CN105730670A - Long-endurance unmanned aerial vehicle adopting new energy - Google Patents
Long-endurance unmanned aerial vehicle adopting new energy Download PDFInfo
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- CN105730670A CN105730670A CN201610089021.4A CN201610089021A CN105730670A CN 105730670 A CN105730670 A CN 105730670A CN 201610089021 A CN201610089021 A CN 201610089021A CN 105730670 A CN105730670 A CN 105730670A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
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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
- 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
- B64U10/00—Type of UAV
- B64U10/30—Lighter-than-air aircraft, e.g. aerostatic aircraft
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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
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/30—Supply or distribution of electrical power
- B64U50/34—In-flight charging
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B2201/00—Hybrid airships, i.e. airships where lift is generated aerodynamically and statically
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The invention provides a long-endurance unmanned aerial vehicle adopting new energy. The long-endurance unmanned aerial vehicle comprises a vehicle body, a flexible solar cell, motors, a control module, a communication module, a power module, propellers and a separation board and further comprises a hydrogen cell and hydrogen balloons. The flexible solar cell is arranged on the hydrogen balloons. The separation board is arranged below the hydrogen balloons. The vehicle body is suspended below the separation board. The control module, the communication module, the power module and the hydrogen cell are arranged in the vehicle body. The motors and the propellers are arranged on the vehicle body. By the adoption of the long-endurance unmanned aerial vehicle adopting the new energy, the new energy is used, and the flight time of the unmanned aerial vehicle is prolonged. Zigbee and other self-networking communication modules are loaded, an unmanned aerial vehicle cluster in a team is released, and a forest region or farmland on a large scale is monitored. The long-endurance unmanned aerial vehicle has an important significance in the early warning aspect and the civil aspect.
Description
Technical field
The present invention relates to unmanned plane field, be specifically related to a kind of long endurance unmanned aircraft adopting new forms of energy.
Background technology
UAV is called for short " unmanned plane ", and english abbreviation is " UAV ", is the not manned aircraft of the presetting apparatus manipulation utilizing radio robot with providing for oneself.Can be divided into from technical standpoint definition: depopulated helicopter, unmanned fixed-wing aircraft, unmanned multi-rotor aerocraft, unmanned airship, unmanned parasol etc..
Solar powered aircraft is the aircraft using solar radiation as the propelling energy.Solar powered aircraft is come out the seventies in last century, only has miniature model at that time, and 1980, the U.S. developed " sun challenger " number single seat solar powered aircraft, and this airplane is successfully flown to Britain, average speed per hour 54 km, voyage 290 km by Paris in July, 1981；Until 2007, the solar energy unmanned plane of " west wind-6 " (zephyr-6) by name, stay aloft the time record more than pioneering night flying in 3 days.2002, the Chinese solar energy UAV exploration research plan that a key name is " Green Pioneers " formally started, and indicates that China achieves new breakthrough in solar energy UAV development.
In recent years, prosperity due to remote control technology, remote controlled unmanned machine becomes the key research items of various countries, make the unmanned vehicle various countries especially of power power in particular with solar energy to try to be the first the important military aircraft of research, people all want to utilize the energy of solar energy lasting, cleaning, noiseless, be applied to military surveillance unmanned plane without strong ultrared advantage.Helios disclosed in occurring now is typically all after solar energy is changed into electric energy and utilizes driven by power propeller to promote aircraft to advance, such a set of solar energy-electric energy reforming unit account for very big weight, weight plus electric engine, it is little to during aircraft flight carry miscellaneous equipment again, such Helios is difficult to maintain self flight, it does not have value.Existing unmanned plane, the overwhelming majority uses lithium battery.There is this heavy sensation of the body of battery in lithium battery unmanned plane, the charging interval is long, and the flight time is short, must have the shortcomings such as personnel control in flight course.
Summary of the invention
For above-mentioned problems of the prior art, it is an object of the invention to provide a kind of long endurance unmanned aircraft adopting new forms of energy.
