CN111891349B - A quadrotor-flapping wing hybrid layout aircraft - Google Patents
A quadrotor-flapping wing hybrid layout aircraft Download PDFInfo
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- CN111891349B CN111891349B CN202010768421.4A CN202010768421A CN111891349B CN 111891349 B CN111891349 B CN 111891349B CN 202010768421 A CN202010768421 A CN 202010768421A CN 111891349 B CN111891349 B CN 111891349B
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 68
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 4
- 239000004917 carbon fiber Substances 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
- B64C27/28—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft with forward-propulsion propellers pivotable to act as lifting rotors
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/102—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for vertical take-off of aircraft
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Toys (AREA)
Abstract
The invention discloses a four-rotor-flapping-wing hybrid layout aircraft, which comprises a hybrid layout aircraft fuselage and a hybrid layout aircraft control system, wherein the hybrid layout aircraft fuselage is formed by embedding a four-rotor aircraft skeleton and a bird-flapping-wing imitation aircraft fuselage together, the four-rotor aircraft skeleton comprises a four-rotor support and four rotors, the four-rotor support comprises a support main body, four rotor support rods are arranged around the support main body, rotor motors of the four rotors are fixed at the end parts of the four rotor support rods of the support main body, the support main body of the four-rotor support is embedded into the bird-flapping-wing imitation aircraft fuselage, left and right flapping wings of the bird-flapping-wing imitation aircraft are respectively positioned between front and rear rotors on the side, and the hybrid layout aircraft control system comprises an aircraft remote controller, a four-rotor flight control system, a bird-flapping-wing imitation flight control system and a flight mode controller. The device has the characteristics of strong flight environment adaptability, safety, reliability, convenient operation and the like.
Description
Technical Field
The invention relates to the technical field of aircrafts.
Background
The bird-imitating ornithopter has very important application prospect in national defense and military, in the actual use process, the carried energy is limited, the environment where the bird-imitating ornithopter is located is complex and changeable, and the utilization value of the bird-imitating ornithopter can be greatly improved by improving the environment adaptability of the bird-imitating ornithopter, so that the bird-imitating ornithopter is required to have the capability of autonomous taking-off and landing in a narrow space. However, in the prior art, most of the bird-imitating ornithopters are thrown and take off by hand, and in the published reports, the bird-imitating ornithopters capable of taking off and landing independently do not appear, so that the bird-imitating ornithopters become a great obstacle for going to practical roads.
Disclosure of Invention
The invention aims to solve the technical problem of providing a four-rotor-ornithopter hybrid layout aircraft, which has the characteristics of strong flight environment adaptability, safety, reliability, convenient operation and the like.
In order to solve the technical problems, the invention adopts the following technical scheme:
a four-rotor-ornithopter hybrid topology aircraft comprises a hybrid topology aircraft fuselage and a hybrid topology aircraft control system;
The four-rotor aircraft frame comprises a four-rotor bracket and four rotors, the four-rotor bracket comprises a bracket main body, four rotor support rods are arranged around the bracket main body, the rotors comprise rotor motors and rotor paddles fixed on the rotor motors, the rotor motors of the four rotors are fixed at the end parts of the four rotor support rods of the bracket main body, so that the four rotor paddles are bilaterally symmetrical relative to the longitudinal center line of the bracket main body and bilaterally symmetrical relative to the transverse center line of the bracket main body, the bracket main body of the four-rotor bracket is embedded into the bird-flapping aircraft main body, the longitudinal center line of the bracket main body of the four-rotor bracket and the axial lead of the bird-flapping aircraft main body are arranged in parallel or coincide with each other, the tension center of the bracket main body of the four-rotor bracket is positioned in a sphere formed by taking the center of gravity of the hybrid-topology aircraft main body as the sphere center, and the left and right flapping wings of the bird-flapping aircraft are respectively positioned between the front and the rear two rotor wings of the side of the hybrid-topology aircraft main body as the radius, so that the hybrid-topology aircraft main body is formed;
the mixed layout aircraft control system comprises an aircraft remote controller, a four-rotor flight control system, a bird-imitating flapping-wing flight control system and a flight mode controller;
