技术领域technical field
本实用新型涉及一种无人机，尤其是涉及一种Y型三旋翼垂直起降无人机。The utility model relates to an unmanned aerial vehicle, in particular to a Y-shaped three-rotor vertical take-off and landing unmanned aerial vehicle.
背景技术Background technique
由于垂直起降无人机具有垂直起降和快速机动的能力，因此可以广泛的应用于军事侦察，地理测绘，灾情及气象监测，航空拍摄等方面，特别适合在复杂环境包括舰船甲板起降，又需要长时间巡航飞行的领域。目前，世界各国垂直起降动力装置的类型有如下几种：(1)升力发动机、(2)转喷口(推力转向)发动机、(3)升力风扇系统、(4)螺桨旋翼系统、(5)可停转或收藏式旋翼系统。升力发动机对推重比要求高，发动机寿命短；升力风扇系统需要一个占用空间较大的升力风扇；螺旋桨旋翼系统和收藏式旋翼系统机构复杂。上述动力系统应用于无人机存在一定困难，无人机发动机推重比较低，可利用的空间有限，无法携带复杂、沉重的机构。Because the vertical take-off and landing UAV has the ability of vertical take-off and landing and fast maneuvering, it can be widely used in military reconnaissance, geographic mapping, disaster and weather monitoring, aerial photography, etc., especially suitable for take-off and landing in complex environments including ship decks , and the field that needs long-term cruising flight. At present, the types of vertical take-off and landing power devices in various countries in the world are as follows: (1) lift engine, (2) nozzle (thrust steering) engine, (3) lift fan system, (4) propeller rotor system, (5) ) can be stopped or stowed rotor system. The lift engine has high requirements on the thrust-to-weight ratio, and the engine life is short; the lift fan system needs a lift fan that occupies a large space; the propeller rotor system and the retractable rotor system have complex mechanisms. There are certain difficulties in applying the above-mentioned power system to UAVs. The thrust of UAV engines is relatively low, and the available space is limited, making it impossible to carry complex and heavy mechanisms.
目前应用于垂直起降无人机的动力装置主要为四旋翼以及由四旋翼衍生出的多旋翼系统。该系统能实现垂直起降、空中悬停等功能，常用于航拍。由于四旋翼系统动力方向不能转换为水平方向以及缺少机翼，该系统只能进行低速水平方向飞行，飞行范围也受到限制。At present, the power devices used in vertical take-off and landing drones are mainly quadrotors and multi-rotor systems derived from quadrotors. The system can realize vertical take-off and landing, hovering in the air and other functions, and is often used for aerial photography. Due to the fact that the power direction of the four-rotor system cannot be converted to the horizontal direction and the lack of wings, the system can only fly in a low-speed horizontal direction, and the flight range is also limited.
V-22式鱼鹰运输机具有垂直起降的能力，在相同条件下，其航程远大于直升机，具有耗油量少、速度快，载重大等优点。但由于其螺旋桨具有较大的扭转角，虽然为其提供了较大拉力，也降低了发动机的效率；由于两台发动机必须满足垂直起降的要求，因此功率非常大，但是转为平飞时需要的拉力很小，发动机处于高耗能的工作状态；同时，其独特的结构造成了在起飞和降落阶段处于较大范围紊流中，因此，较高的事故率和比较低的可靠性是其面临的重要问题。The V-22 Osprey transport aircraft has the ability to take off and land vertically. Under the same conditions, its flight range is much longer than that of helicopters. It has the advantages of less fuel consumption, high speed, and heavy load. However, due to the large twist angle of the propeller, although it provides a large pulling force, it also reduces the efficiency of the engine; because the two engines must meet the requirements of vertical take-off and landing, the power is very large, but when it is converted to level flight The required pulling force is very small, and the engine is in a high energy-consuming working state; at the same time, its unique structure causes a large range of turbulent flow during take-off and landing, so the higher accident rate and lower reliability are important issues it faces.
