CN114148513B - Unmanned aerial vehicle take-off and landing platform and unmanned aerial vehicle take-off and landing system - Google Patents
Unmanned aerial vehicle take-off and landing platform and unmanned aerial vehicle take-off and landing system Download PDFInfo
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/20—Rotorcraft characterised by having shrouded rotors, e.g. flying platforms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/82—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D5/00—Aircraft transported by aircraft, e.g. for release or reberthing during flight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/007—Helicopter portable landing pads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/82—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft
- B64C2027/8263—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft comprising in addition rudders, tails, fins, or the like
- B64C2027/8272—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft comprising in addition rudders, tails, fins, or the like comprising fins, or movable rudders
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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Abstract
The invention belongs to the field of launching and recycling of a vertical take-off and landing fixed-wing unmanned aerial vehicle, in particular to an unmanned aerial vehicle take-off and landing platform and an unmanned aerial vehicle take-off and landing system, which are mainly used for realizing the vertical take-off and landing of the fixed-wing unmanned aerial vehicle. In the invention, a take-off and landing platform of the unmanned aerial vehicle is provided with a duct fan; the unmanned aerial vehicle lifting platform is provided with an unmanned aerial vehicle collecting and releasing groove at the upper end for carrying the unmanned aerial vehicle; the ducted fan enables the unmanned aerial vehicle take-off and landing platform to move and cooperate with the unmanned aerial vehicle to take off or land at a specified height and a specified speed. The unmanned aerial vehicle landing platform is independently designed for assisting the unmanned aerial vehicle to vertically land, and is essentially an unmanned aerial vehicle with a ducted fan, the unmanned aerial vehicle has a vertical landing function, and the unmanned aerial vehicle with the fixed wing is carried to vertically take off and land. The problems that the fixed wing unmanned aerial vehicle depends on an environment field and needs a long-distance runway are solved, and the problems that the current compound unmanned aerial vehicle system is redundant and the pneumatic efficiency is low are solved.
Description
Technical Field
The invention belongs to the field of launching and recycling of a vertical take-off and landing fixed-wing unmanned aerial vehicle, in particular to an unmanned aerial vehicle take-off and landing platform and an unmanned aerial vehicle take-off and landing system, which are mainly used for realizing the vertical take-off and landing of the fixed-wing unmanned aerial vehicle.
Background
Due to the fact that the cruising efficiency of the fixed wing is high, the fixed wing short-distance vertical take-off and landing is more economic and military. In order to realize the vertical take-off and landing of the fixed wing aircraft, the thrust-weight ratio of the aircraft must be greater than 1 (generally 1.3-1.5), which greatly limits the mission load and the fuel load of the aircraft; secondly, a complex and reliable thrust steering mechanism is provided; and the problem of complex aircraft attitude control in the vertical take-off and landing process is also required to be solved, and the vertical take-off and landing and the high-efficiency high-speed cruising are a pair of contradictors.
The publication number CN111152920a discloses a vertically-lifting unmanned aerial vehicle, which comprises: the fixed wing system comprises wings respectively positioned at the left side and the right side of the middle part of the unmanned aerial vehicle body, and a tail wing arranged at the rear of the unmanned aerial vehicle body, wherein a tail rod is connected between the tail wing and the unmanned aerial vehicle body; the tail inclined pushing support frame is vertically arranged on the tail rod; the fixed wing propelling device is arranged at the upper end of the tail oblique pushing support frame, operates in a fixed wing mode in the flight process of the unmanned aerial vehicle, and outputs driving force to drive the unmanned aerial vehicle to fly; the vertical take-off and landing system is arranged on the unmanned aerial vehicle body, operates in a vertical take-off and landing mode in the take-off and/or landing process of the unmanned aerial vehicle, and drives the propeller to rotate so as to drive the unmanned aerial vehicle to take off or land; wherein, the vertical take-off and landing system includes: the carbon fiber pipes comprise 4 carbon fiber pipes which are respectively and fixedly connected with the unmanned aerial vehicle body, and the 4 carbon fiber pipes are respectively and symmetrically arranged at the left side and the right side of the unmanned aerial vehicle body; the motor mounting plates are respectively and horizontally arranged at the far ends of the carbon fiber pipes, and are parallel to the unmanned aerial vehicle body; a motor fixed to each of the motor mounting plates, having a motor shaft for outputting torque; the propeller driving shafts are respectively connected with motor shafts of the motors, are vertically upwards arranged on a motor mounting plate of the unmanned aerial vehicle and are driven to run by the motor shafts; the propellers are respectively connected to the tops of the propeller driving shafts, and are driven by motors to horizontally rotate so as to drive the unmanned aerial vehicle to take off or land.