The present invention provides following technical scheme:
A kind of long endurance unmanned aircraft adopting new forms of energy, including fuselage, flexible solar battery, motor, control module, communication module, power module, propeller, dividing plate, hydrogen fuel cell and hydrogen balloon；Being provided with flexible solar battery on described hydrogen balloon, balloon is arranged below dividing plate, dividing plate underhung fuselage, and described control module, communication module, power module and hydrogen fuel cell are arranged in fuselage, and motor and propeller are arranged on fuselage；
Described hydrogen balloon is connected with hydrogen fuel cell；Hydrogen fuel cell and flexible solar battery are connected with power module respectively, and communication module, control module and motor are connected with power module respectively, and motor is connected with propeller.
Based on this structure, the present invention is by balloon and the motor being applied to tradition unmanned plane, and two aspects provide lift for unmanned plane；On balloon, covering flexible solar battery directly utilizes solar energy provides the energy to unmanned plane, reduces the probability of balloon burst simultaneously as shell；Some balloon arranged in parallel facilitate flexible solar battery to have bigger area towards the sun, also prevent a certain balloon when breaking, and other balloons still can provide lift for unmanned plane；The dividing plate covered below balloon provides protection to balloon, keeps unmanned plane monnolithic case structure, the various loads of supported and suspended unmanned plane；Power module directly obtains electric energy from hydrogen fuel cell and solaode.
It addition, because unmanned plane itself has balloon to provide lift, the motor of unmanned plane itself can be absorbed in the posture adjusting unmanned plane, offset windage, then necessary lift is provided after hydrogen is finished.Described balloon can be set according to practical situation, as strip, U-shaped, ball-type etc..
Further illustrating, described hydrogen balloon is multiple, multiple hydrogen balloon spread configurations, and hydrogen balloon achieves " battery does not have weight " this flex point itself, it is provided that the energy of hydrogen fuel cell, provides lift for unmanned plane simultaneously.
Further illustrate, also include at least more than one helium balloon, described helium balloon and hydrogen balloon spread configuration.Hydrogen balloon and helium balloon all can provide lift for unmanned plane.
Further illustrating, in the balloon of described spread configuration, hydrogen balloon is arranged in inner side, and helium balloon is arranged in outside.The probability that balloon outside being arranged in is damaged is bigger, therefore, helium balloon is arranged in outside, safer compared with hydrogen balloon and stable；Helium balloon provides lift for unmanned plane merely, when particularly the hydrogen in hydrogen balloon runs out, still can provide lift for unmanned plane.And the arrangement mode of balloon lines up plane, reduce windage thereby through the front face area reducing side.When hydrogen is when using up, owing to hydrogen balloon is arranged on inner side, thus the impact of unmanned plane profile and windward side is little.
Further illustrating, described control module includes satellite positioning unit, pressure-altitude sensor, acceleration transducer, digital compass.Described pressure-altitude sensor is for calculating the height above sea level at unmanned plane self place.Described acceleration transducer is used for measuring acceleration during unmanned plane during flying.Digital compass is for detecting the direction of current unmanned plane during flying.Satellite positioning unit is for being determined unmanned plane current location, so that it is guaranteed that unmanned plane flies impact point according to the route specified.
Further illustrating, described dividing plate is plastic plate, and plastic plate selected by dividing plate, to reduce the weight and volume of dividing plate.
Further illustrating, described communication module is used for telecommunication, and communication module includes 2G communication unit, and circuit board can be directly connected to 2G communication unit, and 2G communication unit can realize digital remote communication, accomplishes long-distance remote control and supervision.When unmanned plane runs into special circumstances, tolerance in hydrogen balloon is used up, or balloon explodes suddenly, individually necessary electric energy cannot be provided to maintain the properly functioning of unmanned plane by solaode, now can be monitored rapidly by nobody and react, send abnormal information by 2G communication unit to management system or earth station or the mobile phone that pre-sets sends alarming short message.
