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WO2019205461A1 - Aéronef à rotors multiples ayant un empattement variable - Google Patents

Aéronef à rotors multiples ayant un empattement variable Download PDF

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Publication number
WO2019205461A1
WO2019205461A1 PCT/CN2018/106220 CN2018106220W WO2019205461A1 WO 2019205461 A1 WO2019205461 A1 WO 2019205461A1 CN 2018106220 W CN2018106220 W CN 2018106220W WO 2019205461 A1 WO2019205461 A1 WO 2019205461A1
Authority
WO
WIPO (PCT)
Prior art keywords
wheelbase
rotor aircraft
arm
adjustment
mounting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2018/106220
Other languages
English (en)
Chinese (zh)
Inventor
贺江华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Feilai Information Technology Co Ltd
Original Assignee
Shanghai Feilai Information Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Feilai Information Technology Co Ltd filed Critical Shanghai Feilai Information Technology Co Ltd
Priority to CN201880004518.9A priority Critical patent/CN110896620A/zh
Publication of WO2019205461A1 publication Critical patent/WO2019205461A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B64D45/0005—Devices specially adapted to indicate the position of a movable element of the aircraft, e.g. landing gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/32—Rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • 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
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/293—Foldable or collapsible rotors or rotor supports

Definitions

  • Embodiments of the present invention relate to the field of unmanned aerial vehicles, and in particular, to a multi-rotor aircraft with variable wheelbase.
  • multi-rotor UAVs have been widely used in toys, aerial photography, agriculture, power inspection and other fields.
  • the wheelbase of multi-rotor UAVs varies according to different application scenarios.
  • the small-wheelbase multi-rotor UAV can be used with small blades to make the attitude control more flexible.
  • the multi-rotor multi-rotor UAV with large wheelbase can match the large blades and has a greater load capacity.
  • Different application scenarios require multi-rotor UAVs with different wheelbases, resulting in too many types of products, inconvenient carrying, low versatility, and high cost.
  • the embodiment of the invention provides a multi-rotor aircraft with variable wheelbase, which is more versatile.
  • a variable-rotation multi-rotor aircraft includes a fuselage, a plurality of arms that are adjustably disposed on the fuselage, and a plurality of adjustment detecting assemblies; wherein The adjustment detection component is configured to detect or indicate an adjustment condition of the plurality of arms.
  • the arm includes a relative movable portion and an opposite fixed portion, the opposite fixed portion is relatively fixed to the body, and the opposite movable portion and the opposite fixed portion are Relative movement to adjust the length of the arm.
  • the opposite fixing portion is at least partially sleeved outside the opposite movable portion.
  • a plurality of locking structures for locking the arms to the adjusted length.
  • the adjustment detecting assembly is disposed on the arm and includes a moving portion and a fixing portion; the moving portion and the fixing portion are adjustable in length of the random arm to be relatively moved And determining an adjustment condition of the arm according to a relative position of the moving portion and the fixing portion.
  • the moving portion and the fixing portion are electrical components, and the moving portion and the fixing portion are in electrical contact when relatively moved.
  • the fixing portion is a resistor
  • the moving portion is an electric sliding block slidable on the resistor; or the fixing portion is an electrical block
  • the moving portion is a resistor movable relative to the electrical block.
  • a control unit is further electrically connected to the moving part and the fixed part to form a detection circuit; the control unit is configured to detect an electrical signal on the detection circuit, according to each The moving portion of the adjustment detecting assembly on the arm and the wheelbase position opposite to the fixed portion generate an indication signal.
  • control unit is configured to determine a wheelbase of the multi-rotor aircraft according to the indication signal indicating that the wheelbase gears of the adjustment detecting components on the respective arm are in the same gear position The gear settings are correct.
  • an execution unit is further configured to: when determining that a wheelbase position of the multi-rotor aircraft is set correctly, call a preset control parameter, and send the execution to the execution unit.
  • a universal mounting interface is further disposed on the body to mount different mounting modules.
  • the universal mounting interface includes a mounting fixing portion and an electrical connecting portion; the mounting fixing portion is detachably connected to the mounting module; and the electrical connecting portion is connected to the The mounting module on the mounting fixture is electrically connected.
  • the embodiment of the present invention has the following beneficial effects compared with the prior art:
  • the arm is set to be adjustable in length, so that the wheelbase of the multi-rotor aircraft can be adjusted, so as to adjust to the adapted wheelbase according to the needs of the application scenario, the versatility is strong and convenient to carry; the adjustment detecting component is used for detecting or indicating the machine.
  • the adjustment of the arm can be used to know the adjusted wheelbase and avoid the misalignment of the wheelbase, which is safe and reliable.
  • a universal mounting interface for mounting different mounting modules is mounted on the body, and a suitable mounting module can be mounted under different wheelbases, so that the aircraft can be applied in a desired scenario;
  • the mounting interface can also develop different mounting modules according to different applications, so as to expand more application scenarios, so that the modular design and assembly of the aircraft can be realized, and the cost can be reduced.
  • FIG. 1 is a partial structural schematic view of a multi-rotor aircraft with variable wheelbase according to an embodiment of the present invention
  • FIG. 2 is a schematic structural view of a multi-rotor aircraft with variable wheelbase according to an embodiment of the present invention