In the patent, a mode of a compound unmanned aerial vehicle is adopted, a fixed wing system and a vertical take-off and landing system are arranged on the unmanned aerial vehicle body at the same time, and the unmanned aerial vehicle is controlled to run in a vertical take-off and landing mode during take-off and landing, and take-off or landing is carried out through the vertical take-off and landing system; in the process that the unmanned aerial vehicle ascends to a certain height to fly, the unmanned aerial vehicle is controlled to run in a fixed wing mode, and the unmanned aerial vehicle is driven to fly by outputting driving force through the fixed wing propelling device which is obliquely arranged. However, in this patent, to realize the above-mentioned vertical take-off, additional devices (carbon fiber tube, motor mounting plate, propeller driving shaft, propeller, etc.) must be added on the unmanned aerial vehicle, the gravity of the unmanned aerial vehicle itself is increased, in the flight process, to make the unmanned aerial vehicle normally run, the proportional relationship between the lift force of unmanned aerial vehicle and gravity must be a very big influencing factor, and in the circumstances that unmanned aerial vehicle gravity is great, it is necessary to provide bigger lift force so that unmanned aerial vehicle normally flies, this greatly limits unmanned aerial vehicle's mission load and fuel loading.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle take-off and landing platform and an unmanned aerial vehicle take-off and landing system, which are mainly used for realizing vertical take-off and landing of a fixed-wing unmanned aerial vehicle.
The application aims to solve the technical problems and provides an unmanned aerial vehicle take-off and landing platform, wherein the unmanned aerial vehicle take-off and landing platform is provided with a duct fan; the unmanned aerial vehicle lifting platform is provided with an unmanned aerial vehicle collecting and releasing groove at the upper end for carrying the unmanned aerial vehicle; the ducted fan enables the unmanned aerial vehicle take-off and landing platform to move and cooperate with the unmanned aerial vehicle to take off or land at a specified height and a specified speed.
According to the application, an unmanned aerial vehicle taking-off and landing platform for assisting the unmanned aerial vehicle to take off and land vertically is independently designed, the unmanned aerial vehicle taking-off and landing platform is essentially an unmanned aerial vehicle with a ducted fan, the unmanned aerial vehicle taking-off and landing platform is provided with a vertical taking-off and landing function and a retraction mechanism of the unmanned aerial vehicle with a fixed wing, the unmanned aerial vehicle taking-off and landing of the fixed wing is guaranteed, the unmanned aerial vehicle taking-off with the fixed wing is carried, and the landing problem of the unmanned aerial vehicle taking-off is completed, wherein the unmanned aerial vehicle taking-off and landing platform rotates to fly horizontally after the unmanned aerial vehicle is carried to ascend vertically and accelerate or decelerate synchronously with the unmanned aerial vehicle, which is equivalent to an aerial 'moving runway', the unmanned aerial vehicle taking-off and landing at a designated height and speed are realized, the problems that the unmanned aerial vehicle with the fixed wing depends on an environmental site and needs a long-distance runway are solved, and the problems of redundancy of a current compound unmanned aerial vehicle system and low pneumatic efficiency are solved.
Preferably, the ducted fan is provided with a slipstream rudder for controlling the pitch of the unmanned aerial vehicle take-off and landing platform.
Preferably, the ducted fans are provided in a plurality, and are symmetrically arranged on two sides of the take-off and landing platform of the unmanned aerial vehicle respectively, and the ducted fans can be controlled independently.
Preferably, the unmanned aerial vehicle take-off and landing platform comprises side supporting parts arranged on two sides and used for supporting the unmanned aerial vehicle take-off and landing platform on the ground.
The application also provides an unmanned aerial vehicle take-off system, which comprises an unmanned aerial vehicle and the unmanned aerial vehicle take-off and landing platform; the method for taking off and landing the unmanned aerial vehicle by moving the unmanned aerial vehicle and matching the unmanned aerial vehicle at the specified height and the specified speed comprises the following steps:
S1, carrying the unmanned aerial vehicle on the unmanned aerial vehicle take-off and landing platform to vertically ascend until reaching the specified height;
S2, the unmanned aerial vehicle take-off and landing platform adjusts the flight attitude until reaching a horizontal flight state;
S3, carrying the unmanned aerial vehicle on the unmanned aerial vehicle take-off and landing platform for horizontal acceleration;
S4, increasing the take-off and landing platform of the unmanned aerial vehicle and the forward flying speed of the unmanned aerial vehicle, so that the lifting force of the unmanned aerial vehicle is larger than the gravity of the unmanned aerial vehicle, and the unmanned aerial vehicle is separated from the take-off and landing platform of the unmanned aerial vehicle to finish take-off.
Preferably, in the method that the unmanned aerial vehicle takes off and land on the platform and moves together with the unmanned aerial vehicle to take off at a specified height and speed, the step S1 includes:
S0. adjusting a ducted fan of the unmanned aerial vehicle take-off and landing platform to be in a vertical state.
Preferably, in the method that the unmanned aerial vehicle takes off and land on the platform and moves together with the unmanned aerial vehicle to take off at a specified height and a specified speed, in the step S2, the ducted fan of the unmanned aerial vehicle taking off and land on the platform is adjusted to be changed from a vertical state to a horizontal state, so that the flight attitude of the unmanned aerial vehicle taking off and land on the platform is adjusted.
