the work time, rotor drive device is each promoted
Corresponding propulsion rotor is driven to be rotated along the direction opposite with another propulsion rotor.
In the preferred embodiment of above-mentioned multi-rotor unmanned aerial vehicle, during the work time, described two propulsion rotor drivings
Device can rotate in opposite direction.
In the preferred embodiment of above-mentioned multi-rotor unmanned aerial vehicle, the propulsion rotor drive device and the posture rotor
Driving device all using brushless motor, is each both provided with electronic speed regulation meter on the brushless motor.
In the preferred embodiment of above-mentioned multi-rotor unmanned aerial vehicle, it is provided in the frame main body and flies control module, sensing
Device module, power management module and battery, the sensor assembly include GPS, gyroscope, inertial navigation, visual sensor and
Barometer.
In the preferred embodiment of above-mentioned multi-rotor unmanned aerial vehicle, the multi-rotor unmanned aerial vehicle, which further includes, is connected to the machine
The body foot stool of the bottom of frame body.
In the preferred embodiment of above-mentioned multi-rotor unmanned aerial vehicle, the frame main body, posture horn promote horn, appearance
State rotor promotes rotor and body foot stool to be made of high-strength carbon fiber.
Compared with prior art, the utility model has the following advantages：
1st, the multi-rotor unmanned aerial vehicle of the utility model is equipped with independent propulsive mechanism, provides independent thrust power, this is dynamic
Power can make unmanned plane high-speed flight, realize quick startup and braking.Due to setting independent propulsive mechanism, altitude channel is with putting down
Fly the direction of motion there is no coupled relation, solve previous unmanned plane by leaning forward or hypsokinesis provides horizontal force and can generate flat fly
The problem of high, the utility model, without drop, operate steadily in flat winged direction of motion height.
2nd, the multi-rotor unmanned aerial vehicle of the utility model is by being individually applied to the dynamic of the opposite propulsion rotor in two direction of rotation
Power is, it can be achieved that acceleration, deceleration and the yawing rotation of horizontal direction.
3rd, the multi-rotor unmanned aerial vehicle of the utility model is equipped with horizontal posture rotor and vertical propulsion rotor, corresponding to generate
The gesture stability power of vertical direction and the propulsive force of horizontal direction can control respectively as needed, it can be achieved that independent, precisely control
System.
4th, the multi-rotor unmanned aerial vehicle of the utility model is by giving each posture rotor to provide identical and making a concerted effort equal to the liter of gravity
Power ensures the balance of unmanned plane power in vertical direction with this, and so as to which vertical direction is made not generate movement, posture is steady.
5th, the posture horn central symmetry of the multi-rotor unmanned aerial vehicle of the utility model, propulsive mechanism is symmetrical, and promotes
The barycenter of mechanism is overlapped with the barycenter of entire mechanism, improves the unstable condition of aircraft in the prior art, is solved existing
The dynamic equipment of tail generates pitching torque by body in technology, influences attitude of flight vehicle stabilization, is caused very to flying vehicles control
The drawbacks of burden.
6th, the multi-rotor unmanned aerial vehicle of the utility model by controlling the posture rotor and propulsive mechanism of posture mechanism respectively
Promote rotor, generate the power and torque of different directions, by regulating and controlling the lift of posture rotor, can real altitude channel control
System, such as vertical, pitching, rolling campaign.
7th, the multi-rotor unmanned aerial vehicle of the utility model is provided with electronic speed regulation meter, flies control module, sensor assembly, power supply pipe
Manage module etc., enhance aircraft horizontal direction mobility and flexibility, it can be achieved that the postures such as yawing rotation, pitching, rolling
The quick response of variation, control is accurate, simple and reasonable.
Description of the drawings
Fig. 1 a, 1b are that the flat of existing quadrotor unmanned plane flies movement stress diagram；
Fig. 2 is the structure diagram of the quadrotor unmanned plane of the utility model embodiment；
Fig. 3 is the front view of the quadrotor unmanned plane of the utility model embodiment；
Fig. 4 is the structure diagram of the quadrotor unmanned plane propulsive mechanism of the utility model embodiment；
Fig. 5 a, 5b are the flat winged force analysis schematic diagrames of the quadrotor unmanned plane of the utility model embodiment；
Fig. 6 is the fused controlling schematic diagram of the quadrotor unmanned plane of the utility model embodiment.
Specific embodiment
The preferred embodiment of the utility model described with reference to the accompanying drawings.It should be understood by those skilled in the art that
It is that these embodiments are used only for explaining the technical principle of the utility model, it is not intended that limit the protection of the utility model
Scope.
It should be noted that in the description of the utility model, term " on ", " under ", "left", "right", "front", "rear" etc.