Communication module includes Zigbee self-organized network communication unit, the unmanned plane cluster that Zigbee self-organized network communication unit can realize one is formed into columns runs out, forest zone on a large scale or farmland are provided and searches mountain, the disaster relief etc. are monitored, Zigbee self-organized network communication unit can allow intercommunication positional information between unmanned plane close to each other, mutually collides thus effectively preventing unmanned plane from forming into columns when flight.
In sum, the invention has the beneficial effects as follows:
A kind of long endurance unmanned aircraft adopting new forms of energy of the present invention uses new forms of energy, extends the flight time of unmanned plane.Whole product design, the dirigible old times in of being conceptually similar to.By balloon part and traditional unmanned plane motor, two aspects provide lift.Because unmanned plane itself has balloon to provide lift, the motor of unmanned plane itself can be absorbed in the posture adjusting unmanned plane, antiwind resistance, then provides necessary lift after hydrogen is finished.Use solar energy and hydrogen fuel energy sources, high-quality, cleaning, environmental protection.Critical piece simple in construction, production cost is controlled acceptable.Carry the self-organized network communication modules such as Zigbee, the unmanned plane cluster that is formed into columns is run out, provide monitoring to forest zone on a large scale or farmland.Nowadays early warning and civilian aspect are had important meaning by this.
Accompanying drawing explanation
Fig. 1 is the schematic appearance of a kind of long endurance unmanned aircraft adopting new forms of energy of the present invention；
Fig. 2 is the functional structure chart of a kind of long endurance unmanned aircraft adopting new forms of energy of the present invention；
Detailed description of the invention
Below in conjunction with the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, the every other embodiment that exercising ordinary skill obtains under not making creative work premise, broadly fall into the scope of protection of the invention.
A kind of long endurance unmanned aircraft adopting new forms of energy, with reference to the accompanying drawings shown in 1, including fuselage, flexible solar battery, motor, control module, communication module, power module, propeller, dividing plate, hydrogen fuel cell, hydrogen balloon；Being provided with flexible solar battery on described hydrogen balloon, balloon is arranged below dividing plate, dividing plate underhung fuselage, and described control module, communication module, power module and hydrogen fuel cell are arranged in fuselage, and motor and propeller are arranged on fuselage；
With reference to the accompanying drawings shown in 2, described hydrogen balloon is connected with hydrogen fuel cell；Hydrogen fuel cell and flexible solar battery are connected with power module respectively, and communication module, control module and motor are connected with power module respectively, and motor is connected with propeller.
Based on this structure, the present invention is by balloon and the motor being applied to tradition unmanned plane, and two aspects provide lift for unmanned plane；On balloon, covering flexible solar battery directly utilizes solar energy provides the energy to unmanned plane, reduces the probability of balloon burst simultaneously as shell；Some balloon arranged in parallel facilitate flexible solar battery to have bigger area towards the sun, also prevent a certain balloon when breaking, and other balloons still can provide lift for unmanned plane；The dividing plate covered below balloon provides protection to balloon, keeps unmanned plane monnolithic case structure, the various loads of supported and suspended unmanned plane；Power module directly obtains electric energy from hydrogen fuel cell and solaode.
It addition, because unmanned plane itself has balloon to provide lift, the motor of unmanned plane itself can be absorbed in the posture adjusting unmanned plane, offset windage, then necessary lift is provided after hydrogen is finished.Described balloon can be set according to practical situation, as strip, U-shaped, ball-type etc..
Feasibility and the selected parts of the unmanned plane in the present invention have much relations, therefore each parts select model as follows: described flexible solar battery is purchased from the electricity business websites such as Alibaba, model is: Chinese energy GlobalSolarEnergyCIGS, operating current: 5.4-5.6 (A), running voltage: 16.5-17.8 (V).