the aircraft remote controller is provided with an aircraft mode conversion take-off/landing control button, a switching signal generated by the aircraft mode conversion take-off/landing control button is transmitted to an aircraft remote controller singlechip MCU through an I/O interface, the aircraft remote controller singlechip MCU respectively generates corresponding take-off or landing control instructions according to the received switching value signals, the corresponding take-off or landing control instructions are transmitted to a wireless communication module through the I/O interface, and the wireless communication module converts the take-off or landing control instructions into wireless transmission signals to send the take-off or landing wireless control instructions;
The flight mode controller comprises a flight mode controller single chip microcomputer MCU, a GPS module, an airspeed meter, a wireless communication module, a start/stop control I/O port and a flat flight control I/O port, wherein the GPS module is used for receiving a height signal, the airspeed meter is used for detecting the flight speed of an aircraft, the wireless communication module is used for receiving a take-off or landing wireless control instruction sent by the aircraft remote controller, the flight mode controller single chip microcomputer MCU is used for respectively acquiring the height signal sent by the GPS module through a corresponding I/O port, the airspeed meter sends a flight speed signal, the take-off or landing wireless control instruction received by the wireless communication module, the flight mode controller single chip microcomputer MCU is further provided with the start/stop control I/O port and the flat flight control I/O port which are used for being connected with the four-rotor flight control system single chip microcomputer MCU so as to send a start/stop control signal and a flat flight control signal to the four-rotor flight control system single chip microcomputer MCU, and the flight mode controller single chip microcomputer MCU is further provided with a start/stop control I/O port used for being connected with the bird-like wing flight control system single chip microcomputer MCU so as to send a take-off or stop control signal to the flight mode controller single chip microcomputer;
The four-rotor flight control system MCU is respectively provided with a start-stop control I/O port and a flat flight control I/O port which are used for being connected with the flight mode controller MCU, and is respectively used for receiving start-stop control signals and flat flight control signals sent by the flight mode controller MCU;
the bird-flapping-wing-imitating flight control system MCU is provided with a start-stop control I/O port which is used for being connected with the flight mode controller MCU, so as to be used for receiving a take-off or stop control signal sent by the flight mode controller MCU.
The invention is further improved in that:
The safety height threshold is 30 meters.
The flight mode switching time threshold value is 0-1 second.
The flight mode switching speed threshold is 8 meters/second.
The four-rotor aircraft skeleton is made of carbon fiber materials.
The rotor is a pair of positive and negative paddles, and the pitch diameter size is the same.
The GPS module and airspeed meter in the flight mode controller are used as elements in a four-rotor flight control system or a bird-simulated ornithopter flight control system.
The beneficial effects of adopting above-mentioned technical scheme to produce lie in:
The invention is easy to operate, can effectively solve the problem of lack of autonomous take-off and landing capability of the bird-imitating flapping-wing aircraft, and can switch to a rotor mode to continue to execute flight when the flapping-wing flight mode fails by adopting the layout mode, thereby increasing the survivability of the aircraft.
The device has the characteristics of strong flight environment adaptability, safety, reliability, convenient operation and the like.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
figure 2 is a schematic view of the structure of the quad-rotor stand of figure 1;
FIG. 3 is a schematic structural diagram of a hybrid topology aircraft control system.
In the attached drawings, a bracket main body, a rotor support rod, a rotor motor, a rotor blade, a bird-imitating flapping wing aircraft body and a flapping wing are respectively arranged in the attached drawings.
Detailed Description
The aircraft remote controller, the four-rotor flight control system and the bird-flapping-wing imitating flight control system are all the components necessary for the four-rotor aircraft and the bird-flapping-wing imitating aircraft in the prior art.
In the embodiment, the remote controller of the aircraft and the four-rotor flight control system are added with logic control circuits between the simulated bird flapping wing flight control system and the flight mode controller on the basis of the prior art, and part of the circuit diagram of the prior art is not shown;
all elements related in the technical scheme are common parts of the four-rotor aircraft and the bird-imitating ornithopter, and the model specification is not repeated.
The invention will be described in further detail with reference to the drawings and the specific embodiments.
Standard parts used in the invention can be purchased from the market, special-shaped parts can be customized according to the description of the specification and the drawings, and the specific connection modes of the parts adopt conventional means such as mature bolts, rivets, welding, pasting and the like in the prior art, and the detailed description is omitted.
