CN203876988U - Protection and control system of aircraft and aircraft - Google Patents
Protection and control system of aircraft and aircraft Download PDFInfo
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- CN203876988U CN203876988U CN201420213312.6U CN201420213312U CN203876988U CN 203876988 U CN203876988 U CN 203876988U CN 201420213312 U CN201420213312 U CN 201420213312U CN 203876988 U CN203876988 U CN 203876988U
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Abstract
The embodiment of the utility model provides a protection and control system of an aircraft and the aircraft. The protection and control system of the aircraft comprises a flight data collector and a controller, wherein the controller and the flight data collector are arranged on the aircraft and are in signal connection, the controller is in signal connection with an externally arranged protective device of the aircraft, the flight data collector is used for sending collected flight data of the aircraft to the controller, the controller sends a recovery trigger signal to the protective device after detecting that the aircraft is in a recovery state on the basis of the flight data, and the flight data collector comprises a signal receiving module and a flight sensor module. By the adoption of the protection and control system of the aircraft, a safety device in the aircraft is effectively prevented from being started by mistake, normal flight of the aircraft is better ensured, and damage to the aircraft and surroundings is reduced when the aircraft falls fast due to system failure or other reasons.
Description
Technical field
The utility model relates to aircraft security technical field, relates in particular to a kind of Protection control system and aircraft of aircraft.
Background technology
Development along with airmanship, all kinds, the aircraft that possesses difference in functionality have been widely applied to military affairs and civil area, and SUAV (small unmanned aerial vehicle) with the advantage such as its use is simple, easy to carry large-scale application in fields such as Geological Hazards Monitoring, forest fire protection, the mapping of taking photo by plane, environmental monitoring and target detections.
Aircraft, can be because the unit failure of climatic conditions, terrain environment, aircraft self and electric weight deficiency etc. are former thereby cause air crash accident in flight use procedure.In order to prevent that aircraft air crash from damaging, in prior art, generally by being equipped with the mode of parachute, guarantee that aircraft security lands.
In existing unmanned plane parachute control technology, aircraft can utilize the information such as air speed, ground velocity, estimate aerial horizontal wind speed, wind direction and other possible climatic conditions, thereby determine place and the opportunity of parachute-opening, but, this situation is easily subject to not affecting the instantaneous high wind of flight and causes erroneous judgement, the aircraft of normal flight is opened by mistake and open parachute.
Utility model content
The technical matters that the utility model embodiment mainly solves is to provide a kind of protection control method, device and aircraft of aircraft; can more efficiently avoid opening by mistake of safety device in aircraft to open, the safety of aircraft when guaranteeing preferably the normal flight of aircraft and landing.
For solving the problems of the technologies described above, the utility model embodiment provides a kind of Protection control system of aircraft, comprise: flying quality collector, controller, wherein, described controller, flying quality collector are arranged on described aircraft, and between described controller and described flying quality collector, signal is connected;
Described flying quality collector, sends to described controller by the flying quality of the aircraft collecting;
Described controller, detects described aircraft based on described flying quality and to the fender guard for described aircraft peripheral hardware, sends and reclaim energizing signal after recovery state;
Described flying quality collector comprises: signal receiving module and flight sensor module.
Further alternatively, described system also comprises: motor,
Between described motor and described controller, signal is connected,
Described controller, sends closing control signal to described motor after the feedback signal of having opened in the protection that receives the fender guard feedback of described peripheral hardware;
Described motor cuts out output after receiving the closing control signal of described controller.
Further alternatively, the fender guard for described aircraft peripheral hardware comprises: a plurality of fender guards that are arranged on each side of described aircraft;
Described controller, determines in the attitude angle based on flying quality sense aircraft behind the safe side of described aircraft to one or more fender guards of this safe side and sends and reclaim energizing signal.
Further alternatively, the fender guard for described aircraft peripheral hardware comprises a plurality of protection modules that are arranged on each side of described aircraft;
Described controller, determines the recovery energizing signal that sends side safe to carry sign behind the safe side of described aircraft to the fender guard of described peripheral hardware in the attitude angle based on flying quality sense aircraft.
