CN113443131A - High-speed many rotor unmanned aerial vehicle - Google Patents
High-speed many rotor unmanned aerial vehicle Download PDFInfo
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- CN113443131A CN113443131A CN202110763307.7A CN202110763307A CN113443131A CN 113443131 A CN113443131 A CN 113443131A CN 202110763307 A CN202110763307 A CN 202110763307A CN 113443131 A CN113443131 A CN 113443131A
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- 230000000712 assembly Effects 0.000 claims abstract description 14
- 238000000429 assembly Methods 0.000 claims abstract description 14
- 230000005540 biological transmission Effects 0.000 claims description 13
- 238000000034 method Methods 0.000 description 17
- 230000008569 process Effects 0.000 description 17
- 238000010586 diagram Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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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
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
- B64C27/14—Direct drive between power plant and rotor hub
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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
- B64C—AEROPLANES; HELICOPTERS
- B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
- B64C29/02—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis vertical when grounded
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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
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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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
- B64C2027/8209—Electrically driven tail rotors
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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
- B64C2027/8236—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 including pusher propellers
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses a high-speed multi-rotor unmanned aerial vehicle, which belongs to the field of unmanned aerial vehicles and comprises a rack body, a plurality of shaft rotor assemblies, a central pivot device and a tail pushing assembly, wherein the central pivot device is fixed at the center of the top end of the rack body; the plurality of shaft rotor wing assemblies are symmetrically fixed on the side surface of the frame body; the tail pushes away the subassembly and can dismantle to fix in a frame fuselage side intermediate position, the tail pushes away the subassembly and pushes away the fixing base including can dismantling the tail of fixing in a frame fuselage side intermediate position, and the tail pushes away the bottom both sides of fixing base and all is fixed with at least one tail and pushes away the motor, the output shaft tail that the tail pushed away the motor pushes away the screw, the maincenter device is including fixing the battery in frame fuselage top center both sides, two be fixed with flight controller between the battery. According to the multi-rotor unmanned aerial vehicle, the tail pushing assembly is arranged, the flying speed and the wind resistance of the multi-rotor unmanned aerial vehicle are improved, the cruising speed is improved to increase the range, and the effective load is increased.
Description
Technical Field
The invention relates to an unmanned aerial vehicle, in particular to a high-speed multi-rotor unmanned aerial vehicle.
Background
With the rapid development of the unmanned aerial vehicle technology, the unmanned aerial vehicle has very wide application in the aspects of aerial photography at high altitude, remote detection, exploration, logistics transportation, frontier defense patrol and the like. In technical category, unmanned planes can be divided into two major categories, fixed-wing and multi-rotor (helicopters can be categorized into multi-rotor categories). The fixed wing unmanned aerial vehicle can realize overlong endurance and large load because the aerodynamic efficiency of the wings is higher. But fixed wing drones require a certain take-off and landing runway and space. This limits the application of fixed wing drones. Compare in fixed wing unmanned aerial vehicle, the biggest advantage of many rotor unmanned aerial vehicle is in can the VTOL, does not receive the restriction in place and space, and many rotor unmanned aerial vehicle traditional structural configuration is for the screw for transversely placing for the frame, and the multiaxis level rotates, and pneumatic lift-drag ratio is little, and pneumatic efficiency is lower, has decided that its load exists not enoughly with continuation of the journey, and navigation speed receives the restriction. A plurality of unmanned aerial vehicles combined by a plurality of rotors and fixed wings appear in the market at present. The first is that adopt rotation type motor drive screw to realize VTOL, the whole rotatory 90 degrees unmanned aerial vehicle that realizes cruising of motor, this kind of unmanned aerial vehicle's shortcoming lies in complicated control system and the mechanical structure who rotates whole motor, greatly increased unmanned aerial vehicle's technical cost and potential safety hazard. The second is to use a plurality of fixed motor-driven propellers to realize vertical take-off and landing and then to realize horizontal flight through another motor-driven propeller in the horizontal direction. The disadvantage of this kind of unmanned aerial vehicle is that the power system of the most part is in idle state during the cruise, very big increase dead load and cruise resistance. The flight efficiency and the range of the aircraft are greatly reduced. And the third mode is that a motor and a propeller are arranged in front of the wings, the whole unmanned aerial vehicle vertically takes off and lands at 90 degrees, and cruise is realized through a control panel arranged behind the body. The unmanned aerial vehicle directly reduces the effective load because the high-speed airflow generated by the propeller passes through the body or the cabin to generate resistance in the vertical take-off and landing process.