Preferably, in the method that the unmanned aerial vehicle takes off and land on the platform and moves together with the unmanned aerial vehicle to take off at a specified height and a specified speed, in step S3, the lift force of the unmanned aerial vehicle taking off and land on the platform is adjusted to be equal to the gravity of the unmanned aerial vehicle.
The application also provides an unmanned aerial vehicle landing system, which comprises an unmanned aerial vehicle and the unmanned aerial vehicle landing platform; the method for landing the unmanned aerial vehicle at the specified height and at the specified speed by moving the unmanned aerial vehicle take-off and landing platform comprises the following steps:
t1, vertically lifting the unmanned aerial vehicle take-off and landing platform until the specified speed is reached;
t2, adjusting the flight attitude of the unmanned aerial vehicle take-off and landing platform until reaching a horizontal flight state;
T3, adjusting the take-off and landing platform of the unmanned aerial vehicle and the unmanned aerial vehicle to be positioned at the same height; adjusting the speeds of the unmanned aerial vehicle take-off and landing platform and the unmanned aerial vehicle to be the appointed speed;
T4, the unmanned aerial vehicle is in butt joint with the unmanned aerial vehicle take-off and landing platform;
t5, adjusting the flight attitude of the unmanned aerial vehicle take-off and landing platform until the unmanned aerial vehicle reaches a vertical landing state;
and T6, carrying the unmanned aerial vehicle on the unmanned aerial vehicle take-off and landing platform to vertically descend until falling to the ground.
Preferably, the unmanned aerial vehicle landing system further comprises a unified dispatching platform, and in the step T3, position sharing and communication between the unmanned aerial vehicle landing platform and the unmanned aerial vehicle are achieved through adjustment of the unified dispatching platform.
The invention has the following technical effects:
1. Deflection of the slipstream rudder of the ducted fan is used for controlling pitching of the unmanned aerial vehicle take-off and landing platform, so that the unmanned aerial vehicle take-off and landing platform can take off and land vertically when the slipstream rudder of the ducted fan is in a vertical state, and then the unmanned aerial vehicle is carried to realize vertical take-off and landing. And the conversion between vertical flight and horizontal flight of the unmanned aerial vehicle take-off and landing platform can be controlled by controlling the deflection of the slipstream rudder so as to meet different requirements.
2. The ducted fans are arranged in a plurality, power support and attitude control are provided for the unmanned aerial vehicle take-off and landing platform together, and the ducted fans are symmetrically arranged on two sides of the unmanned aerial vehicle take-off and landing platform and can ensure balance of the unmanned aerial vehicle take-off and landing platform during flight.
3. The side support portions on two sides of the unmanned aerial vehicle take-off and landing platform can be used as supporting feet, so that the unmanned aerial vehicle take-off and landing platform stably falls on the ground, and meanwhile, the unmanned aerial vehicle take-off and landing platform can be used as a wing tip end plate, and cruising efficiency is improved.
4. The unmanned aerial vehicle taking-off and landing platform carrying unmanned aerial vehicle vertically rises under the condition that the ducted fan is vertical (the slipstream rudder is in a vertical state), the ducted fan controls the unmanned aerial vehicle taking-off and landing platform to be changed into a horizontal flight state from a vertical flight state through self deflection, and when the ducted fan enters the horizontal flight state, the unmanned aerial vehicle carrying the ducted fan is accelerated immediately, and the unmanned aerial vehicle carrying the ducted fan is synchronously accelerated, so that the unmanned aerial vehicle can run up and take off on the unmanned aerial vehicle taking-off and landing platform. When the unmanned aerial vehicle is a fixed wing unmanned aerial vehicle, the problem that the fixed wing unmanned aerial vehicle needs a longer runway to take off can be solved, so that the dependence on the condition of a take-off field is reduced.
5. In the unmanned aerial vehicle take-off process, in step S3, adjust unmanned aerial vehicle take-off and landing platform 'S lift equals self gravity, guarantee that unmanned aerial vehicle take-off and landing platform can not have rising or decline trend in horizontal flight in-process, be convenient for realize unmanned aerial vehicle' S running-up process on "horizontal plane".
6. In the landing process of the unmanned aerial vehicle, the unmanned aerial vehicle take-off and landing platform vertically takes off to a designated height and is used for realizing the butt joint with the unmanned aerial vehicle in the air, wherein the positions, the speeds and the like of the unmanned aerial vehicle take-off and landing platform and the unmanned aerial vehicle are respectively adjusted through the unified scheduling platform during the butt joint, and the butt joint is realized when the unmanned aerial vehicle take-off and landing platform and the unmanned aerial vehicle are adjusted to be at the same height and the speed is the designated speed. Wherein, here appointed speed refers to unmanned aerial vehicle take off and land platform and unmanned aerial vehicle's relative acceleration difference is less (approach to 0) speed, is convenient for improve unmanned aerial vehicle and connects the stability on the unmanned aerial vehicle take off and land platform. After the docking is successful, the unmanned aerial vehicle taking-off and landing platform carries the unmanned aerial vehicle to vertically land to a designated position. The landing process also eliminates the problem of coasting through long runways and reduces reliance on take-off site conditions.