中国专利CN202170018U公开了一种消防监测用垂直起降小型无人机，包括机身，机翼，脚架，灭火模块和图像采集模块五大部分，所述的机翼和其下方的脚架各为四个，分别对称插接在机身左右两侧；所述的灭火模块和图像采集模块位于机身下部；所述的机身由控制模块电路仓，GPS接收模块仓和电池仓一体成型组接而成；所述的机翼为可旋角机翼；所述的脚架包括起落脚架和起震脚架避震器；所述的灭火模块包括灭火钢瓶、机械手臂抱夹、机械手臂油缸、灭火器压把和压把给压装置；所述的图像采集模块包括摄像设备和无线数据传输装置。该专利需要四个电机，电流输出速度大，同时使得无人机机体的重量和体积加大，且在同样电量的前提下，续航能力降低很多。Chinese patent CN202170018U discloses a small vertical take-off and landing drone for fire monitoring, including five parts: fuselage, wings, tripod, fire extinguishing module and image acquisition module. The wings and the tripod below it are respectively Four, symmetrically inserted on the left and right sides of the fuselage; the fire extinguishing module and the image acquisition module are located at the lower part of the fuselage; the fuselage is composed of a control module circuit compartment, a GPS receiving module compartment and a battery compartment. The described wing is a rotatable wing; the described tripod includes an undercarriage and a shock absorber; 1. The fire extinguisher pressing handle and the pressing handle feeding device; the image acquisition module includes a camera device and a wireless data transmission device. This patent requires four motors, and the current output speed is high. At the same time, the weight and volume of the UAV body are increased, and under the premise of the same power, the battery life is greatly reduced.
实用新型内容Utility model content
本实用新型的目的就是为了克服上述现有技术存在的缺陷而提供一种Y型三旋翼垂直起降无人机，同时具有垂直起降和固定翼飞机快速飞行的能力，能耗低、可操控性好，发动机效率高。The purpose of this utility model is to provide a Y-shaped three-rotor vertical take-off and landing unmanned aerial vehicle in order to overcome the defects of the above-mentioned prior art, which has the ability of vertical take-off and landing and fast flight of fixed-wing aircraft, low energy consumption and controllability Good performance and high engine efficiency.
本实用新型的目的可以通过以下技术方案来实现：The purpose of this utility model can be achieved through the following technical solutions:
一种Y型三旋翼垂直起降无人机包括机身、设于机身两侧的机翼、通过尾管连接机翼的尾翼机构和设于机身腹部的起落架，还包括两个可由垂直方向向飞行方向前后旋转的可转动旋翼和按垂直方向固定设于机身尾部的涵道，所述两个可转动旋翼通过旋转控制机构对称设于机翼上。A Y-type three-rotor vertical take-off and landing UAV includes a fuselage, wings arranged on both sides of the fuselage, an empennage mechanism connected to the wings through a tail pipe and a landing gear arranged on the belly of the fuselage, and two The rotatable rotors that rotate back and forth in the vertical direction to the flight direction and the duct fixed at the tail of the fuselage in the vertical direction are arranged symmetrically on the wings through the rotation control mechanism.
所述可转动旋翼前后旋转的角度范围为0～95度。The angle range of the rotatable rotor forward and backward is 0-95 degrees.
所述两个可转动旋翼和涵道均为单驱动机驱动。The two rotatable rotors and the duct are all driven by a single driver.
所述旋转控制机构包括连接架、舵机、摇臂和拉杆，所述连接架一端连接机翼，所述舵机设于连接架另一端，并连接摇臂，所述摇臂连接拉杆，所述拉杆连接可转动旋翼。The rotation control mechanism includes a connecting frame, a steering gear, a rocker arm and a pull rod. One end of the connecting frame is connected to the wing, and the steering gear is arranged at the other end of the connecting frame and connected to the rocking arm. The rocking arm is connected to the pull rod. The pull rod is connected to the rotatable rotor.