Correspondingly, the utility model also provides a kind of aircraft, comprising: protection control setup, signal receiving device, described protection control setup and described signal receiving device with for the fender guard signal of described aircraft peripheral hardware, be connected;
Described protection control setup generates recovery energizing signal and sends to the fender guard into described aircraft peripheral hardware when the state of flight that aircraft detected is recovery state;
Described signal receiving device is while reclaiming energizing signal, to generate recovery energizing signal to send to the fender guard into described aircraft peripheral hardware at the ground control signal receiving.
Further alternatively, described aircraft also comprises: flight sensor, and described flight sensor is connected with described protection control setup signal;
Described flight sensor, sends to described protection control setup by the flying quality of the aircraft collecting;
Described protection control setup, specifically detects described aircraft based on described flying quality and to the fender guard for described aircraft peripheral hardware, sends and reclaim energizing signal after recovery state.
Further alternatively, described aircraft, also comprises: motor; Between described motor and described protection control setup, signal is connected,
Described protection control setup, sends closing control signal to described motor after the feedback signal of having opened in the protection that receives the fender guard feedback of described peripheral hardware;
Described motor cuts out output after receiving the closing control signal of described controller.
Further alternatively, the fender guard for described aircraft peripheral hardware comprises: a plurality of fender guards that are arranged on each side of described aircraft;
Described protection control setup, determines in the attitude angle based on flying quality sense aircraft behind the safe side of described aircraft to one or more fender guards of this safe side and sends and reclaim energizing signal.
Further alternatively, the fender guard for described aircraft peripheral hardware comprises a plurality of protection modules that are arranged on each side of described aircraft;
Described protection control setup, determines the recovery energizing signal that sends side safe to carry sign behind the safe side of described aircraft to the fender guard of described peripheral hardware in the attitude angle based on flying quality sense aircraft.
Further alternatively, described protection control setup is integrated in the autopilot of described aircraft;
Described flight sensor comprises: any one in gyroscope, acceleration pick-up, magneto-meter, weather gauge or multiple combination.
The utility model embodiment can be simultaneously determines whether to need to trigger the protection of opening aircraft according to the control signal of the flying quality of aircraft and terrestrial user etc.; can more efficiently avoid opening by mistake of safety device in aircraft to open; while having guaranteed that preferably the normal flight of aircraft and aircraft generation systems lost efficacy or other reasons causes dropping rapidly, reduce aircraft self and damage rate to external world.
Accompanying drawing explanation
Fig. 1 is the structural representation of Protection control system of the aircraft of the utility model embodiment;
Fig. 2 is the structural representation of the aircraft of the utility model embodiment;
Fig. 3 is the schematic diagram of the fender guard of peripheral hardware in aircraft of the utility model embodiment.
The specific embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is clearly and completely described, obviously, described embodiment is only the utility model part embodiment, rather than whole embodiment.Embodiment based in the utility model, those of ordinary skills are not making the every other embodiment obtaining under creative work prerequisite, all belong to the scope of the utility model protection.
In the utility model embodiment, the flying quality of aircraft and ground signal are detected to monitoring simultaneously, the sensing data of aircraft detected, position of aircraft, altitude information, speed data, the aircraft such as acceleration/accel and angular acceleration data operating data occurs when abnormal, or receiving ground signal that ground remote control end sends when reclaiming energizing signal, determine and need recovery flight device, by triggering the outer locational parachutes that comprise such as aircraft sidewall that are located at, the isostructural fender guard of safety air bag is opened parachute, safety air bag, the safety guard-safeguard of realization to aircraft.