Drawings
Fig. 1 is a structural diagram of an unmanned aerial vehicle landing platform.
FIG. 2 is a diagram of a ducted fan configuration.
Fig. 3 is a structure diagram of the connection between the unmanned aerial vehicle accommodating groove and the butt joint part.
Fig. 4 is a schematic view of taking off an unmanned aerial vehicle carried by the unmanned aerial vehicle take-off and landing platform.
Fig. 5 is a schematic landing view of an unmanned aerial vehicle carried by the unmanned aerial vehicle landing platform.
Fig. 6 is a flowchart of the unmanned aerial vehicle take-off and landing platform carrying the unmanned aerial vehicle take-off.
Fig. 7 is a flowchart of unmanned aerial vehicle landing on the unmanned aerial vehicle landing platform.
Wherein 1-an unmanned aerial vehicle takes off and land platform; 1-1-ducted fans; 1-11-slipstream rudder; 1-2-unmanned aerial vehicle collecting and releasing groove; 1-21-fixing a clamping block; 1-22-elastic members; 1-3-side support portions; 2-unmanned aerial vehicle; 2-1-butt joint part; 2-11-fixing groove.
Detailed Description
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Unless defined otherwise, all terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It will be further understood that the terms used in the specification should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and this disclosure. The present disclosure is to be considered as an exemplification of the invention and is not intended to limit the invention to the specific embodiments illustrated.
Example 1
The embodiment provides an unmanned aerial vehicle take-off and landing platform, wherein a duct fan 1-1 is arranged on the unmanned aerial vehicle take-off and landing platform 1; the upper end of the unmanned aerial vehicle take-off and landing platform 1 is provided with an unmanned aerial vehicle collecting and releasing groove 1-2 for carrying the unmanned aerial vehicle 2; the ducted fan 1-1 enables the unmanned aerial vehicle take-off and landing platform 1 to move and match with the unmanned aerial vehicle 2 to take off or land at a specified height and a specified speed.
In this embodiment, as shown in fig. 1, the unmanned aerial vehicle take-off and landing platform 1 is provided with a ducted fan 1-1, which is equivalent to a ducted fan unmanned aerial vehicle, so that the unmanned aerial vehicle take-off and landing platform 1 can vertically take-off and land without a runway, an emitter and a recovery device as in a fixed wing unmanned aerial vehicle, and after vertical take-off, the unmanned aerial vehicle take-off and landing platform 1 is transferred from a vertical state to a flat flight state through tilting the ducted fan and flies at a high speed. The fixed wing unmanned aerial vehicle 2 is mainly used for carrying the fixed wing unmanned aerial vehicle 2 to realize vertical take-off and landing, and during take-off, the fixed wing unmanned aerial vehicle 2 is firstly carried to vertically lift, and then is turned to fly flatly after rising to a designated height, which is equivalent to an 'air moving runway', and the runway is provided for the fixed wing unmanned aerial vehicle 2, so that the fixed wing unmanned aerial vehicle 2 can take-off on the unmanned aerial vehicle take-off and landing platform 1. During landing, the fixed wing unmanned aerial vehicle 2 and the unmanned aerial vehicle take-off and landing platform 1 are in butt joint in the air, and then the vertical landing of the carrying unmanned aerial vehicle 2 is realized through the ducted fan of the tilting unmanned aerial vehicle take-off and landing platform 1.
In this embodiment, the take-off and landing at the specified height are determined according to a specific environment, when the unmanned aerial vehicle take-off and landing platform 1 is ensured to rise to a certain height, the height can be specified as the specified height through the operation terminal when no shielding object exists around the unmanned aerial vehicle take-off and landing platform 1 in the horizontal direction, and then the unmanned aerial vehicle take-off and landing platform 1 is controlled to enter a process of turning flat and flying; in the take-off process, the specified speed means that the unmanned aerial vehicle 2 is carried on the unmanned aerial vehicle take-off and landing platform 1 to accelerate in a plane flight, the unmanned aerial vehicle 2 generates lifting force in the acceleration process, when the lifting force of the unmanned aerial vehicle 2 is greater than the gravity of the unmanned aerial vehicle 2 in the acceleration process, the unmanned aerial vehicle 2 takes off from the unmanned aerial vehicle take-off and landing platform 1, namely the speed is determined to be the specified speed in the take-off process; in the landing process, the specified speed means that when the unmanned aerial vehicle 2 and the unmanned aerial vehicle take-off and landing platform 1 are in butt joint in the air, the relative acceleration difference between the unmanned aerial vehicle 2 and the unmanned aerial vehicle take-off and landing platform 1 is small (approaching to 0), and the speeds required by normal plane flight can be maintained to be the specified speeds.