所述机翼设有翼梢小翼。The wing is provided with winglets.
与现有技术相比，本实用新型具有以下优点：Compared with the prior art, the utility model has the following advantages:
一、动力系统效率高：与传统倾转四旋翼无人机相比较，由于本实用新型采用三旋翼动力结构，使得每一台驱动机(发动机)的使用效率均大幅度提升，避免了倾转四旋翼无人机在水平飞行时动力系统效率大幅降低的缺点。1. High efficiency of the power system: Compared with the traditional tilting four-rotor UAV, because the utility model adopts the three-rotor power structure, the efficiency of each driving machine (engine) is greatly improved, and the tilting is avoided. The disadvantage of the power system efficiency is greatly reduced when the quadrotor UAV is flying horizontally.
二、可靠性好：采用的Y型旋翼结构可以简化垂直起降固定翼无人机控制系统的复杂性，使用经典的控制方案即可达到很好的控制效果。这样会使得无人机在起飞和过渡过程中安全性更高。2. Good reliability: The Y-shaped rotor structure adopted can simplify the complexity of the vertical take-off and landing fixed-wing UAV control system, and a good control effect can be achieved by using a classic control scheme. This will make the drone safer during take-off and transition.
三、质量和能耗小：相较于倾转四旋翼固定翼无人机，由于减少了一台发动机，不仅会减轻自身质量，还能节约能耗。3. Small mass and energy consumption: Compared with the tilting quadrotor fixed-wing UAV, due to the reduction of one engine, it will not only reduce its own mass, but also save energy consumption.
四：功能齐全，应用广泛：本实用新型可以在没有跑道的地点垂直起飞和降落，有快速机动的能力，可以从悬停状态在短时间内加速到平飞状态，具备固定翼飞机大载荷、低能耗、快速巡航的能力，可在飞行过程中减速直至无人机达到悬停状态，从而可以完成对地侦察和测绘等指定任务。Four: complete functions and wide application: the utility model can take off and land vertically in places without runways, has the ability of fast maneuvering, can accelerate from the hovering state to the level flying state in a short time, and has a large load of fixed-wing aircraft, The ability of low energy consumption and fast cruising can slow down during flight until the drone reaches a hovering state, so that it can complete specified tasks such as ground reconnaissance and mapping.
附图说明Description of drawings
图1为本实用新型的侧视示意图；Fig. 1 is a schematic side view of the utility model;
图2为本实用新型的俯视示意图；Fig. 2 is the top view schematic diagram of the utility model;
图3为本实用新型垂直起降模式下控制示意图；Fig. 3 is a schematic diagram of control in the vertical take-off and landing mode of the utility model;
其中，(3a)为垂直起降模式下的俯仰控制示意图，(3b)为垂直起降模式下的滚转控制示意图，(3c)为垂直起降模式下的偏航控制示意图，(3d)为垂直起降模式下的高度控制示意图；Among them, (3a) is a schematic diagram of pitch control in VTOL mode, (3b) is a schematic diagram of roll control in VTOL mode, (3c) is a schematic diagram of yaw control in VTOL mode, (3d) is Schematic diagram of altitude control in VTOL mode;
图4为本实用新型过渡模式下控制示意图；Fig. 4 is a control schematic diagram under the transition mode of the utility model;
图5为本实用新型固定翼模式下控制示意图。Fig. 5 is a schematic diagram of control in the fixed wing mode of the present invention.
图中：1、可转动旋翼，2、旋转控制机构，3、机翼，4、机身，5、尾管，6、垂尾，7、涵道，8、后起落架，9、前起落架，10、平尾。Among the figure: 1, rotatable rotor, 2, rotation control mechanism, 3, wing, 4, fuselage, 5, tailpipe, 6, vertical tail, 7, duct, 8, rear landing gear, 9, front lift Drop frame, 10, flat tail.