The direction of instruction or the term of position relationship are based on direction shown in the drawings or position relationship, this, which is intended merely to facilitate, retouches
It states rather than indicates or imply described device or element must have specific orientation, with specific azimuth configuration and operation, because
This is it is not intended that limitation to the utility model.
In addition it is also necessary to explanation, in the description of the utility model, unless otherwise clearly defined and limited, art
Language " setting ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integrally connect
It connects；Can be mechanical connection or electrical connection；It can be directly connected, can also be indirectly connected by intermediary, it can
To be the connection inside two elements.To those skilled in the art, above-mentioned term can be understood at this as the case may be
Concrete meaning in utility model.
Embodiment 1
Referring initially to Fig. 2, Fig. 3 and Fig. 4, Fig. 2 is the structure diagram of the quadrotor unmanned plane of the utility model embodiment；
Fig. 3 is the front view of the quadrotor unmanned plane of the utility model embodiment；Fig. 4 is the propulsive mechanism of the utility model embodiment
Structure diagram.
As shown in Fig. 2, the quadrotor unmanned plane of the utility model includes frame main body 1, the posture for being arranged at frame main body 1
Control mechanism and propulsive mechanism, wherein, the attitude coutrol mechanism includes posture horn 1-1, posture horn 1-2, posture horn
1-3, posture horn 1-4, four posture horns are symmetrical arranged centered on frame main body 1, form " X " font, i.e. adjacent
Angle between posture horn is 90 degree.
As shown in Figure 2,3, the upper surface of the posture horn is flatly provided with horizontal motor 2-1, horizontal motor respectively
2-2, horizontal motor 2-3, horizontal motor 2-4, that be correspondingly connected with respectively with above-mentioned motor is posture rotor 3-1, posture rotor 3-
2nd, posture rotor 3-3, posture rotor 3-4.
As shown in Figures 3 and 4, the propulsive mechanism includes promoting horn 5-1 and promotes horn 5-2, described two pushers
Arm is symmetrical (i.e. through the center of frame main body 1 and perpendicular to the section of paper in Fig. 3) with the vertical section of frame main body 1
It sets.As shown in Fig. 2 clearly, motor vertical 6-1 is symmetrically arranged on the vertical plane of the homonymy of described two propulsion horns
With motor vertical 6-2；The left propulsion rotor 7-1 and right propulsion rotor 7-2 being correspondingly connected with respectively with the motor, and it is described two
Rotor is promoted to rotate in the opposite direction so that the power for acting on frame main body 1 by described two propulsion rotors can be right each other
Claim and therefore cancel out each other, so as to improve the flight stability of unmanned plane.In addition, the barycenter of the propulsive mechanism with it is entire nobody
The barycenter of machine is identical, so as to be combined with above-mentioned reverse rotation, further promotes the flight stability of unmanned plane.
As an example, above-mentioned motor can be 2216 type of brushless motor, posture rotor and propulsion rotor can be 9450 types,
The replacement of other models can also be used.Above-mentioned posture rotor and propulsion rotor are fixed by self-tightening nut with brushless motor, brushless
Motor is linked together by four corresponding horns of hex(agonal)screw.
As shown in Fig. 2, body foot stool 4- is symmetrically fixed in the lower surface of the frame main body 1 with four hex(agonal)screws
1st, body foot stool 4-2, body foot stool 4-3, body foot stool 4-4.The frame main body, horn, rotor and body foot stool are using high
Strength carbon fiber material or other suitable materials.
To realize accurate control, the corresponding brushless motor is fixed with electronic speed regulation meter (not shown).The machine
Frame body, which is equipped with, flies control module, sensor assembly, power management module and battery (not shown).The sensor assembly bag
Include GPS, gyroscope, inertial navigation, visual sensor and barometer (not shown).
To the position and attitude separation control method of the utility model and realize that unmanned plane is each with reference to Fig. 5 and Fig. 6
The operation principle being independently precisely controlled of passage is described briefly.
Wherein, Fig. 5 is the translation force analysis schematic diagram of the quadrotor unmanned plane of the utility model；Fig. 6 is that this practicality is new
The fused controlling schematic diagram of the quadrotor unmanned plane of type.
As shown in Fig. 5 a, 5b, when actually controlling the quadrotor unmanned plane, to the first two posture rotor 3-1 and posture
The lift that rotor 3-2 is provided is F1, F2, be F3 sequentially to the lift that latter two posture rotor 3-3 and posture rotor 3-4 is provided,
F4；To left propulsion rotor 7-1 provide move as F5, be F6 to moving of providing of right propulsions rotor 7-2, its gravity is set to G, is being put down
Flying in movement, four rotors on posture horn provide identical power F1=F2=F3=F4, and meet F1+F2+F3+F4=G,
Either as shown in Figure 5 a by hovering to advance, still as shown in Figure 5 b by proceed to hover, because unmanned plane is in Vertical Square
Upward dynamic balance, so vertical direction does not generate movement, solve the problems, such as it is of the prior art it is flat fly it is high.