It can be seen from this that, current many rotor unmanned aerial vehicle's load and continuation of the journey exist not enoughly, and flying speed receives the restriction, and cruising speed is lower, and wind resistance is not strong, consequently, technical personnel in the field provide a high-speed many rotor unmanned aerial vehicle to solve the problem that proposes in the above-mentioned background art.
Disclosure of Invention
The invention aims to provide a high-speed multi-rotor unmanned aerial vehicle, which is characterized in that the flight speed and wind resistance of the multi-rotor unmanned aerial vehicle are improved simultaneously through the arranged tail push assembly, the cruising speed is improved to increase the range, and the effective load is increased, so that the problems in the background technology are solved.
In order to achieve the purpose, the invention provides the following technical scheme:
a high-speed multi-rotor unmanned aerial vehicle comprises a frame body, a plurality of shaft rotor assemblies, a central pivot device and a tail pushing assembly, wherein the central pivot device is fixed at the center of the top end of the frame body; the plurality of shaft rotor wing assemblies are symmetrically fixed on the side surface of the frame body; the tail pushing assembly is detachably fixed in the middle of one side face of the frame body.
Push away the subassembly through the tail that sets up, promote many rotor unmanned aerial vehicle's flying speed simultaneously, the wind resistance improves the speed of cruising and increases the journey to increase payload.
As a further scheme of the invention: the tail pushes away the subassembly and pushes away the fixing base including can dismantling the tail of fixing in a frame fuselage side intermediate position, and the tail pushes away the bottom both sides of fixing base and all is fixed with at least one tail and pushes away the motor, the output shaft tail that the tail pushed away the motor pushes away the screw.
In the cruising process, the advancing and the rotation balance of the whole unmanned aerial vehicle around the Y axis are realized through the differential speed of the main power propellers at the front and the back of the unmanned aerial vehicle body. In the advancing process, a tail pushing motor of the tail pushing force system is opened, and the two sets of power systems act together, so that the flying speed of the system is increased, and the wind resistance is improved.
As a still further scheme of the invention: the pivot device is including fixing the battery in frame fuselage top center both sides, two be fixed with flight controller between the battery, and one side of flight controller, frame fuselage top edge fixedly connected with navigation module, battery, navigation module, main rotor group device, tail push away motor and flight controller electric connection.
The direction of the navigation module is the direction of the machine head and the conventional cruising and advancing direction, the front and back directions and the left and right directions are distinguished on the basis of the direction, and the flight controller controls the balance and stability of the unmanned aerial vehicle in the flight process.
As a still further scheme of the invention: the shaft rotor wing assembly comprises a machine arm fixedly connected with the side face of the machine frame body, one end of the machine arm far away from the machine frame body is fixedly connected with a main power motor, a top output shaft of the main power motor is fixedly connected with a main power propeller, and the main power propellers of the shaft rotor wing assembly are adjacent to each other in the opposite directions.
The main power propellers are symmetrically distributed, and the positive and negative directions of the adjacent main power propellers are opposite, so that redundant torque in the working process is counteracted, and the stability of the whole machine is enhanced.
As a still further scheme of the invention: the number of the shaft rotor assemblies is four.
As a still further scheme of the invention: the landing gear assembly comprises supporting foot frames fixed on two sides of the bottom end face of the machine body of the machine frame, and sponge sleeves are fixedly connected to two sides of the bottom end of each supporting foot frame.
This unmanned aerial vehicle utilizes sponge cover and foot rest to erect in ground, and the sponge cover reduces the impact that unmanned aerial vehicle fell to the ground and received.
As a still further scheme of the invention: the data transmission module is fixed on the bottom end face of the frame body and electrically connected with the central device.
The data link transmission between the unmanned aerial vehicle and the ground workstation is realized through a data transmission module.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the tail pushing assembly, the cruising speed is greatly increased, the cruising ability, the wind resistance of the unmanned aerial vehicle and the effective load are improved, and in addition, the tail pushing assembly is simple in structure, convenient to operate and suitable for structural layout of various existing multi-rotor unmanned aerial vehicles. The number of the motors of the tail pushing assembly is even, the tail pushing assembly is symmetrical left and right, and the additional influence of a single propeller on the control of the whole propeller can be counteracted.