具体实施方式Detailed ways
下面结合附图和具体实施例对本实用新型进行详细说明。本实施例以本实用新型技术方案为前提进行实施，给出了详细的实施方式和具体的操作过程，但本实用新型的保护范围不限于下述的实施例。The utility model will be described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is carried out on the premise of the technical solution of the utility model, and the detailed implementation and specific operation process are given, but the protection scope of the utility model is not limited to the following examples.
如图1、图2所示，一种Y型三旋翼垂直起降无人机包括机身4、一对机翼3、两个尾管5、尾翼机构、起落架、两个可转动旋翼1、涵道7、两个旋转控制机构2以及内部控制电路等，其中，尾翼机构包括两个垂尾6和一个平尾10，每个旋转控制机构2为摇臂拉杆结构，均包括连接架、舵机、摇臂和拉杆，机翼3设有翼梢小翼，可转动旋翼1为螺旋桨结构，起落架包括前起落架9和后起落架8。具体连接关系为：As shown in Figure 1 and Figure 2, a Y-type three-rotor vertical take-off and landing UAV includes a fuselage 4, a pair of wings 3, two tail pipes 5, an empennage mechanism, a landing gear, and two rotatable rotors 1 , duct 7, two rotary control mechanisms 2 and internal control circuits, etc., wherein the empennage mechanism includes two vertical tails 6 and a horizontal tail 10, and each rotary control mechanism 2 is a rocker rod structure, which includes a connecting frame, a rudder Machine, rocking arm and pull rod, wing 3 is provided with winglet, and rotatable rotor 1 is propeller structure, and landing gear comprises front landing gear 9 and rear landing gear 8. The specific connection relationship is:
两个机翼3设于机身4两侧，两个垂尾6分别通过尾管5对应连接一对机翼3，平尾10设于垂尾6之间，即平尾10端部分别连接一垂尾6，前起落架9设于机身4腹部前部，后起落架8设于机身4腹部后部，连接架一端对应连接机翼3，且同一侧的连接架和尾管5处于同一直线上，舵机设于连接架另一端，并连接摇臂，摇臂连接拉杆，拉杆连接一可转动旋翼1，两个可转动旋翼1相互对称，两个舵机分别控制各自可转动旋翼1的倾转角度，即由垂直方向向飞行方向前后旋转的角度，位于无人机尾部的涵道7由于其反转力矩可以忽略，故将涵道7的位置及安装角度固定不动。可转动旋翼1前后旋转的角度范围θ为0～95度。且两个可转动旋翼1和涵道7均为单驱动机驱动，例如单电机或单燃油发动机驱动。两个可转动旋翼1与涵道7构成Y型布局。Two wings 3 are arranged on both sides of the fuselage 4, two vertical tails 6 are respectively connected to a pair of wings 3 through the tail pipe 5, and the horizontal tail 10 is arranged between the vertical tails 6, that is, the ends of the horizontal tail 10 are connected to a vertical The tail 6, the front landing gear 9 are arranged on the front part of the belly of the fuselage 4, the rear landing gear 8 is arranged on the rear part of the belly of the fuselage 4, one end of the connecting frame is connected to the wing 3, and the connecting frame and the tail pipe 5 on the same side are in the same position. On the straight line, the steering gear is located at the other end of the connecting frame and is connected to the rocker arm. The rocker arm is connected to a pull rod, and the pull rod is connected to a rotatable rotor 1. The two rotatable rotors 1 are symmetrical to each other. The two steering gears respectively control their respective rotatable rotors 1. The inclination angle, that is, the angle of rotating back and forth from the vertical direction to the flight direction, the duct 7 located at the rear of the UAV can be ignored because its reverse torque can be ignored, so the position and installation angle of the duct 7 are fixed. The angle range θ of the forward and backward rotation of the rotatable rotor 1 is 0-95 degrees. And the two rotatable rotors 1 and the duct 7 are all driven by a single driving machine, such as a single motor or a single fuel engine. The two rotatable rotors 1 and the duct 7 form a Y-shaped layout.