  • FIG. 3 is a schematic structural view of a multi-rotor aircraft with variable wheelbase according to an embodiment of the present invention.
  • the words “a” or “an” and the like do not denote a quantity limitation, but mean that there is at least one. Unless otherwise indicated, the terms “front”, “rear”, “lower” and/or “upper” are used for convenience of description and are not limited to one location or one spatial orientation.
  • the words “connected” or “connected” and the like are not limited to physical or mechanical connections, and may include electrical connections, whether direct or indirect.
  • a wheelbase variable multi-rotor aircraft may include a fuselage 2, a plurality of arm 1 and a plurality of adjustment detecting components, and the multi-rotor aircraft may be a quadcopter, a six-axis aircraft, or the like. Limitations, the figure shows a quadcopter, but not as a limitation.
  • each arm can be adjusted to be arranged on the fuselage, so that the wheelbase of the rotorcraft can be adjusted, and the length of the arm can be adjusted in any way, which can be telescopic or folded and unfolded (the arm is partially folded and unfolded). , to adjust the length) and so on.
  • the adjustment detecting component is disposed on each length adjusting portion, and each length adjusting portion may be provided with an adjusting detecting component.
  • the number of the adjusting detecting components set may be one or more. Since the length adjustment portion may be entirely located on the arm, it may be partially located on the arm and the other part may be located in the body, or may be located in other parts depending on the structure, and thus there is no limitation on adjusting the setting position of the detecting component.
  • the adjustment detecting component is configured to detect or indicate the adjustment condition of the arm, so that the length of the arm after the adjustment of the arm can be known, thereby adjusting the adjustment of the wheelbase.
  • the arm length in the embodiment of the present invention is the length of the arm from the portion extending from the body to the end of the arm.
  • the detection of the adjustment detection component can be obtained directly by the length of the measurement arm or indirectly by other detection methods; the indication of the adjustment detection component can be realized by setting a marker or marking the pattern, for example, setting a ruler on a part of the arm Type structure or ruler pattern, and set the mark point on another part, then when the length of the two parts of the arm is adjusted, the mark point can be moved in the rule structure or the rule pattern, so that the mark can be based on the mark point
  • the position of the type structure or the rule pattern indicates the arm length.
  • the arm is set to be adjustable in length, so that the wheelbase of the multi-rotor aircraft can be adjusted, and can be adjusted to the appropriate wheelbase according to the needs of the application scenario, and the different wheelbases are integrated in one body, and the versatility is enhanced, and it is convenient to carry.
  • the problem of excessive cost due to too many types of products is avoided; and the adjustment detection component is set to detect or indicate the adjustment state of the arm, and the adjusted wheelbase can be known to avoid misalignment of the wheelbase, and further supply is provided.
  • the flight control module performs corresponding flight control adjustment.
  • the arm 1 can include a relative movable portion 11 and an opposite fixed portion 12.
  • the fixed portion 12 is relatively fixed to the body 2, and is relatively movable between the movable portion 11 and the opposite fixed portion 12 to adjust the length of the arm 1.
  • the opposite movable portion 11 may be telescopically disposed on the opposite fixed portion 12 such that the opposite movable portion 11 may be partially or completely located inside or outside the opposite fixed portion 12, and the two portions overlap inside and outside so that the portion is inside and outside.
  • the two-layer structure can enhance the function of the arm.
  • the movement between the opposite movable portion 11 and the opposite fixed portion 12 may be sliding, rotating, or the like, and the adjustment detecting assembly may be disposed at a joint portion of the opposite movable portion 11 and the opposite fixed portion 12.
  • the opposite fixing portion is at least partially sleeved outside the opposite movable portion, and the relative movable portion and the opposite fixed portion always have mutually nested portions when the wheelbase varies, so that the structure of the length adjusting portion is The strength is higher, and the problem that the arm is broken is not easy to occur.
  • the relative movable portion can be at least partially sleeved outside the opposite fixed portion, which is not limited herein.
  • the relative movable portion 11 may be only one or more, in other words, the opposite movable portion 11 and the opposite fixed portion 12 are two or more segments in which the arm is divided in the longitudinal direction.
  • several relative movable portions may be sequentially connected, and an adjustment detecting component may be disposed at each connected portion, and the machine is determined by the information detected or indicated by the adjustment detecting component of each portion.
  • the length of the arm may be only one or more, in other words, the opposite movable portion 11 and the opposite fixed portion 12 are two or more segments in which the arm is divided in the longitudinal direction.
  • several relative movable portions may be sequentially connected, and an adjustment detecting component may be disposed at each connected portion, and the machine is determined by the information detected or indicated by the adjustment detecting component of each portion. The length of the arm.
  • the manner shown in FIG. 1 is only one of the embodiments, and is not limited thereto.
  • the arm 1 can be moved relative to the body 2 as a whole to adjust the length of the arm 1 protruding from the body 2, that is, the arm 1 can partially extend or extend. Out of the fuselage 2, the length of the arm 1 can also be adjusted.
  • the adjustment detecting assembly may be partially located on the arm 1 and the other portion is located in the body 2, and relatively moved by the relative movement between the arm 1 and the body 2, thereby detecting the distance of movement.
  • the wheelbase variable multi-rotor aircraft may also include a plurality of locking structures 6.
  • the locking structure 6 is used to lock the arm 1 to the adjusted length.
