CN105882979A - Anti-icing device for aircraft blade - Google Patents
Anti-icing device for aircraft blade Download PDFInfo
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- CN105882979A CN105882979A CN201510175391.5A CN201510175391A CN105882979A CN 105882979 A CN105882979 A CN 105882979A CN 201510175391 A CN201510175391 A CN 201510175391A CN 105882979 A CN105882979 A CN 105882979A
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- force component
- air force
- emissions groove
- icing equipment
- intrados
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Abstract
The invention relates to an anti-icing device (1) mounted on blades (53 and 54) of rotors (51 and 52) of a rotor aircraft (50). The blades (53 and 54) are provided with inner arc surfaces (22), outer arc surfaces (23), front edges (21) and second ends (25); a defrosting system (3) is positioned at the front edges (21); the anti-icing device (1) is provided with discharging slots (10) which are longitudinally positioned on the inner arc surfaces (22) and the outer arc surfaces (23), just positioned at the downstream of the defrosting system (3) and formed in the second ends (25). The discharging slots (10) can be further used for discharging water flowing on the inner arc surfaces (22) and the outer arc surfaces (23) of an aerodynamic component (2).
Description
Technical field
Present invention relates generally to the technical field of the defrosting of the air force component to aircraft, particularly relate to
The blade of rotary aircraft.
The present invention relates to the defroster for aircraft blade, using supplementing as defrosting system.
Background technology
Known on the outer surface of aircraft, especially in the air force of blade etc of such as wing or rotor
Frost in the leading edge of component or the formation of ice and accumulation can adversely affect the operation of this aircraft.It is true that
The existence of frost or ice can quickly and significantly change the aerodynamic characteristics of this outer surface.At this outer surface it is especially
During the blade of the main rotor of rotary aircraft, the existence of frost or ice can cause hydraulic performance decline, even result in this
Aircraft has an accident.
Known for limiting the costal field that the Defrost method even going defrosting or ice is heating air force component
Territory.This heating can make the temperature of leading edge increase to over the temperature advantageously forming frost.I.e. electric defrosting system,
Heat is generally supplied by electric current.The most this defrosting system can remove the frost on air force component and/or ice.
In ensuing detailed description, only mentioning defrosting, term " white " can be replaced by term " ice ".
There are the different electric defrosting systems technologies of heating air force component front edge area.The most known electric heating
Defrosting system has the resistor being covered in the leading edge being located at air force component and heating this leading edge.
And, there is the defrosting system of some, wherein heat is generated by magnetic strength phenomenon, with heating at air
One or more metal parts of location at the leading edge locus of dynamic component.
But, this type of system consumption much electricity, especially at the liter of such as aircraft wing or rotary aircraft
Advocate rotor blade etc big span air force component in the case of.The most difficult even may not hold
Continuing to this type of electric defrosting system power supply for this type of air force component, electric energy to be supplied is very big.
But, for small span air force component, it is feasible for powering this type of electric defrosting systems stay.
In this case, the leading edge of these air force components is heated continuously.From white without being formed, but
It is possible that water droplet even moisture film in leading edge.It is exactly " anti-defrosting system ".This type of anti-defrosting system is such as
It is used in after the twisting resistance of rotary aircraft on the blade of rotor.
In order to limit the electrical energy demands of electric defrosting system to be used for, it will usually defrosting system is divided into
Multiple longitudinal tape of the span location according to air force component and/or be divided into the side string location according to this component
Multiple transverse belts.The most alternately power to these different band, thus heat this air successively and move
The zones of different of the leading edge of power component.
These electric defrosting systems can make frost be deposited on air between each heating cycle partly and temporarily
On some region of the leading edge of dynamic component.Although the local deposits of frost can temporarily change air force component
Efficiency, but especially can limit the demand to electric energy.
This type of electric defrosting system is generally used to protect the lift main rotor of rotary aircraft with frost prevention.
It practice, in the case of frost occurs in the leading edge of blade, each band of electric defrosting system generate
Heat causes local between leading edge and frost thin water film occur.Subsequently, the main rotation by blade produces
Centrifugal action penetrates remaining frost.
Additionally, it is known that file FR 1554838 describes a kind of electrical switching apparatus, for cycle and predetermined
Different band in the leading edge of the blade of the mode main rotor to being positioned at rotary aircraft is powered, and this TURP changes
Device constitutes the electric defrosting system of this main rotor.