As can be seen from the embodiments shown in fig. 1 to 3, the present embodiment includes a hybrid-layout aircraft fuselage and a hybrid-layout aircraft control system;
The hybrid layout aircraft body is formed by embedding a four-rotor aircraft skeleton and a bird-like flapping aircraft body 5 together, the four-rotor aircraft skeleton comprises a four-rotor bracket and four rotors, the four-rotor bracket comprises a bracket main body 1, four rotor support rods 2 are arranged around the bracket main body 1, the rotors comprise rotor motors 3 and rotor paddles 4 fixed on the rotor motors 3, the rotor motors 3 of the four rotors are fixed at the ends of the four rotor support rods 2 of the bracket main body 1, so that the four rotor paddles 4 are bilaterally symmetrical relative to the longitudinal center line of the bracket main body 1 and bilaterally symmetrical relative to the transverse center line of the bracket main body 1, the bracket main body 1 of the four-rotor bracket is embedded into the bird-like flapping aircraft body 5, the longitudinal center line of the bracket main body 1 of the four-rotor bracket and the axial center line of the bird-like flapping aircraft body 5 are arranged in parallel or coincide with each other, the tension center of the bracket main body 1 of the four-rotor bracket is positioned in a sphere formed by taking the center of gravity of the hybrid layout aircraft body as a radius, and the left and right and left and right wing wings 6 of the hybrid layout aircraft body are positioned between the two front and rear wing aircraft bodies respectively in a front and rear of the hybrid layout;
the mixed layout aircraft control system comprises an aircraft remote controller, a four-rotor flight control system, a bird-imitating flapping-wing flight control system and a flight mode controller;
the aircraft remote controller is provided with an aircraft mode conversion take-off/landing control button, a switching signal generated by the aircraft mode conversion take-off/landing control button is transmitted to an aircraft remote controller singlechip MCU through an I/O interface, the aircraft remote controller singlechip MCU respectively generates corresponding take-off or landing control instructions according to the received switching value signals, the corresponding take-off or landing control instructions are transmitted to a wireless communication module through the I/O interface, and the wireless communication module converts the take-off or landing control instructions into wireless transmission signals to send the take-off or landing wireless control instructions;
The flight mode controller comprises a flight mode controller single chip microcomputer MCU, a GPS module, an airspeed meter, a wireless communication module, a start/stop control I/O port and a flat flight control I/O port, wherein the GPS module is used for receiving a height signal, the airspeed meter is used for detecting the flight speed of an aircraft, the wireless communication module is used for receiving a take-off or landing wireless control instruction sent by the aircraft remote controller, the flight mode controller single chip microcomputer MCU is used for respectively acquiring the height signal sent by the GPS module through a corresponding I/O port, the airspeed meter sends a flight speed signal, the take-off or landing wireless control instruction received by the wireless communication module, the flight mode controller single chip microcomputer MCU is further provided with the start/stop control I/O port and the flat flight control I/O port which are used for being connected with the four-rotor flight control system single chip microcomputer MCU so as to send a start/stop control signal and a flat flight control signal to the four-rotor flight control system single chip microcomputer MCU, and the flight mode controller single chip microcomputer MCU is further provided with a start/stop control I/O port used for being connected with the bird-like wing flight control system single chip microcomputer MCU so as to send a take-off or stop control signal to the flight mode controller single chip microcomputer;
The four-rotor flight control system MCU is respectively provided with a start-stop control I/O port and a flat flight control I/O port which are used for being connected with the flight mode controller MCU, and is respectively used for receiving start-stop control signals and flat flight control signals sent by the flight mode controller MCU;
The bird-flapping-wing-imitating flight control system singlechip MCU is provided with a start-stop control I/O port used for being connected with the flight mode controller singlechip MCU, so as to be used for receiving a take-off or stop control signal sent by the flight mode controller singlechip MCU;
When the flight mode controller MCU receives a take-off wireless control command sent by an aircraft remote controller through a wireless communication module, the flight mode controller MCU sends a high-level take-off control signal to the four-rotor flight control system MCU through a start-stop control I/O port so as to enable the four-rotor flight control system MCU to occupy the aircraft control right and control the four rotors to rotate and vertically take off, when the flight mode controller MCU detects that the flight height value sent by the GPS module reaches a set safety height threshold (which is required by the flying of the flapping wings 6), once the aircraft is in a gesture control error, the flight mode controller MCU can correct the gesture control error, sends a plane flight control signal to the four-rotor flight control system MCU through a plane flight control I/O port, the four-rotor flight control system receives the plane flight control signal and then controls the four-rotor flight control system MCU to rotate and fly flatly, when the flight mode controller MCU detects that the flight speed value sent by the airspeed meter reaches the set flight mode switching speed threshold (the speed required by the flapping wings 6), the flight mode controller MCU stops the four-rotor flight control system is enabled to be controlled by the four-rotor flight mode MCU through the start-stop control I/O port, the four-rotor flight control system is prevented from affecting the four-rotor flight control system switching time threshold time interval, the four-rotor flight control MCU is enabled to stop time-controlled by the four-rotor flight control MCU to be enabled to achieve the time threshold, the flight mode controller MCU sends a high-level start control signal to the bird-flapping-wing-imitating flight control system MCU through a start-stop control I/O port so that the bird-flapping-wing-imitating flight control system occupies the control right of the aircraft and controls the flapping flight of the two flapping wings 6;
When the flight mode controller single chip microcomputer MCU receives a landing wireless control instruction sent by the aircraft remote controller through the wireless communication module, the flight mode controller single chip microcomputer MCU sends a low-level stop control signal to the bird-flapping-wing-imitating flight control system single chip microcomputer MCU through the start-stop control I/O port so that the bird-flapping-wing-imitating flight control system releases the aircraft control right and the two flapping wings 6 stop flapping, and the flight mode controller single chip microcomputer MCU sends a high-level take-off control signal to the four-rotor-wing flight control system single chip microcomputer MCU through the start-stop control I/O port so that the four-rotor-wing flight control system occupies the aircraft control right and controls the four rotors to rotate and land.