Referring to Fig. 1, is the structural representation of Protection control system of the aircraft of the utility model embodiment; The system of the utility model embodiment comprises:
Flying quality collector 11, controller 12, wherein, described controller 12, flying quality collector 11 are arranged on described aircraft, and between described controller 12 and described flying quality collector 11, signal is connected.Described controller 12 with for the fender guard signal of described aircraft peripheral hardware, be connected;
Described flying quality collector 11, sends to described controller 12 by the flying quality of the aircraft collecting;
Described controller 12, detects described aircraft based on described flying quality and to the fender guard of being located at described aircraft outward, sends and reclaim energizing signal after recovery state; Described controller 12 is specifically as follows a micro controller system, treater etc.
Further, described flying quality collector 11 comprises: signal receiving module 111 and flight sensor module 112.Flight sensor module 112 comprises the modules such as gyroscope, three dimension acceleration sensor.
Described controller 12 detects described aircraft based on described flying quality and specifically can realize by carrying out following functions in recovery state:
Analyze the flying quality of described aircraft, intercept the ground control signal that described aircraft receives; If be data exception to the analysis result of flying quality, or the ground control signal listening to is for reclaiming energizing signal, determines that the state of flight of aircraft is recovery state.
In the utility model embodiment, the flight instruments of aircraft can comprise recovery state and normal flight state etc.Described aircraft comprises various types of unmanned planes.When aircraft et out of order (data that collect based on described flight sensor module 112), or when the control signal (signal receiving based on described signal receiving module 111) that regulation is sent on ground needs its safe falling, aircraft is all in recovery state.
Certainly, in other cases, for example aircraft is finished the work and is maked a return voyage while dropping to certain altitude, and described controller 12 also can define aircraft in recovery state.
Whether the flying quality of the data analysis aircraft that wherein, described controller 12 collects based on described flight sensor module 112 extremely also can comprise:
Analyze the data of each sensor that in flying quality collector 11, flight sensor 112 comprises, if exist, comprise solid stable constant value data, there is the loss of data of at least one sensor or exist at least one data within the scope of default exceptional value, to the analysis result of operating data, be data exception.
Flight sensor 112 generally comprises but is not limited to: gyroscope, acceleration pick-up, magneto-meter, weather gauge etc.When the data of the solid stable constant value of the output such as gyroscope, acceleration pick-up or loss of data or when abnormal, can cause aircraft cannot accurately control the attitude of self; If the data of the solid stable constant value of magneto-meter output or loss of data or when abnormal, can cause aircraft cannot determine heading, thereby cannot coordinate GPS positioning flight with GPS (Global Positioning System, global positioning system) module.
Whether extremely can comprise: the flight estimated data that obtains described aircraft according to current power output parameter if detecting flying quality, and detect the flight real data of current described aircraft, if the difference value of described flight real data and described flight estimated data, within the scope of default difference exceptional value, is data exception to the analysis result of operating data.
Described difference exceptional value scope can arrange for different parameters, for example, for the power output of upwards climbing, can difference exceptional value scope be set respectively for the Flight Acceleration making progress and speed.Concrete, when the power output making progress reaches maximum more greatly or, the flying height of aircraft also, declining, can determine that aircraft breaks down.That is to say, when power outputs to certain numerical value, can estimate acceleration/accel or speed that aircraft climbs, but the flight real data of aircraft is but mode with free-falling body, decline, can specified data abnormal.
Whether detect flying quality can comprise extremely: the flying quality changing value of calculating aircraft in flight course, if the flying quality changing value calculating, within the scope of default variation abnormality value, is data exception to the analysis result of operating data.
When aircraft keeps certain orientation, speed and acceleration/accel to fly always, if orientation changes suddenly, acceleration/accel or speed moment reduction, be even reduced at 0 o'clock, can think that collision case has occurred aircraft, and now specified data is abnormal.
After there are one or more above-mentioned situations, described controller 12 generates recovery energizing signal and sends to external parachute assembly or air bag device etc. for the fender guard of aircraft peripheral hardware.Trigger parachute assembly and automatically release a parachute, or trigger the automatic airbag opening of air bag device.