And, file FR2354242 describes a kind of defrosting system, for the main rotor of rotary aircraft
Blade, the leading edge of this aircraft is detachable.It is thus susceptible to change this leading edge and subsequently in this defrosting system event
This defrosting system is changed in the case of barrier or maintenance.Equally, can come according to the flight environment of vehicle that aircraft is run into
Make leading edge assembling or do not assemble defrosting system.
It is known that file US5322246 describes the loading end of such as aircraft wing etc, this loading end has
It is positioned in the stepping in this loading end face total length.This stepping is positioned under anti-defrosting system or defrosting system
Trip.This stepping makes the boundary region at the air flowed on loading end vortex occur.This stepping can also be anti-
The water flowed on loading end is converted to subsequently by the boundary region discharge of this air by the downstream of frost or defrosting system
Water droplet, thus avoid the occurrence of frost or ice.
File DE709354 then describes and utilizes the hot-air of flowing between the main body and its leading edge of loading end
The parts of formation to stop ice.The guiding piece presented in the main body of this loading end can be to this loading end
Total length supply hot-air, the hole that leading edge downstream presents on aerofoil can discharge this hot-air.
Another technology is intended to abolish the frost formed at leaf position.Such as, pneumatic system can be pointed to sky
The coating member inflation of the quality of rubber materials at the leading edge locus of aerodynamic force component.The more use of defrosting system of the type
The fixing air force component of the empennage in such as aircraft wing or rotary wing aircraft or aircraft etc.But,
This type of system have also been assembled the blade of the rotary aircraft as described by file FR2545785.
It addition, there is also other less universal method, such as use ultrasound wave or anti-icing fluid.
Summary of the invention
It is an object of the invention to improve electric defrosting system, make this type of defrosting system effectiveness decline to eliminate
Icing phenomenon.
If be formed at the leading edge locus of air force component it is true that electric defrosting system can effectively be removed
The frost formed, then the icing phenomenon commonly produced at this defrosting system downstream, is i.e. placed exactly in structure
Become the rear of last band of this defrosting system.
The use of term " downstream " and " upstream " be according to from the leading edge of air force component to the direction of trailing edge.By
This, the phenomenon produced in the front of leading edge is positioned at the upstream of this leading edge.Otherwise, result from showing of leading edge rear portion
As being positioned at leading edge downstream.
Icing phenomenon is actually the result of electric defrosting system effectiveness.Occur in the water droplet at leading edge locus
Or moisture film can flow to downstream from upstream on air force component.This flowing is by wherein may penetrate frost
The most heated band and experience obstruction on these bands.
Otherwise, when these current run into frost on the most heated band, aqueous fusion in frost thus extremely fast increases
Thick frost layer.It is true that the water droplet constituting these current has temperature the most above freezing, these water droplets are in defrosting
Formed by the thawing of frost under the effect of system.It follows that these water droplets connect with the most heated band
Touch and again cool down, until being transformed into frost or ice.But, frost cause the hydraulic performance decline of air force component
The most temporary transient, once this band is powered again, and frost will disappear.
Equally, the water of these current and the cold surface i.e. meeting when the downstream of electric defrosting system contacts
Extremely fast freeze.The icing barrier being made up of frost and/or ice is then formed at the downstream of electric defrosting system.Although
The existence of electric defrosting system is effective, but this icing barrier is formed until the electric heating of air force component removes
Defrosting system afterbody also can significantly decrease the aerodynamic quality of air force component.
The weather conditions that run into according to aircraft and the thermal efficiency of defrosting system are main according to aircraft
The temperature of environment and moisture content, the water yield alterable of flowing on air force component.If weather conditions are moist
Or aircraft is such as through cloud, then this water yield may be relatively big, and water thin film can cover this air force component
Leading edge.Whereas if weather conditions are drier, then this water yield can be limited to several form dripped.Substantially
Ground, if weather conditions are favourable, then this water yield can be zero.
The extrados of air force component is the center in the strong secondary depression region at leading edge locus, followed downstream by
First this region is the recompression region in strong " recompression " region, followed by moderate.This extrados generally by
The upper surface of air force component is formed.The existence of this icing barrier is in certain finite region in leading edge downstream
Can be acceptable, this icing barrier has moderate influence to the aerodynamic efficiency of air force component, should
Affect with to there is barrier on this extrados identical.In this finite region, there is this icing barrier mainly produce
Give birth to form drag, also referred to as profile drag.