  • the locking structure 6 can lock the relative fixed portion 12 and the opposite movable portion 11 after the length adjustment, and the length of the arm 1 is kept unchanged in the locked state.
  • the locking structure 6 can be a knob screw, and corresponding hole positions are provided in the opposite fixing portion 12 and the opposite movable portion 11, and are locked by a knob screw and locked.
  • the relative positional relationship between the opposite movable portion 11 and the opposite fixed portion 12 is locked by the locking structure 6, and can be locked under the adjusted wheelbase. .
  • an adjustment detection assembly can be disposed on the arm 1 and can include a moving portion 32 and a fixed portion 31.
  • the moving portion 32 and the fixing portion 31 can be relatively moved by the length adjustment of the random arm 1 to determine the adjustment state of the arm 1 based on the relative positions of the moving portion 32 and the fixed portion 31.
  • the relative positional change between the moving portion 32 and the fixed portion 31 can be changed when combined with the arm adjusting mode in FIG.
  • the relative positional change between the relative movable portion 11 and the opposite fixed portion 12 is indirectly determined, thereby determining the adjusted length of the arm 1.
  • the moving portion 32 is connected to the opposite movable portion 11, and the fixing portion 31 is connected to the opposite fixing portion 12.
  • the connection may be a direct connection or an indirect connection, and the opposite movable portion 11 is on the opposite fixed portion 12.
  • the moving portion 32 and the fixing portion 31 are electrical components, and the moving portion 32 and the fixing portion 31 are electrically in contact with each other when moving relatively.
  • the electrical component is not limited in particular, and as long as the contact portion between the moving portion 32 and the fixed portion 31 is different, the generated electrical signal may be changed accordingly, so that the moving portion 32 and the fixed portion can be determined based on the generated electrical signal.
  • the relative positional relationship of the portions 31, that is, the relative positional relationship between the relatively movable portion 11 and the opposing fixed portion 12 is determined.
  • the electrical signal can be detected by an additional detection component.
  • the distance by which the moving portion 32 and the fixed portion 31 relatively move is the length in which the arm 1 is adjusted in length.
  • the moving portion 32 and the fixing portion 31 may not be electrical components, but only the marking members or the marking patterns, which have been described in the foregoing embodiments and will not be described herein.
  • the fixing portion 31 is a resistor
  • the moving portion 32 is an electric sliding block that can slide on the resistor.
  • the electric sliding block is fixed on the opposite movable portion 11, and the resistor is fixed on the opposite fixing portion 12.
  • the electric sliding block slides on the resistor correspondingly, thereby changing the electric sliding block.
  • the position on the resistor that is, the resistance formed by the connection of the electrical slider to the resistor, is changed.
  • the electric sliding block and the resistor can be considered to constitute a sliding varistor.
  • the detecting component for detecting the electrical signal can be connected at one end to the electrical sliding block (as a connection point of the sliding varistor), and the other end of the connecting resistor (as a sliding Another connection point of the varistor).
  • the electrical signal detected by the detecting component of the sliding varistor can be a voltage value or a current value, so that the corresponding resistance value can be determined according to the relationship between the voltage value or the current value and the resistance value, and the arm can be determined after determining the resistance value. The length of the adjustment.
  • the resistance is changed by the relative sliding between the electric sliding block and the resistor, so that the relative sliding distance can be known by measuring the resistance change, and the adjustment length of the arm can be known to determine the wheelbase variation of the aircraft.
  • the measurement method is simple and the cost is low.
  • the fixing portion may be an electrical block
  • the moving portion is correspondingly a resistor movable relative to the electrical block.
  • the resistor moves with the relative movable portion
  • the relative movement between the resistor and the electrical block can also be realized, thereby adjusting the position of the electrical block on the resistor, and correspondingly adjusting the connection between the electrical block and the resistor. Resistance of the resistor.
  • the resistor may be provided with a plurality of gear positions so that the electric sliding block or the electrical block can be located in different gear positions.
  • the gear setting of the resistors on the four arms 1 can be the same, so that when the length of each arm 1 is adjusted, it can be adjusted to the same wheelbase gear position for fast wheelbase adjustment.
  • the resistor may include a plurality of resistors connected in series, and the ends of the resistors and the ends of the resistors constitute different gear positions.
  • this is only an optional embodiment.
  • resistors connected in parallel or combined in series. Through the binning of the resistance value of the resistor, the corresponding resistance value can be quickly obtained when adjusting to each gear position.
  • a gear positioning structure may be disposed at the length adjustment portion of each arm 1 so that the electric sliding block or the electrical block can be positioned in different gear positions.
  • the gear position locating structure may include an elastic member 51 fixedly disposed relative to the fixed portion 12 or a plurality of concave portions 52 corresponding to the gear positions, and a plurality of concave portions 52 or elastic members corresponding to the gear positions fixedly disposed with respect to the moving portion 11 51; the elastic member 51 can enter the concave portion 52 to be engaged when reaching the position of the concave portion 52, and can be removed from the concave portion 52 by an external force.
  • the elastic members 51 are disposed on the opposite movable portions 11, and the concave portions 52 are disposed on the opposite fixed portions 12, and the concave portions 52 are spaced apart in the relative moving direction to form a plurality of different gear positions.