The ducted fan 1-1 is provided with a slipstream rudder 1-11 for controlling the pitching of the unmanned aerial vehicle take-off and landing platform 1. As shown in fig. 2, specifically, the slipstream rudder 1-11 is disposed behind the ducted fan 1-1, and the angle thereof is adjustable, that is, the pitching motion of the unmanned aerial vehicle landing platform 1 is controlled by controlling the deflection of the slipstream rudder 1-11 behind the ducted fan 1-1, and the flight direction of the unmanned aerial vehicle landing platform 1 is controlled. In this embodiment, the ducted fans 1-1 are provided in plurality, and are symmetrically disposed on two sides of the unmanned aerial vehicle landing platform 1, respectively, and the ducted fans 1-1 can be controlled independently. The slipstream rudder 1-11 of the ducted fan 1-1 is in a vertical state (the ducted fan 1-1 is in a vertical state), so that vertical take-off of the unmanned aerial vehicle take-off and landing platform 1 can be realized by providing vertical take-off gesture control for the unmanned aerial vehicle take-off and landing platform 1; the slipstream rudder 1-11 of the ducted fan 1-1 is in a horizontal state (the ducted fan 1-1 is in a horizontal state), so that the plane flying attitude control is provided for the unmanned aerial vehicle take-off and landing platform 1, and the unmanned aerial vehicle take-off and landing platform 1 can realize plane flying.
In addition, in this embodiment, the unmanned aerial vehicle take-off and landing platform 1 includes side supporting portions 1-3 provided on both sides for supporting the unmanned aerial vehicle take-off and landing platform 1 on the ground. Be equivalent to unmanned aerial vehicle landing platform 1's stabilizer blade, can make unmanned aerial vehicle landing platform 1 fall subaerial stability, and this side supporting part 1-3 also can regard as unmanned aerial vehicle landing platform 1's wing tip end plate, improves cruising efficiency. In this embodiment, the ducted fans 1-1 are disposed on side supporting portions 1-3 on two sides of the unmanned aerial vehicle landing platform 1.
Example two
The embodiment provides an unmanned aerial vehicle take-off system, as shown in fig. 4 and 6, comprising an unmanned aerial vehicle 2 and an unmanned aerial vehicle take-off and landing platform in the first embodiment; the method for moving the unmanned aerial vehicle take-off and landing platform 1 to cooperate with the unmanned aerial vehicle 2 to take off at the specified height and the specified speed comprises the following steps:
s1, carrying the unmanned aerial vehicle 2 on the unmanned aerial vehicle take-off and landing platform 1 to vertically ascend until reaching a specified height;
S2, the unmanned aerial vehicle take-off and landing platform 1 adjusts the flight attitude until reaching a horizontal flight state;
s3, carrying the unmanned aerial vehicle on the unmanned aerial vehicle take-off and landing platform 1 for horizontal acceleration;
s4, increasing the forward flight speed of the unmanned aerial vehicle take-off and landing platform 1 and the unmanned aerial vehicle 2, so that the lifting force of the unmanned aerial vehicle 2 is greater than the gravity of the unmanned aerial vehicle 2, and the unmanned aerial vehicle 2 is separated from the unmanned aerial vehicle take-off and landing platform 1 to finish take-off.
The unmanned aerial vehicle 2 in this embodiment adopts fixed wing unmanned aerial vehicle, and fixed wing unmanned aerial vehicle 2 has the high-speed high-efficient characteristics of cruising, and the unmanned aerial vehicle take off and land the characteristics that platform 1 can take off perpendicularly have solved the fixed wing unmanned aerial vehicle 2 and have relied on environmental site, need long distance runway's problem, and both combine, satisfy high-speed high efficiency promptly, do not need too much consideration environmental factor again.
In the method that the unmanned aerial vehicle takes off and land on platform 1 and cooperates with the unmanned aerial vehicle 2 to take off at a specified height and a specified speed, the step S1 includes: s0. adjusting the ducted fan 1-1 of the unmanned aerial vehicle take-off and landing platform 1 to be in a vertical state. Namely, the unmanned aerial vehicle taking-off and landing platform 1 can realize the vertical take-off of the carrying unmanned aerial vehicle 2 only when the ducted fan 1-1 is in a vertical state. In general, the ducted fan 1-1 of the unmanned aerial vehicle landing platform 1 that has not yet taken off is in a vertical state. In step S1, the flying height of the unmanned aerial vehicle taking-off and landing platform 1 is determined according to specific environments, and different taking-off heights when the unmanned aerial vehicle taking-off and landing platform 1 is carried with the unmanned aerial vehicle 2 are determined according to different environmental characteristics.