Described hydrogen fuel cell model is: pretty lucky JJ300, normal voltage: 36V.
Described motor model is: Dongxing, Shenzhen prestige motor A2212-1400KV, rated power: 209 (W), rated voltage: 11.1 (V), rated current: 0.9 (A), rated speed: 15800 (rpm), overall dimensions: 27.7X27 (mm).
The electric capacity model used that matches with motor is: Fu Hui FH-SM15V-4.17F.
The model of described motor is alternatively: fleeing cattle in stampede 2812, rated power: 123 (W), rated voltage: 11.1 (V), rated current: 11.1 (A), rated speed: 7140 (rpm), overall dimensions: 28 (mm).
Described hydrogen balloon is multiple, multiple hydrogen balloon spread configurations；Also include at least more than one helium balloon, described helium balloon and hydrogen balloon spread configuration；Hydrogen balloon is arranged in inner side, and helium balloon is arranged in outside.Hydrogen balloon achieves " battery does not have weight " this flex point itself, it is provided that the energy of hydrogen fuel cell, hydrogen balloon and helium balloon all can provide lift for unmanned plane.It addition, the probability that the balloon being arranged in outside is damaged is bigger, therefore, helium balloon is arranged in outside, safer compared with hydrogen balloon and stable；Helium balloon provides lift for unmanned plane merely, when particularly the hydrogen in hydrogen balloon runs out, still can provide lift for unmanned plane.And the arrangement mode of balloon lines up plane, reduce windage thereby through the front face area reducing side.When hydrogen is when using up, owing to hydrogen balloon is arranged on inner side, thus the impact of unmanned plane profile and windward side is little.As shown in Figure 1, if balloon is strip, the balloon of some long strip types is lined up so that balloon overall structure is more flat, and what be arranged in inner side is hydrogen balloon, is arranged in outside for helium balloon.
Control module as shown in Figure 1, including satellite positioning unit, pressure-altitude sensor, acceleration transducer, digital compass.Described pressure-altitude sensor is for calculating the height above sea level at unmanned plane self place.Described acceleration transducer is used for measuring acceleration during unmanned plane during flying.Digital compass is for detecting the direction of current unmanned plane during flying.Satellite positioning unit is for being determined unmanned plane current location, so that it is guaranteed that unmanned plane flies impact point according to the route specified.
The period that described satellite positioning unit uses is, model: UbloxNEO-6M-0001, and serial port baud rate acquiescence 9600,4800 and 38400 is optional, NMEA communication protocol, module size: 23.5mm*33mm, power supply mode: 3.3V-5V.
Described pressure-altitude sensor, acceleration transducer and digital compass can be selected for integrated device, model: CJMCU-21113.
As shown in Figure 1, described dividing plate is plastic plate, and plastic plate selected by dividing plate, to reduce the weight and volume of dividing plate.
As shown in Figure 1, described communication module is used for telecommunication, and communication module includes 2G communication unit, and circuit board can be directly connected to 2G communication unit, and 2G communication unit can realize digital remote communication, accomplishes long-distance remote control and supervision.When unmanned plane runs into special circumstances, tolerance in hydrogen balloon is used up, or balloon explodes suddenly, individually necessary electric energy cannot be provided to maintain the properly functioning of unmanned plane by solaode, now can be monitored rapidly by nobody and react, send abnormal information by 2G communication unit to management system or earth station or the mobile phone that pre-sets sends alarming short message.
Communication module includes Zigbee self-organized network communication unit, the unmanned plane cluster that Zigbee self-organized network communication unit can realize one is formed into columns runs out, forest zone on a large scale or farmland are provided and searches mountain, the disaster relief etc. are monitored, Zigbee self-organized network communication unit can allow intercommunication positional information between unmanned plane close to each other, mutually collides thus effectively preventing unmanned plane from forming into columns when flight.
The device that described 2G communication unit uses is, model: MG2639V2, matter formula: MG2639V2, frequency range: 850/900/1800/1900MHz.