  • the elastic member 51 may be a spring piece, a spring block, a spring, or the like.
  • the fixing portion 31 and the moving portion 32 can also be implemented without a resistor structure, and can also be other electrical components, such as a capacitor locator, a Hall sensor, etc., as long as the position change between the two can be realized. Can be measured.
  • the wheelbase variable multi-rotor aircraft may also include a control unit 4.
  • the control unit 4 is electrically connected to the moving portion 32 and the fixing portion 31 to constitute a detection circuit.
  • the control unit 4 is configured to detect an electrical signal on the detection circuit to generate an indication signal according to the wheelbase position in which the moving portion 32 of the adjustment detecting assembly on each arm 1 and the fixed portion 31 are located.
  • the indication signal may indicate the wheelbase gear information currently being located.
  • control unit 4 can detect the voltage and current between the connected moving portion 32 and the fixed portion 31 to calculate the resistance, thereby determining the relative positional relationship between the moving portion 32 and the fixed portion 31, and realizing that the control unit 4 is currently located. Automatic detection of the wheelbase gear.
  • control unit 4 generates the indication signal when the relative positional relationship between the moving portion 32 of each arm 1 and the fixed portion 31 is at the same wheelbase position.
  • An indication signal is generated when each arm 1 is adjusted to the same wheelbase position, and each arm 1 can be instructed to be adjusted to the desired wheelbase position.
  • the wheelbase gear means that the wheelbase that the aircraft can adjust has a number of gear positions.
  • the adjustment of each arm 1 to the required wheelbase position means that the arm 1 is adjusted to the length of the arm corresponding to the corresponding wheelbase position.
  • the wheelbase variable multi-rotor aircraft in Figure 2 is a four-axis aircraft adjusted at a large wheelbase.
  • the variable-rotor multi-rotor aircraft in Figure 3 is a four-axis aircraft adjusted at a small wheelbase.
  • the wheelbase size is only relative.
  • the adjustable wheelbase may be more than two types, for example, the adjustable wheelbase is three, four or more, which is not limited herein.
  • control unit 4 is further configured to determine that the wheelbase gear of the multi-rotor aircraft is set correctly according to the indication signal indicating that the wheelbase gears of the adjustment detecting components on the respective arm are in the same gear position.
  • a comparison module can be arranged in the control unit. By comparing the detection value of each adjustment detection component with the gear setting value, when the comparison result is correct, it indicates that the wheelbase position of the multi-rotor aircraft is set correctly, and execution can be performed. instruction. When the respective wheelbase gears are not adjusted to the same gear position, the control unit 4 does not generate an execution command, thereby avoiding the misoperation when the arms are not adjusted to the proper position, and preventing damage to the multi-rotor aircraft caused by the misoperation.
  • the control unit 4 can be composed of a separate detection unit and a comparison module for detecting an electrical signal of the adjustment detection assembly, and the comparison module for comparing the detected value with the gear set value.
  • wheelbase gear can also be steplessly adjusted, that is, the arms can be adjusted to any position during adjustment.
  • the control unit 4 still needs to adjust the respective arm to the same gear position, that is, the same length position to generate an execution command.
  • the multi-rotor aircraft with variable wheelbase may further include an execution unit, and the control unit 4 is configured to call a preset when it is determined that the wheelbase gear of the multi-rotor aircraft is set correctly, that is, under execution of an instruction. Control parameters are sent to the execution unit, and the invoked control parameters can be matched to the aircraft at the corresponding wheelbase. The execution unit can make certain adjustments according to the control parameters, so that the flight of the aircraft can adapt to the new wheelbase.
  • the control unit 4 can automatically detect the current wheelbase gear position, and automatically call the preset control parameters when the wheelbase gear positions of the respective arm gears are consistently in position.
  • the preset control parameters can be flight control parameters matching the corresponding wheelbase. After being sent to the execution unit, the action of the execution unit can be controlled, thereby realizing the automatic adjustment of the flight control.
  • the wheelbase variable multi-rotor aircraft may also include a universal mount interface.
  • the universal mount interface is disposed on the body 2 to mount different mount modules.
  • a uniform universal mounting interface is provided on the body 2 to accommodate different mounting modules. Then, when configured as a small wheelbase, small blades and small battery modules can be installed, then the lightweight camera module can be mounted for normal aerial and cross-machine flight activities; when configured for large wheelbase, large paddles can be installed. Leaf and large battery modules, then mount large cameras for professional photography or filming; of course, not limited to this.
  • a universal mounting interface for mounting different mounting modules is arranged on the body 2, and a suitable mounting module can be mounted under different wheelbases, so that the aircraft can be applied in a desired scenario;
  • the universal mount interface can also develop different mounting modules according to different applications, so as to expand more application scenarios, so that the modular design and assembly of the aircraft can be realized, and the cost can be reduced.
  • the mounting interface may include a mounting fixing portion and an electrical connecting portion.
  • the detachable connection between the mounting and the mounting module is not limited.
  • the detachable connecting structure may be screwed or the like, and the shape of the mounting portion may be fixed or adjustable.
  • the electrical connection portion is electrically connected to the mounting module connected to the mounting and fixing portion, and the electrical connection portion may be a unified electrical interface.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)