2. The unmanned aerial vehicle disclosed by the invention does not need a complex motor mechanical rotation design, the safety and reliability of the whole unmanned aerial vehicle are greatly improved, the vertical take-off and landing functions are realized through the vertical thrust of the propeller, and the safety of the aircraft is greatly improved through two groups of batteries which independently run.
Drawings
Fig. 1 is a schematic structural diagram of a high-speed multi-rotor drone;
FIG. 2 is a schematic Y-axis view of a high-speed multi-rotor UAV during vertical take-off and landing;
FIG. 3 is a schematic diagram of the X-axis of a high-speed multi-rotor unmanned aerial vehicle during vertical take-off and landing;
fig. 4 is a schematic view of a cruise process Z-axis of a high-speed multi-rotor unmanned aerial vehicle from above.
In the figure: 1. a flight controller; 2. a battery; 3. a navigation module; 4. a horn; 5. a main power motor; 6. a main power propeller; 7. a tail pushing motor; 8. a tail propeller; 9. a fixed seat is pushed by the tail; 10. a supporting foot rest; 11. a sponge sleeve; 12. a frame body; 13. and a data transmission module.
Detailed Description
Referring to fig. 1 to 4, in an embodiment of the present invention, a high-speed multi-rotor unmanned aerial vehicle includes a frame body 12, a plurality of shaft rotor assemblies, a central hub device and a tail thrust assembly, wherein the central hub device is fixed at a central position of a top end of the frame body 12; a plurality of shaft rotor wing assemblies are symmetrically fixed on the side surface of the frame body 12; the tail pushing component is detachably fixed in the middle of one side surface of the frame body 12. Push away the subassembly through the tail that sets up, promote many rotor unmanned aerial vehicle's flying speed simultaneously, the wind resistance improves the speed of cruising and increases the journey to increase payload.
In fig. 1: the shaft rotor wing assembly comprises a machine arm 4 fixedly connected with the side face of the machine frame body 12, a main power motor 5 is fixedly connected with one end, far away from the machine frame body 12, of the machine arm 4, a main power propeller 6 is fixedly connected with the top end output shaft of the main power motor 5, and the positive and negative directions of the main power propellers 6 of the two adjacent shaft rotor wing assemblies are opposite. The main power propellers 6 are symmetrically distributed, and the positive and negative directions of the adjacent main power propellers 6 are opposite, so that redundant torque in the working process is counteracted, and the stability of the whole machine is enhanced.
In fig. 2: this many rotor unmanned aerial vehicle of high speed still includes the undercarriage subassembly, and the undercarriage subassembly is including fixing the supporting leg 10 in 12 bottom end face both sides of frame fuselage, and the equal fixedly connected with sponge cover 11 in the bottom both sides of supporting leg 10. This unmanned aerial vehicle utilizes sponge cover 11 and support foot rest 10 to erect in ground, and sponge cover 11 reduces the impact that unmanned aerial vehicle fell to the ground and received. This unmanned aerial vehicle still includes data transmission module 13, and data transmission module 13 is fixed at frame fuselage 12 bottom end face, and data transmission module 13 and maincenter device electric connection. The data link transmission between the unmanned aerial vehicle and the ground workstation is realized through the data transmission module 13.
In fig. 3: the tail pushes away the subassembly and pushes away fixing base 9 including can dismantling the tail of fixing in the middle position of a frame fuselage 12 side, and the tail pushes away the bottom both sides of fixing base 9 and all is fixed with at least one tail and pushes away motor 7, and the output shaft tail that the tail pushed away motor 7 pushes away screw 8. In the cruising process, the forward movement and the rotation balance of the whole unmanned aerial vehicle around the Y axis are realized through the differential speed of the main power propellers 6 at the front and the rear of the unmanned aerial vehicle body. In the advancing process, a tail pushing motor 7 of the tail pushing force system is opened, and the two sets of power systems act together, so that the flying speed of the system is increased, and the wind resistance is improved.
In fig. 4: the pivot device is fixed with flight controller 1 including fixing the battery 2 in the central both sides in frame fuselage 12 top, between two batteries 2, and one side of flight controller 1, frame fuselage 12 top border fixedly connected with navigation module 3, battery 2, navigation module 3, main rotor group device, tail push away motor 7 and flight controller 1 electric connection. The direction of the navigation module 3 is the nose direction and the conventional cruising advancing direction, the front and back directions and the left and right directions are distinguished on the basis of the nose direction and the conventional cruising advancing direction, and the flight controller 1 controls the balance stability of the unmanned aerial vehicle in the flight process.