In the method that the unmanned aerial vehicle takes off and land on platform 1 moves to cooperate with the unmanned aerial vehicle 2 to take off at the appointed height and the appointed speed, in the step S2, the ducted fan 1-1 of the unmanned aerial vehicle taking off and land on platform 1 is adjusted to be changed into a horizontal state from a vertical state, so that the flight attitude of the unmanned aerial vehicle taking off and land on platform 1 is adjusted. Step S3 is carried out to accelerate when the unmanned aerial vehicle enters a horizontal flight state, the unmanned aerial vehicle 2 carried on the unmanned aerial vehicle take-off and landing platform 1 is synchronously accelerated, and at the moment, the unmanned aerial vehicle take-off and landing platform 1 is equivalent to an air moving runway and provides conditions for take-off of the unmanned aerial vehicle 2. In the method that the unmanned aerial vehicle takes off and land on platform 1 moves and cooperates with unmanned aerial vehicle 2 to take off at the appointed height and the appointed speed, in step S3, the lift force of unmanned aerial vehicle take off and land on platform 1 is adjusted to be equal to the gravity of the unmanned aerial vehicle. The unmanned aerial vehicle taking-off and landing platform 1 can be guaranteed to fly horizontally, and the function of an air moving runway can be realized. After a period of horizontal acceleration, the unmanned aerial vehicle 2 reaches the requirement of taking off, namely in step S4, when the lifting force of the unmanned aerial vehicle 2 is greater than the gravity, the unmanned aerial vehicle 2 automatically pops up from the unmanned aerial vehicle take-off and landing platform 1, and the unmanned aerial vehicle takes-off and landing platform 1 realizes the flight relatively, so that the whole unmanned aerial vehicle 2 takes off process is completed.
Example III
The embodiment provides an unmanned aerial vehicle landing system, as shown in fig. 5 and 7, comprising an unmanned aerial vehicle 2 and an unmanned aerial vehicle landing platform described in the first embodiment; the method for moving the unmanned aerial vehicle take-off and landing platform 1 to match the unmanned aerial vehicle 2 to land at the specified height and the specified speed comprises the following steps:
T1, the unmanned aerial vehicle take-off and landing platform 1 vertically ascends until reaching a specified height;
T2, adjusting the flight attitude of the unmanned aerial vehicle take-off and landing platform 1 until reaching a horizontal flight state;
t3, adjusting the unmanned aerial vehicle take-off and landing platform 1 and the unmanned aerial vehicle 2 to be positioned at the same height; adjusting the speeds of the unmanned aerial vehicle take-off and landing platform 1 and the unmanned aerial vehicle 2 to be the specified speed;
t4. the unmanned aerial vehicle 2 is in butt joint with the unmanned aerial vehicle take-off and landing platform 1;
T5, adjusting the flight attitude of the unmanned aerial vehicle take-off and landing platform 1 until the vertical landing state is reached;
and T6, carrying the unmanned aerial vehicle 2 on the unmanned aerial vehicle take-off and landing platform 1 to vertically descend until the unmanned aerial vehicle falls to the ground.
In this embodiment, when realizing unmanned aerial vehicle 2 vertical landing, at first realize unmanned aerial vehicle take-off and land platform 1 and unmanned aerial vehicle 2 dock in the sky, during the dock, unmanned aerial vehicle take-off and land platform 1 and unmanned aerial vehicle 2's relative acceleration want to control in less scope (be in 0 of approaching) to prevent unmanned aerial vehicle 2 from sliding on unmanned aerial vehicle take-off and land platform 1, and influence unmanned aerial vehicle take-off and land platform 1 and carry on unmanned aerial vehicle 2's safety. After the docking is successful, the unmanned aerial vehicle take-off and landing platform 1 carries the unmanned aerial vehicle 2 to vertically land. When the unmanned aerial vehicle 2 in the embodiment adopts the fixed wing unmanned aerial vehicle, the fixed wing unmanned aerial vehicle 2 is directly realized to land on the movable unmanned aerial vehicle take-off and landing platform 1 in the air in the butt joint process, and the problem that the fixed wing unmanned aerial vehicle 2 needs to slide on a long runway to stop flying when landing can be solved.
Specifically, in this embodiment, before the step T1, the method includes: TO. adjust the ducted fan 1-1 to be in a vertical state. The vertical take-off of the unmanned aerial vehicle take-off and landing platform 1 is convenient to realize. In step T2, the adjustment of the flight attitude of the unmanned aerial vehicle take-off and landing platform 1 is achieved by adjusting the ducted fan 1-1 to change from a vertical state to a horizontal state. In the horizontal flight process of the unmanned aerial vehicle take-off and landing platform 1, the unmanned aerial vehicle take-off and landing platform 1 and the unmanned aerial vehicle 2 are controlled to gradually approach in the height direction and the horizontal direction, when the unmanned aerial vehicle take-off and landing platform 1 is controlled to be positioned right below the unmanned aerial vehicle 2, the step T3 is entered, when the unmanned aerial vehicle take-off and landing platform 1 and the unmanned aerial vehicle 2 are positioned at the same height and the speed of the unmanned aerial vehicle take-off and landing platform 1 and the unmanned aerial vehicle 2 is a designated speed, the step T4 is entered immediately, and the air docking process is completed. In this embodiment, the unmanned aerial vehicle landing system further includes a unified scheduling platform, and in step T3, position sharing and communication between the unmanned aerial vehicle landing platform 1 and the unmanned aerial vehicle 2 are achieved through adjustment of the unified scheduling platform.