Abstract

L'invention concerne un aéronef à rotors multiples qui a un empattement variable, l'aéronef comprenant un fuselage (2), une pluralité de bras (1) qui sont réglables en longueur et disposés sur le fuselage (2), et une pluralité d'ensembles de détection de réglage. Les ensembles de détection de réglage sont utilisés pour détecter ou indiquer des conditions de réglage de la pluralité de bras (1). Les bras (1) sont configurés pour être réglables en longueur, de telle sorte que l'empattement de l'aéronef à rotors multiples est réglable et est de ce fait réglé selon une taille d'empattement appropriée en fonction des besoins de scénario d'application. La présente invention est extrêmement polyvalente et pratique à transporter, et son coût est réduit. De plus, les ensembles de détection de réglage sont utilisés pour détecter ou indiquer les conditions de réglage des bras (1), pour de ce fait empêcher des désalignements au niveau des réglages de l'empattement, et les ensembles sont sûrs et fiables.
PCT/CN2018/106220 2018-04-28 2018-09-18 Aéronef à rotors multiples ayant un empattement variable Ceased WO2019205461A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201880004518.9A CN110896620A (zh) 2018-04-28 2018-09-18 轴距可变的多旋翼飞行器

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201820629721.2 2018-04-28
CN201820629721.2U CN208325617U (zh) 2018-04-28 2018-04-28 轴距可变的多旋翼飞行器

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WO2019205461A1 true WO2019205461A1 (fr) 2019-10-31

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CN118811145A (zh) * 2024-09-19 2024-10-22 观典防务技术股份有限公司 能够提高无人机空间利用率的可折叠机翼的无人机

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CN110901883B (zh) * 2019-12-02 2022-12-23 中电科特种飞机系统工程有限公司 系留无人机及无人机机载端
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