工作过程：work process:
1)垂直起降模式1) Vertical take-off and landing mode
在垂直起降模式下，无人机的速度小，各种控制舵面的效率极低，可将其忽略。此时，无人机姿态的控制完全依赖于可转动旋翼1及涵道7转速的差动和可转动旋翼1倾转角度的变化。具体如图3所示。具体实现过程如下：In the vertical take-off and landing mode, the speed of the UAV is small, and the efficiency of various control surfaces is extremely low, which can be ignored. At this time, the control of the attitude of the UAV is completely dependent on the differential speed of the rotatable rotor 1 and the duct 7 and the change of the tilt angle of the rotatable rotor 1 . Specifically shown in Figure 3. The specific implementation process is as follows:
俯仰控制：在垂直起降模式下，通过调节前方可转动旋翼1和后方涵道7的拉力差，可实现俯仰角度的变化。如图(3a)中，同时减小前方两可转动旋翼1转速或增大尾部涵道7转速，可使无人机产生低头力矩。Pitch control: In VTOL mode, the pitch angle can be changed by adjusting the tension difference between the front rotatable rotor 1 and the rear duct 7. As shown in Figure (3a), reducing the speed of the two rotatable rotors 1 in front or increasing the speed of the tail duct 7 at the same time can make the UAV generate a nose-down moment.
滚转控制：在垂直起降模式下，通过调节无人机前方两可转动旋翼1的拉力差，可实现对滚转角的控制。如图(3b)所示，增大左侧可转动旋翼1转速，减小右侧可转动旋翼1转速，可使无人机绕机身4轴线逆时针转动。Roll control: In the vertical take-off and landing mode, the control of the roll angle can be realized by adjusting the tension difference between the two rotatable rotors 1 in front of the UAV. As shown in Figure (3b), increasing the rotational speed of the left rotatable rotor 1 and decreasing the rotational speed of the right rotatable rotor 1 can make the UAV rotate counterclockwise around the axis 4 of the fuselage.
偏航控制：在垂直起降模式下，通过调节前方两可转动旋翼1的倾转角度，可实现对偏航角度的控制，如图(3c)所示，将右侧可转动旋翼1向前倾转一定角度，左侧可转动旋翼1向后倾转同样的角度，可使无人机绕垂直于机翼3平面的轴做逆时针转动。Yaw control: In the vertical take-off and landing mode, the control of the yaw angle can be realized by adjusting the tilt angle of the two rotatable rotors 1 in front. As shown in figure (3c), the right rotatable rotor 1 is moved forward Tilting at a certain angle, the left rotatable rotor 1 tilts backward at the same angle, which can make the drone rotate counterclockwise around the axis perpendicular to the plane of the wing 3 .
高度控制：在垂直起降模式下，两个可转动旋翼1及涵道7同时改变速度，使高度产生变化。如图(3d)所示，可转动旋翼1及涵道7同时加速，无人机高度增加。Altitude control: In the vertical take-off and landing mode, the two rotatable rotors 1 and the duct 7 change the speed at the same time, so that the altitude changes. As shown in figure (3d), the rotatable rotor 1 and duct 7 accelerate simultaneously, and the height of the UAV increases.
2)过渡模式2) Transition mode
无人机在过渡模式下，操作相对比较复杂，气动舵面及旋翼拉力的共同作用，使得各个通道之间存在着较强的耦合关系。为了使无人机平稳过渡，采取如图4所示过渡方案：In the transition mode, the operation of the UAV is relatively complicated. The combined effect of the aerodynamic rudder surface and the pull force of the rotor makes there be a strong coupling relationship between the various channels. In order to make the UAV transition smoothly, the transition scheme shown in Figure 4 is adopted:
俯仰控制：前后可转动旋翼1及涵道7转速差动+升降舵；Pitch control: front and rear rotatable rotor 1 and duct 7 speed differential + elevator;
滚转控制：左右可转动旋翼1转速差动+副翼；Roll control: left and right rotatable rotor 1 speed differential + aileron;
偏航控制：左右可转动旋翼1倾转角度差动+方向舵。Yaw control: left and right rotatable rotor 1 tilt angle differential + rudder.