Further, in the utility model embodiment, can also control the motor of aircraft, so that after parachute or safety air bag are opened, the screw propeller that can not rotated by driven by motor damages.
Concrete, as shown in Figure 1, described system of the present utility model also comprises motor 13.This motor 13 is for driving screw propeller to rotate, and this motor 13 is controlled by described controller 12 and realizes and shut down the parachute opened with protection, safety air bag etc.
Between described motor 13 and described controller 12, signal is connected,
Described controller 12, sends closing control signal to described motor 13 after the feedback signal of having opened in the protection that receives the fender guard feedback of described peripheral hardware;
Described motor 13 cuts out output after receiving the closing control signal of described controller 12.Stop driven rotary screw propeller.
After having sent recovery energizing signal; described controller 12 can real-time listening described in the feedback signal of fender guard; if receive the fender guards such as parachute assembly or air bag device normally release a parachute or safety air bag after the notification signal of having opened that feeds back; need to close the motor 13 of aircraft; stop the rotation of screw propeller, prevent the screw propeller impact of rotation or damage parachute or the safety air bag of opening.
In the utility model embodiment; fender guard corresponding to types such as parachute assemblies; specifically can corresponding protection be set in each side of aircraft; when there is rolling because of fault in aircraft; can be according to attitude angle sometime in the process of rolling, trigger and while opening this, inscribe relatively a supine side and open parachute and realize the protection to aircraft.The schematic diagram that corresponding protection is set in each side of aircraft can be with reference to shown in figure 3.
The fender guard of varying number can be set respectively in the positions such as each side of described aircraft; when sending recovery energizing signal; described controller 12; in the attitude angle based on flying quality sense aircraft, determine behind the safe side of described aircraft, to one or more fender guards transmissions of this safe side, reclaim energizing signal.
Specifically can determine according to the data of the flight sensor modules 112 such as gyroscope in aircraft the attitude angle of aircraft.According to preset attitude angle and the corresponding relation of side, determine the side that need to open parachute.For example, can be in attitude angle with respect to the angle of gravity direction, be greater than 90 while spending, think that upset has occurred aircraft, described controller 12 is defined as safe side by the ventral side of aircraft, to trigger the parachute of opening this side.If the angle with respect to gravity direction is less than 90 degree, described controller 12 can still be defined as safe side by aircraft top-side.
A fender guard also can be set, and this fender guard can arrange in each side of aircraft parachute module, fender guard is after receiving unlatching control signal, can control the parachute of opening associated side, when sending recovery energizing signal, described controller 12, in the attitude angle based on flying quality sense aircraft, determine behind the safe side of described aircraft, to the fender guard of described peripheral hardware, send the recovery energizing signal of side safe to carry sign, fender guard can be according to the safe side sign reclaiming in energizing signal, the parachute of this side is opened in control.
Same as above-mentioned; can determine that side, ventral place is as safe side (ventral is towards sky after aircraft rolling); to fender guard, send the recovery energizing signal of the ventral sign that comprises agreement; so that fender guard selects to open the parachute of ventral position, so that normally release a parachute after aircraft rolling.
In the Protection control system of above-mentioned aircraft, between modules, can realize signal by communication bus and be connected, by communication bus, transmit corresponding signal data etc., can certainly adopt other communication connection modes.
The utility model embodiment can trigger the parachute of opening correct position when aircraft breaks down generation rolling, guarantees safety when parachute can effectively be opened the landing of protection aircraft or fall.
The utility model embodiment can be simultaneously determines whether to need to trigger the protection of opening aircraft according to the control signal of the flying quality of aircraft and terrestrial user etc.; can more efficiently avoid opening by mistake of safety device in aircraft to open; while having guaranteed that preferably the normal flight of aircraft and aircraft generation systems lost efficacy or other reasons causes dropping rapidly, reduce aircraft self and damage rate to external world.And can normally open after the protection modules such as parachute or air bag at fender guard, can automatically close aircraft motor, in the time of can effectively avoiding the rotation of motor and screw propeller, the destruction to parachute or air bag, has guaranteed the safety of aircraft further.