The device that described Zigbee self-organized network communication unit uses is, model: DL-20, chip type selecting: CC2530, frequency: 2400-2450MHz, transmitting power: 4.5dBm.
With Imitating unmanned plane sailing condition:
The first step, formulates unmanned plane during flying route, place A to place B to place C, will set the highest flying height of unmanned plane and minimum flight altitude according to concrete route situation, when unmanned plane then sends early warning information beyond zone of reasonableness before flight.
Second step, unmanned plane is started at place A, unmanned plane, by the equipment such as satellite positioning unit, pressure-altitude sensor, acceleration transducer and electronic guide, obtains relevant parameter, it is determined that unmanned plane present position and fly up to the direction of place B, distance, time, headway and flying height.Now weather condition is good, only needs solaode namely to meet the flight of unmanned plane.
3rd step, unmanned plane will carry out the judgement of a sailing condition after flight a period of time.When finding that deviate from default navigation track then illustrates to encounter extraneous bigger interference, such as situations such as windages.Now, unmanned plane drops and recalculates oneself location and fly up to the direction of place B, distance, time, headway and flying height.Unmanned plane can increase the flight speed of unmanned plane to offset windage.
4th step, after unmanned plane place of arrival B, begins to calculate from the direction of place B place of arrival C, distance, time, headway and flying height.
5th, now weather conditions are not as, and the electric energy that solaode provides can not meet the flight requirement of unmanned plane, now control module and start hydrogen fuel cell.
6th step, before non-place of arrival C, hydrogen balloon generation leakage situation, remaining amounts of hydrogen is not enough, thus hydrogen fuel cell cannot provide unmanned plane to fly to the electric energy of place C, unmanned plane will be sent abnormal information, send alarming short message to the mobile phone pre-set to management system and earth station by 2G communication unit simultaneously.Now unmanned plane lands with the speed of safety.
7th step, after impaired hydrogen balloon is replaced, starts unmanned plane.Unmanned plane recalculates oneself location and flies up to the direction of place C, distance, time, headway and flying height.
8th step, unmanned plane arrives at place C.
The present invention a kind of adopts long endurance unmanned aircraft theoretical flight time of new forms of energy higher more than 30 times than common product.In fine summer, depending merely on sunlight just can non-stop flight more than 8 hours.In addition, calculate according to the efficiency (3 liters of hydrogen of consumption per minute) of the small hydrogen fuel battery can bought on market (electricity such as Alibaba business website), hydrogen with 1 cubic metre (1000 liters), it is possible to the flight time of 333 minutes about 5 and a half hours is provided to unmanned plane when not having the sun.
California bearing ratio common product of the present invention is high, and own wt is lighter than common product in other words.Because there being balloon to provide lift, the helium of 1 cubic metre or hydrogen can provide the lift of about 1 kilogram, it is simply that say, if all motors the same as common product reach full, the present invention can put forward the weight of more than 1 kilogram more, also than common product more than 30 times of a specified duration flown, and is well suited for for doing unmanned plane express delivery.
If unnecessary load-carrying is used for carrying additionally battery, it is also possible to what fly is more of a specified duration, it is achieved cruise the whole night is also possible to.The extra lift of motor can also be leaned in windy day to stablize body.
Above-described embodiment is the present invention preferably embodiment; but embodiments of the present invention are also not restricted to the described embodiments; the change made under other any spirit without departing from the present invention and principle, modification, replacement, combination, simplification; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (7)
1. adopt a long endurance unmanned aircraft for new forms of energy, including fuselage, flexible solar battery, motor, control module, communication module, power module, propeller and dividing plate, it is characterised in that: also include hydrogen fuel cell and hydrogen balloon；Being provided with flexible solar battery on described hydrogen balloon, balloon is arranged below dividing plate, dividing plate underhung fuselage, and described control module, communication module, power module and hydrogen fuel cell are arranged in fuselage, and motor and propeller are arranged on fuselage；
Described hydrogen balloon is connected with hydrogen fuel cell；Hydrogen fuel cell and flexible solar battery are connected with power module respectively, and communication module, control module and motor are connected with power module respectively；Motor is connected with propeller.