The safety height threshold is 30 meters.
The flight mode switching time threshold value is 0-1 second.
The flight mode switching speed threshold is 8 meters/second.
The four-rotor aircraft skeleton is made of carbon fiber materials.
Rotor blade 4 is a pair of forward and reverse blades, and the blade diameters are the same.
The flight mode switching time threshold value is 0-1 second.
The flight mode switching speed threshold is 8 meters/second.
The four-rotor aircraft skeleton is made of carbon fiber materials.
Rotor blade 4 is a pair of forward and reverse blades, and the blade diameters are the same.
The GPS module and airspeed meter in the flight mode controller are the elements used in the four-rotor flight control system or the simulated bird ornithopter flight control system, namely, the single chip microcomputer MCU of the flight mode controller collects the altitude signal of the GPS module and the flight speed signal of the airspeed meter in the four-rotor flight control system or the simulated bird ornithopter flight control system.
Claims (5)
1. A four-rotor-ornithopter hybrid layout aircraft is characterized by comprising a hybrid layout aircraft body and a hybrid layout aircraft control system;
The hybrid layout aircraft body is formed by embedding a four-rotor aircraft skeleton and a bird-like ornithopter aircraft body (5), the four-rotor aircraft skeleton comprises a four-rotor bracket and four rotors, the four-rotor bracket comprises a bracket main body (1), four rotor support rods (2) are arranged around the bracket main body (1), the rotors comprise rotor motors (3) and rotor paddles (4) fixed on the rotor motors (3), and the rotor motors (3) of the four rotors are fixed at the end parts of the four rotor support rods (2) of the bracket main body (1) so that the four rotor paddles (4) are symmetrical left and right relative to the longitudinal center line of the bracket main body (1) and symmetrical front and back relative to the transverse center line of the bracket main body (1); the support main body (1) of the four-rotor support is embedded into the bird-simulated flapping-wing aircraft body (5), the longitudinal center line of the support main body (1) of the four-rotor support and the axial line of the bird-simulated flapping-wing aircraft body (5) are arranged in parallel or coincide with each other, the tension center of the support main body (1) of the four-rotor support is positioned in a sphere formed by taking the center of gravity of the hybrid-layout aircraft body as a sphere center and taking 6% of the width of the hybrid-layout aircraft body as a radius, the left and right flapping wings (6) of the bird-simulated flapping-wing aircraft are respectively positioned between the front and rear two rotors, thereby forming a hybrid layout aircraft fuselage;
The mixed layout aircraft control system comprises an aircraft remote controller, a four-rotor flight control system, a bird-imitating ornithopter flight control system and a flight mode controller;
the aircraft remote controller is provided with an aircraft mode conversion take-off/landing control button, a switching signal generated by the aircraft mode conversion take-off/landing control button is transmitted to an aircraft remote controller singlechip MCU through an I/O interface, the aircraft remote controller singlechip MCU respectively generates corresponding take-off or landing control instructions according to the received switching value signals, and the corresponding take-off or landing control instructions are transmitted to a wireless communication module through the I/O interface, and the wireless communication module converts the take-off or landing control instructions into wireless transmission signals to send the take-off or landing wireless control instructions;