3)固定翼模式3) Fixed wing mode
随着无人机水平速度的增大，靠可转动旋翼1差动的控制权限逐渐减小，而依靠舵面偏转的控制权限逐渐增大，直至可转动旋翼1倾转到水平位置时，无人机完全由各个舵面进行控制，如图5。With the increase of the horizontal speed of the UAV, the control authority relying on the differential control of the rotatable rotor 1 gradually decreases, while the control authority relying on the deflection of the rudder surface gradually increases, until the rotatable rotor 1 tilts to the horizontal position, there is no The man-machine is completely controlled by each rudder surface, as shown in Figure 5.
综上，本实用新型无人机同时具有垂直起降和固定翼飞机快速飞行的能力；采用新的Y型布局布置发动机，在保证足够升力的前提下，节约了能耗，简化了结构和控制方法，具有优良的可操控性，提高了发动机的效率。In summary, the utility model UAV has the ability of vertical take-off and landing and fast flight of fixed-wing aircraft; the engine is arranged in a new Y-shaped layout, which saves energy consumption and simplifies the structure and control under the premise of ensuring sufficient lift. The method has excellent controllability and improves the efficiency of the engine.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520286594.7UCN204750564U (en) | 2015-05-06 | 2015-05-06 | Three rotor VTOL unmanned aerial vehicle on Y type |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520286594.7UCN204750564U (en) | 2015-05-06 | 2015-05-06 | Three rotor VTOL unmanned aerial vehicle on Y type |
| Publication Number | Publication Date |
|---|---|
| CN204750564Utrue CN204750564U (en) | 2015-11-11 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520286594.7UExpired - Fee RelatedCN204750564U (en) | 2015-05-06 | 2015-05-06 | Three rotor VTOL unmanned aerial vehicle on Y type |
| Country | Link |
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| CN (1) | CN204750564U (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105711832A (en)* | 2016-04-19 | 2016-06-29 | 北京航空航天大学 | Tilting three-rotor wing long-endurance composite aircraft |
| CN105857605A (en)* | 2016-04-11 | 2016-08-17 | 河北科技大学 | Single sitting type fixed-wing unmanned aerial vehicle taking off and landing vertically |
| CN106005401A (en)* | 2016-08-08 | 2016-10-12 | 北京奇正数元科技股份有限公司 | Unmanned aerial vehicle tail tilting pair power mechanism |
| CN106428527A (en)* | 2016-11-30 | 2017-02-22 | 深圳市优鹰科技有限公司 | Dual-axis vector servo turning device with propeller and vertical take-off and landing unmanned aerial vehicle with fixed wings |
| CN106628201A (en)* | 2016-12-09 | 2017-05-10 | 北京奇正数元科技股份有限公司 | Unmanned plane capable of adapting different taking-off and landing modes and different mission loads by replacing multiple power combinations |
| CN106986019A (en)* | 2017-04-17 | 2017-07-28 | 四川建筑职业技术学院 | A kind of motor cabinet for changing multi-rotor unmanned aerial vehicle rotor face angle of inclination |
| CN107933909A (en)* | 2017-12-17 | 2018-04-20 | 北京天宇新超航空科技有限公司 | A kind of high-speed and high-efficiency tilting wing unmanned vehicle |
| CN108572655A (en)* | 2018-04-25 | 2018-09-25 | 重庆市亿飞智联科技有限公司 | flight control method and related device |
| CN108594840A (en)* | 2018-05-29 | 2018-09-28 | 中山星图航空航天技术有限公司 | It verts control device and its control method |
| CN109407692A (en)* | 2017-08-17 | 2019-03-01 | 西安羚控电子科技有限公司 | Vert Yaw control method under VTOL fixed-wing unmanned plane rotor mode |