Below the aircraft of the utility model embodiment is described in detail.
Refer to Fig. 2; it is the structural representation of a kind of aircraft of the utility model embodiment; in the utility model embodiment; shown in aircraft except comprising existing aircraft feature; such as comprising screw propeller, power circuit, all kinds of control circuit driving circuits etc.; described aircraft has also comprised: protection control setup 100, signal receiving device 200, wherein
Described protection control setup 100, when the state of flight that aircraft detected is recovery state, generates recovery energizing signal and sends to the fender guard into described aircraft peripheral hardware;
Described signal receiving device 200, is while reclaiming energizing signal at the ground control signal receiving, and generates recovery energizing signal and sends to the fender guard into described aircraft peripheral hardware;
Described fender guard, specifically, when receiving the recovery energizing signal of described protection control setup or the transmission of described signal receiving device, opens the protection to aircraft.
Described protection control setup 100 specifically can be integrated in aircraft in autopilot, can be connected with each sensor module data of aircraft, obtain relevant flying quality and analyze, to determine that the current state of flight of aircraft determines whether to trigger the fender guards such as parachute assembly or air bag device; It also can be by realizations such as an independent micro controller system, treaters.
The wireless communication module that described signal receiving device 200 is aircraft, can communicate with surface control station, to receive the energizing signal of the recovery flight device that associated user sends.For example, wifi communication module etc.
Described fender guard can specifically comprise that the sinking speed of the aircraft that can slow down such as parachute assembly, air bag device realizes the appliance arrangement of aircraft soft landing.It can be fixedly installed on the positions such as side of aircraft, and concrete set-up mode can be with reference to shown in figure 3, and Fig. 3 shows the schematic diagram that side in rotor craft arranges fender guard briefly.
Described protection control setup 100, specifically can analyze the data of each sensor arranging in aircraft, if exist, comprise solid stable constant value data, there is the loss of data of at least one sensor or exist at least one data within the scope of default exceptional value, to the analysis result of operating data, be data exception, to described fender guard, send and reclaim energizing signal;
Specifically can obtain according to current power output parameter the flight estimated data of described aircraft, and detect the flight real data of current described aircraft, if the difference value of described flight real data and described flight estimated data is within the scope of default difference exceptional value, to the analysis result of operating data, be data exception, to described fender guard, send and reclaim energizing signal;
Specifically can the flying quality changing value of calculating aircraft in flight course; if the flying quality changing value calculating is within the scope of default variation abnormality value; to the analysis result of operating data, be data exception, to described fender guard, send and reclaim energizing signal.
Further, refer to Fig. 2, the described aircraft of the utility model embodiment also comprises: flight sensor 300,
Described flight sensor 300, sends to described protection control setup 100 by the flying quality of the aircraft collecting;
Described protection control setup 100, specifically detects described aircraft after recovery state based on described flying quality, to the fender guard that is described aircraft peripheral hardware, sends and reclaims energizing signal.
Described flight sensor 300 comprises: any one in gyroscope, acceleration pick-up, magneto-meter, weather gauge or multiple combination.
Further, as shown in Figure 2, described aircraft also comprises motor 400, and this motor 400 is for driving the rotation of screw propeller, and is controlled by described protection control setup 100.
Described protection control setup 100, sends closing control signal to described motor 400 after the feedback signal of having opened in the protection that receives the fender guard feedback of described peripheral hardware;
Described motor 400 cuts out output after receiving the closing control signal of described protection control setup 100.
In the utility model embodiment, if the fender guard of described aircraft peripheral hardware comprises: be arranged on a plurality of fender guards of each side of described aircraft, that is: the fender guard of varying number can be set respectively in the positions such as each side of described aircraft; When sending recovery energizing signal, described protection control setup 100, determines in the attitude angle based on flying quality sense aircraft behind the safe side of described aircraft, to one or more fender guards transmissions of this safe side, reclaims energizing signal.