On this basis, as shown in Fig. 5 a, 5b, thrust power or brake drag are provided by independent propulsive mechanism, and it is full
Sufficient F5=F6 ≠ 0 generates horizontal acceleration, and then generates speed, realizes unmanned plane movement in the horizontal direction.As shown in fig. 6,
By using fused controlling method, following movements are realized：
First, horizontal movement：F1=F2=F3=F4=G/4, and F5=F6 ≠ 0；
Identical lift F1=F2=F3=F4 to four rotors in the posture mechanism is provided, and meets F1+F2+F3
+ F4=G ensures the dynamic balance of unmanned plane in vertical direction, so that vertical direction does not generate movement.On this basis, by
Independent propulsive mechanism provides power or resistance, and meets F5=F6 ≠ 0, generates horizontal acceleration, and then generates speed, realizes
Unmanned plane movement in the horizontal direction.Wherein, coupled relation is not present with the flat winged direction of motion in altitude channel, and horizontal movement is not
The attitudes vibration of unmanned plane can be generated.Propulsive force is generated due to the use of independent propulsive mechanism, this power can be sufficiently large, can
So that unmanned plane realizes high-speed smooth flight, and it can realize quick start and braking.
2nd, move vertically：F1=F2=F3=F4 ≠ G/4, and F5=F6=0；
Identical lift F1=F2=F3=F4 to four posture rotors in the posture mechanism is provided, and meets F1+
F2+F3+F4 ＞ G or F1+F2+F3+F4 ＜ G, propulsive mechanism do not play a role.Thus the bonding force of entire unmanned plane is vertically upward
Or downwards, realize the movement in vertical direction.
3rd, elevating movement：F1=F2 ≠ F3=F4, and F5=F6=0
Face upward movement：F1=F2>F3=F4, and F5=F6=0；
It bows movement：F1=F2<F3=F4, and F5=F6=0；
Differentiated lift is provided to four posture rotors in the posture mechanism, meets F1=F2 ＜ F3=F4, it is preceding
Side makes a concerted effort to make a concerted effort less than rear side, generates torque of bowing；Meet F1=F2 ＞ F3=F4, front side lift is made a concerted effort more than the conjunction of rear side
Torque is faced upward in power, generation；Propulsive mechanism does not play a role so that unmanned plane is bowed due to front side and the force unbalance of rear side, generation
Torque is faced upward, and then elevating movement occurs.
4th, rolling movement：F1=F4 ≠ F2=F3, and F5=F6=0；
Differentiated lift is provided to four posture rotors in the posture mechanism, meets F1=F4 ＜ F2=F3 or F1
=F4 ＞ F2=F3, propulsive mechanism do not play a role so that unmanned plane generates rolling due to the force unbalance in left side and right side
Torque, and then rolling movement occurs.
5th, yaw/divertical motion：
1) F1=F3 ≠ F2=F4, and F5=F6=0 are met,
Differentiated lift is provided to four posture rotors in the posture mechanism, meets F1=F3 ＞ F2=F4 or F1
=F3 ＜ F2=F4, propulsive mechanism do not play a role so that two pairs of brushless motor speeds on unmanned plane diagonal are identical, generate
Reaction torque acts on body, generates yaw torque, and then generates yawing rotation.
2) F1=F2=F3=F4=G/4, and F5 ≠ F6 are met；
Identical lift F1=F2=F3=F4 to four posture rotors in the posture mechanism is provided, and meets F1+
F2+F3+F4=G, the left-handed wing of propulsive mechanism generate power F5, and the dextrorotation wing generates power F6, and meets F5 ≠ F6, utilizes F5 and F6
Difference generate yaw torque, and then generate yawing rotation.
Above each movement, the method for employing separating treatment independently consider attitude motion and position movement, without examining
Consider interacting between the two, thus solve the problems, such as it is of the prior art it is flat fly it is high.
So far, have been combined preferred embodiment shown in the drawings and describe the technical solution of the utility model, still, this
Field technology personnel are it is easily understood that the scope of protection of the utility model is expressly not limited to these specific embodiments.
Without departing from the utility model principle on the premise of, those skilled in the art can make correlation technique feature equivalent change
Or replace, the technical solution after these are changed or replace it is fallen within the scope of protection of the utility model.
Claims (9)
1. a kind of multi-rotor unmanned aerial vehicle, including frame main body and attitude coutrol mechanism, the attitude coutrol mechanism is fixed to described
Frame main body is made into integration with the frame main body,
It is characterized in that, the multi-rotor unmanned aerial vehicle further include fixed to the frame main body or with frame main body one
Manufactured propulsive mechanism, the propulsive mechanism are included compared with symmetrically arranged two propulsion units of the frame main body, each
Propulsion unit include from the frame main body extend propulsions horn and be arranged on it is described propulsion horn on propulsion rotor with
Rotor drive device is promoted, the propulsion rotor drive device is connected to the propulsion rotor, for driving the propulsion rotor
It rotates.