But, within this finite region or outside, can be produced this and take out and the deterioration of pressure distribution of layer, and
The loss or the air flow restriction layer that produce the aerodynamic lift of air force component therewith move relative to air
The disengaging of power component, is greatly increased its aerodynamic resistance therewith.
It is true that according to aerodynamic profile, be positioned on extrados, 3% and of the side string of the downstream part of leading edge
First area between 15% generates most of lift of air force component.Therefore, this first area is preferred
Ground by the defrosting system protection usually extended to outside this first area to avoid being formed of frost.
It addition, being positioned on this extrados, in the second area beyond side string 30% of leading edge downstream part, should
Avoid all additional interference causing this limiting layer to depart to air limiting layer, extremely require that this air limits
Preparative layer is positioned at the upstream of this second area.
Having aforementioned recompression region between first area and this second area, wherein air limits
Layer is surging and can resist interference, during the efficiency of the air motivation of air force component is had by this interference
Degree impact.
On the intrados of air force component, (this intrados is the center in superpressure district and is generally moved by this air
The inner surface of power component is formed), icing barrier can hinder the air of predominantly stratiform in this superpressure district partly
Flowing limiting layer.The existence of the icing barrier on intrados thus causes this stratiform air on intrados
Limiting layer at least partially stops, thus causes local secondary depression and make this stratiform limiting layer built on the sand, thus
Increase the resistance aerodynamic effect power generated by this intrados.
Therefore focus on limiting the existence of this icing barrier, to avoid significantly reducing the sky of air force component
Aerodynamic force efficiency, the especially aerodynamic efficiency on the intrados of this air force component.
It is an object of the invention to provide a kind of device, this device can limit and even eliminate at air force structure
On part, the especially formation of icing barrier on each blade of the rotor of rotary aircraft.
According to the present invention, anti-icing equipment is used for air force component, and this air force component has along this sky
The span of aerodynamic force component is from the first end of this air force component to the second end of this air force component longitudinally
The intrados extended and extrados.This air force component also has leading edge and trailing edge.Leading edge is moved along this air
The span longitudinal extension of power component, and in the side string along this air force component upper of this air motivation component
Trip couples this intrados and extrados in district.This trailing edge is taken offence along this air the span longitudinal extension of component, and
Connection intrados and outer arc along the catchment of the side string of this air force component at this air force component
Face.It is true that this air force component extends transverse to trailing edge along the side string of this air force component from leading edge.
This air force component is equipped with the defrosting system being positioned at its leading edge locus.
The marked feature of this anti-icing equipment is that it has and is suitable on each intrados and extrados along this air
The emissions groove of the span longitudinal extension of dynamic component.The side string that each emissions groove is suitable to along this air force component is horizontal
It is positioned at the positive downstream of defrosting system, to be collected on this air force component the water of flowing and to make it from being somebody's turn to do
The upstream toward downstream discharge of air force component.
This air force component especially applying by air flowing on intrados and extrados generate pneumatic
Lift.This air force component can for example, aircraft wing and empennage or rudder.
Preferably, this air force component is the blade of rotor of rotary aircraft.This rotor can be
Guarantee that this aircraft rises the main rotors even advanced, or mainly guarantee that the rear portion of anti-yawing function turns
Son.
This air force component is generally fixed on the fuselage of such as aircraft or aircraft by its first end
On the class formation of the wheel hub of rotor, and its second end is freely.
Defrosting system is to generate heat at the leading edge locus of air force component to cause at this leading edge locus
The most local melting defrosting system that water occurs therewith of the frost on intrados and extrados.Preferably, this removes
Defrosting system is electric defrosting system.
Electric defrosting system can be powered continually-there.In this case, leading edge is heated continuously, and thus prevents
The formation of frost.It addition, water is subsequently formed and flows through in this leading edge.This electric defrosting system more properly structure
Become anti-defrosting system.
This electric defrosting system also can be formed by the component of multiple interleaved powers in a periodic manner.In this case,
The zones of different of the leading edge of air force component is heated successively.Frost may be locally formed in this leading edge, with
After once this region be heated, this frost is just removed, and this frost melts at least in part.Water is subsequently formed in frost
And can flow through in leading edge.
On this region of air force component, the water of flowing once arrives the region do not heated by defrosting system i.e.
The barrier that freezes as previously mentioned can be formed.