And if the fender guard of described aircraft peripheral hardware comprises a plurality of protection modules that are arranged on each side of described aircraft, that is: a fender guard can be set, and this fender guard can arrange in each side of aircraft parachute module, fender guard, after receiving unlatching control signal, can be controlled the parachute of opening associated side; When sending recovery energizing signal, described protection control setup 100, determines in the attitude angle based on flying quality sense aircraft behind the safe side of described aircraft, sends the recovery energizing signal of side safe to carry sign to the fender guard of described peripheral hardware.
Between modules in above-mentioned aircraft, can realize signal by communication bus and be connected, by communication bus, transmit corresponding signal data etc., can certainly adopt other communication connection modes.
The utility model embodiment can be simultaneously determines whether to need to trigger the protection of opening aircraft according to the control signal of the flying quality of aircraft and terrestrial user etc.; can more efficiently avoid opening by mistake of safety device in aircraft to open; while having guaranteed that preferably the normal flight of aircraft and aircraft generation systems lost efficacy or other reasons causes dropping rapidly, reduce aircraft self and damage rate to external world.And can normally open after the protection modules such as parachute or air bag at fender guard, can automatically close aircraft motor, in the time of can effectively avoiding the rotation of motor and screw propeller, the destruction to parachute or air bag, has guaranteed the safety of aircraft further.
In several embodiment provided by the utility model, should be understood that, disclosed relevant apparatus can be realized by another way.Another point, shown or discussed coupling each other or direct-coupling or communication connection can be by some interfaces, its communication connection can be electrically, machinery or other form.
The described unit as separating component explanation can or can not be also physically to separate, and the parts that show as unit can be or can not be also physical locations, can be positioned at a place, or also can be distributed on a plurality of network elements.Can select according to the actual needs some or all of unit wherein to realize the object of the present embodiment scheme.
The foregoing is only embodiment of the present utility model; not thereby limit the scope of the claims of the present utility model; every equivalent structure transformation that utilizes the utility model specification sheets and accompanying drawing content to do; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present utility model.
Claims (10)
1. the Protection control system of an aircraft, it is characterized in that, comprise: for the flying quality of the aircraft collecting is sent to controller flying quality collector, for based on described flying quality to sending for the fender guard of described aircraft peripheral hardware the controller that reclaims energizing signal, wherein, described controller, flying quality collector are arranged on described aircraft, and between described controller and described flying quality collector, signal is connected;
Described flying quality collector comprises: signal receiving module and flight sensor module.
2. the system as claimed in claim 1, is characterized in that, also comprises: motor,
Between described motor and described controller, signal is connected,
Described controller, sends closing control signal to described motor after the feedback signal of having opened in the protection that receives the fender guard feedback of described peripheral hardware;
Described motor cuts out output after receiving the closing control signal of described controller.
3. system as claimed in claim 2, is characterized in that, for the fender guard of described aircraft peripheral hardware comprises: a plurality of fender guards that are arranged on each side of described aircraft;
Described controller, determines in the attitude angle based on flying quality sense aircraft behind the safe side of described aircraft to one or more fender guards of this safe side and sends and reclaim energizing signal.
4. system as claimed in claim 2, is characterized in that, for the fender guard of described aircraft peripheral hardware comprises a plurality of protection modules that are arranged on each side of described aircraft;
Described controller, determines the recovery energizing signal that sends side safe to carry sign behind the safe side of described aircraft to the fender guard of described peripheral hardware in the attitude angle based on flying quality sense aircraft.
5. an aircraft, is characterized in that, comprising: protection control setup, signal receiving device, described protection control setup and described signal receiving device with for the fender guard signal of described aircraft peripheral hardware, be connected;
Described protection control setup generates recovery energizing signal and sends to the fender guard into described aircraft peripheral hardware when the state of flight that aircraft detected is recovery state;
Described signal receiving device is while reclaiming energizing signal, to generate recovery energizing signal to send to the fender guard into described aircraft peripheral hardware at the ground control signal receiving.