2. a kind of long endurance unmanned aircraft adopting new forms of energy according to claim 1, it is characterised in that: described hydrogen balloon is multiple, multiple hydrogen balloon spread configurations.
3. a kind of long endurance unmanned aircraft adopting new forms of energy according to claim 1 and 2, it is characterised in that: also include at least more than one helium balloon, described helium balloon and hydrogen balloon spread configuration.
4. a kind of long endurance unmanned aircraft adopting new forms of energy according to claim 3, it is characterised in that: described hydrogen balloon is arranged in inner side, and described helium balloon is arranged in outside.
5. a kind of long endurance unmanned aircraft adopting new forms of energy according to claim 1, it is characterised in that: described control module includes satellite positioning unit, pressure-altitude sensor, acceleration transducer, digital compass.
6. a kind of long endurance unmanned aircraft adopting new forms of energy according to claim 1, it is characterised in that: described dividing plate is plastic plate.
7. a kind of long endurance unmanned aircraft adopting new forms of energy according to claim 1, it is characterised in that: communication module includes 2G communication unit, Zigbee self-organized network communication unit.
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| CN2015107130195 | 2015-10-28 | ||
| CN201510713019 | 2015-10-28 |
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| CN105730670A true CN105730670A (en) | 2016-07-06 |
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| CN106275408A (en) * | 2016-09-23 | 2017-01-04 | 安徽翼讯飞行安全技术有限公司 | A kind of rotor wing unmanned aerial vehicle |
| CN106452556A (en) * | 2016-09-14 | 2017-02-22 | 芜湖扬展新材料科技服务有限公司 | Data transmission system for aircraft based on 4G network |
| CN106828900A (en) * | 2017-01-17 | 2017-06-13 | 珠海卡特瑞科农林航空装备研究所有限公司 | A kind of unmanned plane with Fu Sheng mechanisms |
| CN106892079A (en) * | 2017-03-13 | 2017-06-27 | 天峋（常州）智能科技有限公司 | One kind is tethered at unmanned plane |
| CN107115687A (en) * | 2017-07-12 | 2017-09-01 | 北京化工大学 | A kind of multidimensional acousto-optic Stage System based on unmanned plane aircraft carrier |
| CN107878740A (en) * | 2017-11-07 | 2018-04-06 | 林卓然 | A kind of supply line's monitoring device for possessing self-charging function |
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| CN115042980A (en) * | 2022-05-26 | 2022-09-13 | 北京理工大学 | A solar/hydrogen/energy storage battery hybrid drone |
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| CN106892079A (en) * | 2017-03-13 | 2017-06-27 | 天峋（常州）智能科技有限公司 | One kind is tethered at unmanned plane |
| CN107115687A (en) * | 2017-07-12 | 2017-09-01 | 北京化工大学 | A kind of multidimensional acousto-optic Stage System based on unmanned plane aircraft carrier |
| CN107878740A (en) * | 2017-11-07 | 2018-04-06 | 林卓然 | A kind of supply line's monitoring device for possessing self-charging function |
| CN108974375A (en) * | 2018-07-16 | 2018-12-11 | 河南聚合科技有限公司 | A kind of hybrid power land, water and air three, which are dwelt, unmanned scouts identification percussion system |
| CN115042980A (en) * | 2022-05-26 | 2022-09-13 | 北京理工大学 | A solar/hydrogen/energy storage battery hybrid drone |
| CN115042980B (en) * | 2022-05-26 | 2024-08-20 | 北京理工大学 | Solar energy/hydrogen energy/energy storage battery hybrid unmanned aerial vehicle |
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