| CN111148693A (en)* | 2017-09-28 | 2020-05-12 | 洪承一 | Vertical take-off and landing aircraft |
| CN113955113A (en)* | 2021-11-23 | 2022-01-21 | 福州大学 | Miniature aircraft suitable for high-speed operation and control method |
| RU2843705C1 (en)* | 2024-02-21 | 2025-07-17 | Владимир Викторович Куршин | Ship-based unmanned anti-submarine system |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105857605A (en)* | 2016-04-11 | 2016-08-17 | 河北科技大学 | Single sitting type fixed-wing unmanned aerial vehicle taking off and landing vertically |
| CN105711832A (en)* | 2016-04-19 | 2016-06-29 | 北京航空航天大学 | Tilting three-rotor wing long-endurance composite aircraft |
| CN106005401A (en)* | 2016-08-08 | 2016-10-12 | 北京奇正数元科技股份有限公司 | Unmanned aerial vehicle tail tilting pair power mechanism |
| CN106005401B (en)* | 2016-08-08 | 2018-08-21 | 北京奇正数元科技股份有限公司 | A kind of unmanned plane tail verts secondary dynamic structure |
| CN106428527A (en)* | 2016-11-30 | 2017-02-22 | 深圳市优鹰科技有限公司 | Dual-axis vector servo turning device with propeller and vertical take-off and landing unmanned aerial vehicle with fixed wings |
| CN106628201A (en)* | 2016-12-09 | 2017-05-10 | 北京奇正数元科技股份有限公司 | Unmanned plane capable of adapting different taking-off and landing modes and different mission loads by replacing multiple power combinations |
| CN106628201B (en)* | 2016-12-09 | 2023-08-08 | 北京奇正数元科技股份有限公司 | Unmanned aerial vehicle with multiple power combinations, capable of being replaced and adapted to different take-off and landing modes and different task loads |
| CN106986019B (en)* | 2017-04-17 | 2023-05-30 | 四川建筑职业技术学院 | A motor base capable of changing the tilt angle of the rotor surface of a multi-rotor UAV |
| CN106986019A (en)* | 2017-04-17 | 2017-07-28 | 四川建筑职业技术学院 | A kind of motor cabinet for changing multi-rotor unmanned aerial vehicle rotor face angle of inclination |
| CN109407692A (en)* | 2017-08-17 | 2019-03-01 | 西安羚控电子科技有限公司 | Vert Yaw control method under VTOL fixed-wing unmanned plane rotor mode |
| CN111148693A (en)* | 2017-09-28 | 2020-05-12 | 洪承一 | Vertical take-off and landing aircraft |
| CN107933909A (en)* | 2017-12-17 | 2018-04-20 | 北京天宇新超航空科技有限公司 | A kind of high-speed and high-efficiency tilting wing unmanned vehicle |
| CN108572655A (en)* | 2018-04-25 | 2018-09-25 | 重庆市亿飞智联科技有限公司 | flight control method and related device |
| CN108572655B (en)* | 2018-04-25 | 2022-05-13 | 重庆市亿飞智联科技有限公司 | Flight control method and related device |
| CN108594840A (en)* | 2018-05-29 | 2018-09-28 | 中山星图航空航天技术有限公司 | It verts control device and its control method |
| CN113955113B (en)* | 2021-11-23 | 2022-12-13 | 福州大学 | A micro-aircraft suitable for high-speed operation and its control method |
| CN113955113A (en)* | 2021-11-23 | 2022-01-21 | 福州大学 | Miniature aircraft suitable for high-speed operation and control method |
| RU2843705C1 (en)* | 2024-02-21 | 2025-07-17 | Владимир Викторович Куршин | Ship-based unmanned anti-submarine system |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | Granted publication date:20151111 Termination date:20180506 | |
| CF01 | Termination of patent right due to non-payment of annual fee |