2. multi-rotor unmanned aerial vehicle according to claim 1, which is characterized in that the attitude coutrol mechanism is included around the machine
Multiple posture control units that frame body is uniformly arranged in the circumferential direction, each posture control unit include extending from the frame main body
Posture horn and the posture rotor and posture rotor drive device that are arranged on the posture horn, the posture rotor drive
Dynamic device is connected to the posture rotor, for driving the posture rotor rotational.
3. multi-rotor unmanned aerial vehicle according to claim 2, which is characterized in that the attitude coutrol mechanism includes 4 postures
Control unit, each the angle between the posture horn of adjacent posture control unit is 90 degree.
4. multi-rotor unmanned aerial vehicle according to claim 1, which is characterized in that during the work time, each that rotor is promoted to drive
Dynamic device driving is corresponding to promote rotor to be rotated along the direction opposite with another propulsion rotor.
5. multi-rotor unmanned aerial vehicle according to claim 1, which is characterized in that described two propulsion rotor drive devices can
It is enough to rotate in opposite direction.
6. the multi-rotor unmanned aerial vehicle according to any one of claim 2 to 5, which is characterized in that the propulsion rotor driving
Device and the posture rotor drive device are each both provided with electronic speed regulation all using brushless motor on the brushless motor
Meter.
7. multi-rotor unmanned aerial vehicle according to claim 6, which is characterized in that be provided in the frame main body and fly control mould
Block, sensor assembly, power management module and battery, the sensor assembly include GPS, gyroscope, inertial navigation, vision and pass
Sensor and barometer.
8. multi-rotor unmanned aerial vehicle according to any one of claim 1 to 5, which is characterized in that the multi-rotor unmanned aerial vehicle
Further include the body foot stool for the bottom for being connected to the frame main body.
9. multi-rotor unmanned aerial vehicle according to claim 8, which is characterized in that the frame main body, posture horn, pusher
Arm, posture rotor promote rotor and body foot stool to be made of high-strength carbon fiber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721271850.0U CN207374661U (en) | 2017-09-29 | 2017-09-29 | Multi-rotor unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721271850.0U CN207374661U (en) | 2017-09-29 | 2017-09-29 | Multi-rotor unmanned aerial vehicle |
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| Publication Number | Publication Date |
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| CN207374661U true CN207374661U (en) | 2018-05-18 |
Family
ID=62337767
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| CN201721271850.0U Active CN207374661U (en) | 2017-09-29 | 2017-09-29 | Multi-rotor unmanned aerial vehicle |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107856850A (en) * | 2017-09-29 | 2018-03-30 | 中国科学院自动化研究所 | Multi-rotor unmanned aerial vehicle and its control method |
| CN108839795A (en) * | 2018-08-01 | 2018-11-20 | 辽宁壮龙无人机科技有限公司 | A kind of Level Promoting multi-rotor unmanned aerial vehicle and control method |
| CN109533306A (en) * | 2018-11-15 | 2019-03-29 | 中国直升机设计研究所 | A kind of full angle vision stealthy aircraft |
| CN110667832A (en) * | 2019-10-01 | 2020-01-10 | 西安爱生技术集团公司 | Gradient control method for vertical pitching attitude of sixteen-rotor aircraft |
| CN113037147A (en) * | 2021-03-16 | 2021-06-25 | 北京清航紫荆装备科技有限公司 | Many rotor unmanned aerial vehicle machine carries circuit |
-
2017
- 2017-09-29 CN CN201721271850.0U patent/CN207374661U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107856850A (en) * | 2017-09-29 | 2018-03-30 | 中国科学院自动化研究所 | Multi-rotor unmanned aerial vehicle and its control method |
| CN108839795A (en) * | 2018-08-01 | 2018-11-20 | 辽宁壮龙无人机科技有限公司 | A kind of Level Promoting multi-rotor unmanned aerial vehicle and control method |
| CN109533306A (en) * | 2018-11-15 | 2019-03-29 | 中国直升机设计研究所 | A kind of full angle vision stealthy aircraft |
| CN110667832A (en) * | 2019-10-01 | 2020-01-10 | 西安爱生技术集团公司 | Gradient control method for vertical pitching attitude of sixteen-rotor aircraft |
| CN113037147A (en) * | 2021-03-16 | 2021-06-25 | 北京清航紫荆装备科技有限公司 | Many rotor unmanned aerial vehicle machine carries circuit |
| CN113037147B (en) * | 2021-03-16 | 2023-08-15 | 北京清航紫荆装备科技有限公司 | Multi-rotor unmanned aerial vehicle airborne circuit |
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