The flying mode controller comprises a flying mode controller single chip microcomputer MCU, a GPS module, an airspeed meter, a wireless communication module and a start/stop control I/O port, wherein the GPS module is used for receiving a height signal, the airspeed meter is used for detecting the flying speed of an aircraft, the flying mode controller single chip microcomputer MCU is provided with the wireless communication module which is in wireless connection with an aircraft remote controller and is used for receiving a take-off or landing wireless control instruction sent by the aircraft remote controller, the flying mode controller single chip microcomputer MCU respectively collects the height signal sent by the GPS module through a corresponding I/O port, the airspeed meter sends out a flying speed signal, the take-off or landing wireless control instruction received by the wireless communication module, the flying mode controller single chip microcomputer MCU is further provided with the start/stop control I/O port and the flat flight control I/O port which are used for being connected with the four-rotor flight control system single chip microcomputer MCU so as to send out a start/stop control signal and a flat flight control signal to the four-rotor flight control system single chip microcomputer MCU, and the flying mode controller single chip microcomputer MCU is further provided with the start/stop control I/O port and the flat flight control signal;
The four-rotor flight control system MCU is respectively provided with a start-stop control I/O port and a flat flight control I/O port which are used for being connected with the flight mode controller MCU, and is respectively used for receiving start-stop control signals and flat flight control signals sent by the flight mode controller MCU;
The bird-imitating flapping wing flight control system MCU is provided with a start-stop control I/O port used for being connected with the flight mode controller MCU, so as to be used for receiving a take-off or stop control signal sent by the flight mode controller MCU;
The flight mode switching speed threshold is 8 meters/second.
2. A four rotor-ornithopter hybrid layout aircraft according to claim 1, wherein the safety height threshold is 30 meters.
3. The four-rotor-ornithopter hybrid layout vehicle of claim 1, wherein the four-rotor vehicle skeleton is a carbon fiber material.
4. A four-rotor-ornithopter hybrid layout aircraft according to claim 1, wherein the rotor (4) is a pair of forward and reverse rotor, and the rotor diameters are the same.
5. A four rotor-ornithopter hybrid topology aircraft as set forth in claim 3, wherein the GPS module and airspeed meter in the flight mode controller are components used in the four rotor flight control system or the simulated bird ornithopter flight control system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010768421.4A CN111891349B (en) | 2020-08-03 | 2020-08-03 | A quadrotor-flapping wing hybrid layout aircraft |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010768421.4A CN111891349B (en) | 2020-08-03 | 2020-08-03 | A quadrotor-flapping wing hybrid layout aircraft |
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| CN111891349A CN111891349A (en) | 2020-11-06 |
| CN111891349B true CN111891349B (en) | 2025-02-18 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112278261A (en) * | 2020-11-26 | 2021-01-29 | 广东国士健科技发展有限公司 | Hybrid energy-saving four-wing flapping wing aircraft with auxiliary lifting device |
| CN113247246B (en) * | 2021-06-29 | 2021-10-01 | 北京科技大学 | A cruise control system for flapping aircraft based on asynchronous multi-camera |
| CN113306715A (en) * | 2021-07-06 | 2021-08-27 | 西北农林科技大学 | Novel micro bionic aircraft and simulation analysis method thereof |
| CN113460296B (en) * | 2021-07-22 | 2022-05-03 | 南京航空航天大学 | A flapping wing-dual rotor hybrid aircraft |
| CN115123530B (en) * | 2022-06-30 | 2024-08-09 | 燕山大学 | Micro air vehicle with coaxial dual rotors and magnetically driven flapping wings coupled with control method |
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| CN204037909U (en) * | 2014-07-09 | 2014-12-24 | 中国南方航空工业(集团)有限公司 | Flapping-wing aircraft |
| CN212980527U (en) * | 2020-08-03 | 2021-04-16 | 西北工业大学太仓长三角研究院 | Four-rotor-flapping-wing hybrid layout aircraft |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207809768U (en) * | 2017-11-28 | 2018-09-04 | 深圳市大疆创新科技有限公司 | A kind of unmanned vehicle |
| CN108557074A (en) * | 2018-01-25 | 2018-09-21 | 西北工业大学 | Using the flapping wing aircraft and method of operating of three rotor mixed layouts |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204037909U (en) * | 2014-07-09 | 2014-12-24 | 中国南方航空工业(集团)有限公司 | Flapping-wing aircraft |
| CN212980527U (en) * | 2020-08-03 | 2021-04-16 | 西北工业大学太仓长三角研究院 | Four-rotor-flapping-wing hybrid layout aircraft |
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| CN111891349A (en) | 2020-11-06 |
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