6. aircraft as claimed in claim 5, is characterized in that, also comprises: flight sensor, and described flight sensor is connected with described protection control setup signal;
Described flight sensor, sends to described protection control setup by the flying quality of the aircraft collecting;
Described protection control setup, specifically detects described aircraft based on described flying quality and to the fender guard for described aircraft peripheral hardware, sends and reclaim energizing signal after recovery state.
7. the aircraft as described in claim 5 or 6, is characterized in that, also comprises: motor; Between described motor and described protection control setup, signal is connected,
Described protection control setup, sends closing control signal to described motor after the feedback signal of having opened in the protection that receives the fender guard feedback of described peripheral hardware;
Described motor cuts out output after receiving the closing control signal of described protection control setup.
8. aircraft as claimed in claim 7, is characterized in that, for the fender guard of described aircraft peripheral hardware comprises: a plurality of fender guards that are arranged on each side of described aircraft;
Described protection control setup, determines in the attitude angle based on flying quality sense aircraft behind the safe side of described aircraft to one or more fender guards of this safe side and sends and reclaim energizing signal.
9. aircraft as claimed in claim 7, is characterized in that, for the fender guard of described aircraft peripheral hardware comprises a plurality of protection modules that are arranged on each side of described aircraft;
Described protection control setup, determines the recovery energizing signal that sends side safe to carry sign behind the safe side of described aircraft to the fender guard of described peripheral hardware in the attitude angle based on flying quality sense aircraft.
10. aircraft as claimed in claim 7, is characterized in that, described protection control setup is integrated in the autopilot of described aircraft;
Described flight sensor comprises: any one in gyroscope, acceleration pick-up, magneto-meter, weather gauge or multiple combination.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420213312.6U CN203876988U (en) | 2014-04-28 | 2014-04-28 | Protection and control system of aircraft and aircraft |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420213312.6U CN203876988U (en) | 2014-04-28 | 2014-04-28 | Protection and control system of aircraft and aircraft |
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| CN201420213312.6U Expired - Fee Related CN203876988U (en) | 2014-04-28 | 2014-04-28 | Protection and control system of aircraft and aircraft |
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| CN104536451A (en) * | 2014-12-31 | 2015-04-22 | 深圳雷柏科技股份有限公司 | Multi-rotor-wing aircraft with automatic stalling function after landing and control method |
| CN104898694A (en) * | 2015-05-13 | 2015-09-09 | 深圳一电科技有限公司 | Aircraft control method and aircraft |
| CN105302043A (en) * | 2015-11-17 | 2016-02-03 | 辽宁天行健航空科技有限公司 | Safety control system and control method of unmanned plane |
| CN105775142A (en) * | 2016-03-25 | 2016-07-20 | 深圳市轻准科技有限公司 | Autonomous parachute opening safety protection method and system for small aircraft |
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| CN104536451A (en) * | 2014-12-31 | 2015-04-22 | 深圳雷柏科技股份有限公司 | Multi-rotor-wing aircraft with automatic stalling function after landing and control method |
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| CN105775142A (en) * | 2016-03-25 | 2016-07-20 | 深圳市轻准科技有限公司 | Autonomous parachute opening safety protection method and system for small aircraft |
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| CN108521810A (en) * | 2017-06-09 | 2018-09-11 | 深圳市大疆创新科技有限公司 | Control method, equipment and the unmanned vehicle of unmanned vehicle |
| CN109383825A (en) * | 2017-08-11 | 2019-02-26 | 菜鸟智能物流控股有限公司 | aircraft |
| CN111587209A (en) * | 2018-01-11 | 2020-08-25 | 美蓓亚三美株式会社 | Flying device |
| US11745873B2 (en) | 2018-01-11 | 2023-09-05 | Minebea Mitsumi Inc. | Flying apparatus |
| CN111587209B (en) * | 2018-01-11 | 2024-04-05 | 美蓓亚三美株式会社 | Flying device |
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