After the aerial docking of the unmanned aerial vehicle 2 and the unmanned aerial vehicle take-off and landing platform 1 is completed, in the step T5, the unmanned aerial vehicle take-off and landing platform 1 carries the unmanned aerial vehicle 2 to fly above the formulated landing position, the ducted fan 1-1 is timely adjusted to gradually become in a vertical state in the flying process, and then the step T6 is entered, so that the unmanned aerial vehicle take-off and landing platform 1 carries the unmanned aerial vehicle 2 to vertically land to the formulated landing position.
Example IV
The embodiment provides a loading mode of unmanned aerial vehicle taking-off and landing platform loading unmanned aerial vehicle, including unmanned aerial vehicle 2 and unmanned aerial vehicle taking-off and landing platform 1 in the above-mentioned embodiment two, embodiment three, wherein, dock in putting into unmanned aerial vehicle take-up and pay-off groove 1-2 on unmanned aerial vehicle taking-off and landing platform 1 with unmanned aerial vehicle 2's lower extreme. As shown in fig. 3, specifically, a docking portion 2-1 is provided at the lower end of the unmanned aerial vehicle 2, the docking portion 2-1 is matched with the unmanned aerial vehicle receiving and releasing groove 1-2, wherein a fixing groove 2-11 is provided on the docking portion 2-1, fixing clamping blocks 1-21 are mounted on two side walls of the unmanned aerial vehicle receiving and releasing groove 1-2, and the fixing clamping blocks 1-21 are matched with the fixing groove 2-11. One end of the fixed clamping block 1-21, which is far away from the unmanned aerial vehicle retraction groove 1-2, is provided with an elastic piece 1-22 which can stretch towards two sides. In the take-off process of the specific unmanned aerial vehicle take-off and landing platform 1 carrying unmanned aerial vehicle 2, the separation process of the unmanned aerial vehicle 2 and the unmanned aerial vehicle take-off and landing platform 1 is as follows: when the lifting force of the unmanned aerial vehicle 2 is greater than the gravity, the lower end of the butting part 2-1 of the unmanned aerial vehicle 2 applies upward extrusion force to the fixed clamping blocks 1-21 on the side wall of the unmanned aerial vehicle accommodating groove 1-2, the extrusion force enables the fixed clamping blocks 1-21 to be compressed towards two sides, the lower end of the butting part 2-1 of the unmanned aerial vehicle is further enabled to be separated from the limit of the fixed clamping blocks 1-21, and then the unmanned aerial vehicle 2 is enabled to be separated from the unmanned aerial vehicle take-off and landing platform 1, so that take-off of the unmanned aerial vehicle 2 is realized; the docking process of the unmanned aerial vehicle 2 and the unmanned aerial vehicle take-off and landing platform 1 is as follows: the lower end of the docking part 2-1 of the unmanned aerial vehicle 2 applies downward extrusion force to the fixed clamping blocks 1-21 on the two side walls of the unmanned aerial vehicle collecting and releasing groove 1-2 (the distance between the fixed clamping blocks 1-21 on the two sides is larger than the width or the diameter of the docking part 2-1 under the original state), the extrusion force enables the fixed clamping blocks 1-21 to be compressed towards the two sides, the docking groove of the docking part 2-1 is located in the middle part of the docking part 2-1, the fixed clamping blocks 1-21 are extruded at the lower end of the docking part 2-1 to move towards the bottom of the unmanned aerial vehicle collecting and releasing groove 1-2, the part of the fixed clamping blocks 2-11 on the docking part 2-1 is gradually close to the fixed clamping blocks 1-21, the extrusion force of the plurality of fixed clamping blocks 1-21 on the docking part 2-1 at the fixed groove 2-11 is reduced, and then the fixed sliding blocks on the two side walls of the unmanned aerial vehicle 1-2 are gradually restored towards the middle of the unmanned aerial vehicle collecting and releasing groove 1-2 under the action of the elastic piece 1-22, and clamped in the fixed groove 2-11, so that the unmanned aerial vehicle collecting and releasing platform 1 is realized.
While embodiments of the present invention have been described, various modifications and adaptations may be made by one of ordinary skill in the art within the scope of the following claims.