In this embodiment: the number of shaft rotor assemblies is four.
The working principle of the invention is as follows: when the high-speed multi-rotor unmanned aerial vehicle is used, the direction of the head of the unmanned aerial vehicle is consistent with the direction of the navigation module 3, and the direction is the direction of an X axis, so that a three-dimensional coordinate system is established, as shown in figure 1. At first, carry out vertical takeoff, the vertical takeoff process, the tail pushes away the subassembly out of work, and this unmanned aerial vehicle utilizes sponge cover 11 and support foot rest 10 to erect in ground. The vertical takeoff is realized by the rotation of the main power propeller 6 driven by the main power motor 5 to provide vertical thrust.
The vertical hovering process can be realized by vertically hovering after the vertical takeoff reaches a certain height, and in the vertical hovering process, as shown in fig. 2 and 3, the rotation balance of the whole machine around the Y axis is realized through the front-back differential speed of the main power propeller 6. The rotation balance of the whole machine around the X axis is realized by the left and right differential of the main power propeller 6. The rotational balance around the Z-axis is achieved by the thrust difference of the main power propeller 6. The front and rear differential speed specifically refers to the difference between the rotating speeds of the front two main power propellers 6 and the rear two main power propellers 6, and the rotating speed of the corresponding side is smaller, the rotating speed of the other side is larger, and the dynamic balance is achieved. The left and right differential speed specifically refers to the difference between the rotating speeds of the left two main power propellers 6 and the right two main power propellers 6, and the rotating speed of the corresponding side is smaller, the rotating speed of the other side is larger, and the dynamic balance is realized. The thrust difference specifically means that the rotating speeds of the main power propellers 6 at opposite corners are the same; if the Z axis is unbalanced due to disturbance, the rotating speeds of the adjacent main power propellers 6 are different, thrust difference is generated, and the whole machine tends to be balanced. For example, the two main power propellers 6 on the left side have a larger rotating speed of the front main power propeller 6 and a smaller rotating speed of the rear main power propeller 6, so that a thrust difference is generated and the adjustment is performed in the direction of balance; at this time, the two main power propellers 6 on the right side are just opposite, the front side is small, and the rear side is large; in this way, under the combined action of left and right, the whole machine rotates around the Z axis to achieve balance; while the rotational speed of the diagonal main power propeller 6 is the same when adjusting the Z-axis balance.
During the transition from vertical hover to cruise forward: as shown in fig. 4, the flight angle conversion is realized by the rotation of the whole machine around the Y axis through the front-back differential speed of the main power propeller 6. In the cruising process, the forward movement and the rotation balance of the whole machine around the Y axis are realized through the front-back differential speed of the main power propeller 6. In the advancing process, a tail pushing motor 7 of the tail pushing force system is opened, and the two sets of power systems act together, so that the flying speed of the system is increased, and the wind resistance is improved. The rotation balance of the whole machine around the X axis is realized by the left and right differential of the main power propeller 6. The rotational balance around the Z-axis is achieved by the thrust difference of the main power propeller 6. The whole balancing and stabilizing process is adjusted by a PID controller arranged in the flight controller 1, and the data link transmission between the unmanned aerial vehicle and the ground workstation is realized by a data transmission module 13.
And finally, in the vertical landing process, the vertical landing is realized by reducing the thrust of the main power propeller 6 driven by the motor in the vertical direction, and the tail pushing assembly does not work at the moment.
The above embodiments are only preferred embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equally replaced or changed within the scope of the present invention.
Claims (7)
1. A high-speed multi-rotor unmanned aerial vehicle is characterized by comprising a frame body, a plurality of shaft rotor assemblies, a central pivot device and a tail pushing assembly, wherein the central pivot device is fixed at the center of the top end of the frame body;
the plurality of shaft rotor wing assemblies are symmetrically fixed on the side surface of the frame body;
the tail pushing assembly is detachably fixed in the middle of one side face of the frame body.
2. The high-speed multi-rotor unmanned aerial vehicle of claim 1, wherein the tail pushing assembly comprises a tail pushing fixing seat detachably fixed at a middle position of a side face of the frame body, at least one tail pushing motor is fixed on each of two sides of the bottom end of the tail pushing fixing seat, and an output shaft of the tail pushing motor is connected with a tail pushing propeller.