Claims (1)
1. An unmanned aerial vehicle system of taking off which characterized in that: the unmanned aerial vehicle comprises an unmanned aerial vehicle and an unmanned aerial vehicle take-off and landing platform;
the unmanned aerial vehicle take-off and landing platform is provided with a duct fan; the unmanned aerial vehicle lifting platform is provided with an unmanned aerial vehicle collecting and releasing groove at the upper end for carrying the unmanned aerial vehicle; the ducted fan enables the unmanned aerial vehicle take-off and landing platform to move and cooperate with the unmanned aerial vehicle to take off or land at a specified height and a specified speed; the ducted fan is provided with a slipstream rudder and is used for controlling the pitching of the unmanned aerial vehicle take-off and landing platform; the plurality of ducted fans are symmetrically arranged on two sides of the unmanned aerial vehicle docking platform respectively, and the ducted fans can be controlled independently; the unmanned aerial vehicle take-off and landing platform comprises side supporting parts arranged on two sides and used for supporting the unmanned aerial vehicle take-off and landing platform on the ground;
The method for taking off and landing the unmanned aerial vehicle by moving the unmanned aerial vehicle and matching the unmanned aerial vehicle at the specified height and the specified speed comprises the following steps:
s0. adjusting a ducted fan of the unmanned aerial vehicle take-off and landing platform to be in a vertical state;
S1, carrying the unmanned aerial vehicle on the unmanned aerial vehicle take-off and landing platform to vertically ascend until reaching the specified height;
S2, the unmanned aerial vehicle take-off and landing platform adjusts the flight attitude until reaching a horizontal flight state; s2, adjusting the flight attitude of the unmanned aerial vehicle take-off and landing platform by adjusting the transition of a ducted fan of the unmanned aerial vehicle take-off and landing platform from a vertical state to a horizontal state;
s3, carrying the unmanned aerial vehicle on the unmanned aerial vehicle take-off and landing platform for horizontal acceleration; s3, adjusting the lifting force of the unmanned aerial vehicle lifting platform to be equal to the gravity of the unmanned aerial vehicle lifting platform;
s4, increasing the take-off and landing platform of the unmanned aerial vehicle and the forward flying speed of the unmanned aerial vehicle, so that the lifting force of the unmanned aerial vehicle is larger than the gravity of the unmanned aerial vehicle, and the unmanned aerial vehicle is separated from the take-off and landing platform of the unmanned aerial vehicle to finish take-off;
The method for landing the unmanned aerial vehicle at the specified height and at the specified speed by moving the unmanned aerial vehicle take-off and landing platform comprises the following steps:
t1, the unmanned aerial vehicle take-off and landing platform vertically ascends until reaching the designated height;
t2, adjusting the flight attitude of the unmanned aerial vehicle take-off and landing platform until reaching a horizontal flight state;
t3, adjusting the take-off and landing platform of the unmanned aerial vehicle and the unmanned aerial vehicle to be positioned at the same height; adjusting the speeds of the unmanned aerial vehicle take-off and landing platform and the unmanned aerial vehicle to be the appointed speed; the unmanned aerial vehicle landing system further comprises a unified scheduling platform, and in the step T3, position sharing and communication between the unmanned aerial vehicle landing platform and the unmanned aerial vehicle are realized through adjustment of the unified scheduling platform;
T4, the unmanned aerial vehicle is in butt joint with the unmanned aerial vehicle take-off and landing platform;
t5, adjusting the flight attitude of the unmanned aerial vehicle take-off and landing platform until the unmanned aerial vehicle reaches a vertical landing state;
T6, carrying the unmanned aerial vehicle on the unmanned aerial vehicle take-off and landing platform to vertically descend until falling to the ground;
the lower end of the unmanned aerial vehicle is provided with a butt joint part, the butt joint part is matched with the unmanned aerial vehicle retraction groove, the butt joint part is provided with a fixed groove, two side walls of the unmanned aerial vehicle retraction groove are provided with fixed clamping blocks, and the fixed clamping blocks are matched with the fixed groove; the end of the fixed clamping block, which is far away from the unmanned aerial vehicle retraction groove, is provided with elasticity and can stretch towards two sides; the end, facing the fixed groove, of the fixed clamping block is provided with a sharp corner, and the fixed groove is provided with an inverted sharp corner;
the separation process of the unmanned aerial vehicle and the unmanned aerial vehicle take-off and landing platform is as follows: when the lifting force of the unmanned aerial vehicle is greater than the gravity, the lower end of the docking part of the unmanned aerial vehicle applies upward extrusion force to the fixed clamping blocks on the side wall of the unmanned aerial vehicle retraction groove, the extrusion force enables the fixed clamping blocks to be compressed towards two sides, the lower end of the docking part of the unmanned aerial vehicle is separated from the limitation of the fixed clamping blocks, the unmanned aerial vehicle is separated from the unmanned aerial vehicle take-off and landing platform, and take-off of the unmanned aerial vehicle is realized;
The docking process of the unmanned aerial vehicle and the unmanned aerial vehicle take-off and landing platform is as follows: the lower extreme of unmanned aerial vehicle's butt joint portion is applyed decurrent extrusion force to the fixed fixture block on the unmanned aerial vehicle receive and release groove both sides wall, extrusion force makes fixed fixture block towards both sides compression, the butt joint groove of butt joint portion is located the mid portion of butt joint portion, in the lower extreme extrusion fixed fixture block of butt joint portion is towards unmanned aerial vehicle receive and release groove tank bottom motion in-process, the position of fixed slot is close to fixed fixture block gradually on the butt joint portion, the extrusion force of butt joint portion to fixed fixture block diminishes at fixed slot department, make the fixed slider on the unmanned aerial vehicle receive and release groove both sides wall resume towards the unmanned aerial vehicle receive and release groove centre gradually under the effect of elastic component, the card is in the fixed slot, realize unmanned aerial vehicle and unmanned aerial vehicle take-off and land platform's butt joint.
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