3. A high-speed multi-rotor unmanned aerial vehicle according to claim 1, wherein the hub device comprises batteries fixed on two sides of the center of the top end of the frame body, a flight controller is fixed between the two batteries, a navigation module is fixedly connected to one side of the flight controller and the top end edge of the frame body, and the batteries, the navigation module, the main rotor group device, the tail push motor and the flight controller are electrically connected.
4. A high-speed multi-rotor unmanned aerial vehicle as claimed in claim 1, wherein the axial rotor assemblies comprise arms fixedly connected to the side of the frame body, and one ends of the arms remote from the frame body are fixedly connected with main power motors, the top output shafts of the main power motors are fixedly connected with main power propellers, and the main power propellers of two adjacent axial rotor assemblies are opposite in forward and reverse directions.
5. A high speed multi-rotor drone according to claim 1, wherein the number of shaft-rotor assemblies is four.
6. The high-speed multi-rotor unmanned aerial vehicle of claim 1, further comprising a landing gear assembly, wherein the landing gear assembly comprises supporting foot frames fixed on two sides of the bottom end face of the frame body, and sponge sleeves are fixedly connected to two sides of the bottom end of each supporting foot frame.
7. The high-speed multi-rotor unmanned aerial vehicle of claim 1, further comprising a data transmission module fixed to a bottom end face of the frame body, the data transmission module being electrically connected to the hub device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110763307.7A CN113443131A (en) | 2021-07-06 | 2021-07-06 | High-speed many rotor unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110763307.7A CN113443131A (en) | 2021-07-06 | 2021-07-06 | High-speed many rotor unmanned aerial vehicle |
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| CN113443131A true CN113443131A (en) | 2021-09-28 |
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| CN202110763307.7A Pending CN113443131A (en) | 2021-07-06 | 2021-07-06 | High-speed many rotor unmanned aerial vehicle |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1843847A (en) * | 2006-05-18 | 2006-10-11 | 战强 | Multi-rotor aerocraft |
| CN203220761U (en) * | 2012-10-16 | 2013-10-02 | 田瑜 | Multi-rotor aircraft |
| WO2016169176A1 (en) * | 2015-04-22 | 2016-10-27 | 深圳市艾特航空科技股份有限公司 | Multi-rotor aircraft |
| CN107416195A (en) * | 2017-07-03 | 2017-12-01 | 北京航空航天大学 | A kind of imitative hawk grasping system of aerial operation multi-rotor aerocraft |
| CN110143275A (en) * | 2018-12-29 | 2019-08-20 | 上海歌尔泰克机器人有限公司 | Multi-rotor unmanned aerial vehicle |
| CN211167419U (en) * | 2019-09-17 | 2020-08-04 | 浙江氢航科技有限公司 | A novel many rotor unmanned aerial vehicle for putting out a fire |
| CN215155622U (en) * | 2021-07-06 | 2021-12-14 | 深圳市翼歌科技有限责任公司 | High-speed many rotor unmanned aerial vehicle |
-
2021
- 2021-07-06 CN CN202110763307.7A patent/CN113443131A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1843847A (en) * | 2006-05-18 | 2006-10-11 | 战强 | Multi-rotor aerocraft |
| CN203220761U (en) * | 2012-10-16 | 2013-10-02 | 田瑜 | Multi-rotor aircraft |
| WO2016169176A1 (en) * | 2015-04-22 | 2016-10-27 | 深圳市艾特航空科技股份有限公司 | Multi-rotor aircraft |
| CN107416195A (en) * | 2017-07-03 | 2017-12-01 | 北京航空航天大学 | A kind of imitative hawk grasping system of aerial operation multi-rotor aerocraft |
| CN110143275A (en) * | 2018-12-29 | 2019-08-20 | 上海歌尔泰克机器人有限公司 | Multi-rotor unmanned aerial vehicle |
| CN211167419U (en) * | 2019-09-17 | 2020-08-04 | 浙江氢航科技有限公司 | A novel many rotor unmanned aerial vehicle for putting out a fire |
| CN215155622U (en) * | 2021-07-06 | 2021-12-14 | 深圳市翼歌科技有限责任公司 | High-speed many rotor unmanned aerial vehicle |
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