Each emissions groove of anti-icing equipment according to the present invention be positioned at this defrosting system along this air force component
At the positive downstream of side string, i.e. (at this), intrados and the extrados of this air force component no longer can be removed by this
Defrosting system heats.Thus, water can flow into each emissions groove to be discharged, rather than continues at intrados and extrados
Upper flowing is also subsequently formed frost and/or ice.
Advantageously, this anti-icing equipment is therefore, it is possible to limit the formation even eliminating this icing barrier, and keeps away therewith
Declining occurs in the performance exempting from air force component.
According to the preferred embodiment of the present invention, this anti-icing equipment is used for rotary air dynamic component, especially
It is for the rotor blade of rotary aircraft.This air force component is to rotate, and it is to move from this air
First end of power component is to the center of the centrifugal force of the second end orientation of this air force component.Advantageously, should
Centrifugal force can make accumulation water in each emissions groove be discharged into the second end discharge of this air force component.Each
Emissions groove is open-minded at this second end position, thus makes water drive be scattered to outside emissions groove, thus is discharged to this air force
Outside component.
When assembling the blade of rotor of rotary aircraft, this preferred implementation is the most effective.It is true that
For being included in the spademan between 5 meters and 13 meters (5 and 13m), the blade of the main rotor of this aircraft
It is generally of the speed of rotation being included between 150 turns and 450 turns per minute (150 arrive 450trs/mn).
And, for the spademan of the magnitude of 0.8 meter to 3 meter, the blade of the rear rotor of this aircraft is generally of greatly
The speed of rotation in 1000trs/mn.The combination effect of these spademans and these speeds of rotation allows acquisition bigger
Centrifugal acceleration, can be such as corresponding to the acceleration more than terrestrial gravitation 100 times at the second end of blade
Degree.This CENTRIFUGAL ACCELERATING that can obtain and can use in the case of not damaging other function any of aircraft
Degree allows easily and efficiently to disperse the water being present in emissions groove.
And, this centrifugal acceleration increases along from the first end of this air force component to the spademan of the second end.
Advantageously, therefore the centrifugal force causing this increase centrifugal acceleration increase along with the amount of water to be discharged.Thing
In reality, under the effect of this centrifugal force, the second end of this air force component of current direction.It practice, to arrange
The amount of the water put increases to its second end also along the spademan of this air force component.Therefore, according to the present invention
Preferred implementation, the amount of water to be discharged is the biggest, it is allowed to the centrifugal force of this discharge is the biggest.
It addition, this air force component is to rotate, produce the air flowing speed of aerodynamic lift and aerodynamic drag
Rate is different according to the spademan of this air force component.More precisely, these aerodynamic lifts and resistance exist
It is positioned in the interior zone near the center of rotation of blade (i.e. towards first end of this air force component
Big degree is towards the second end of this air force component) more weak.Therefore, the icing screen in this interior zone
The existence of barrier will not reduce or reduce the aerodynamic quality of this air force component pianissimo.Thus, nothing
The icing barrier that may be formed in this type of interior zone need to be removed.
Therefore, each emissions groove of anti-icing equipment can be located at air force component from its first end until its
On the whole spademan of two ends.Preferably, each emissions groove of anti-icing equipment is positioned at the exhibition of this air force component
On other regions of the interior zone of first end except being located towards this air force component of the wing.Such as,
This interior zone extends to represent the whole exhibition of this air force component from the center of rotation of this air force component
The distance of the 50% of the wing." the whole spademan " of this air force component should be interpreted as this air force component
This center of rotation and along the distance between the second end of this air force component in this spademan direction.
According to another embodiment of the present invention, the spademan that anti-icing equipment has along this air force component prolongs
At least one stretched collects interior conduit and suction passage.Each is collected interior conduit and is positioned in this air force component,
Each emissions groove is connected to collect interior conduit by these suction passage.Secondary depression is formed in these suction passage,
To promote each emissions groove of current direction of flowing on intrados and extrados by absorption.These suction passage
Can on all emissions grooves genesis analysis, to promote water to flow to each on the whole spademan of this air force component
Emissions groove.
Move it is true that this secondary depression being present in these suction passage can produce absorption flowing at this air
The phenomenon of the water on the intrados of power component and extrados.Thus, due to this absorption phenomenon, this water is easier to
Emissions groove is flowed to from intrados and extrados.Thus, this secondary depression being present in these suction passage can be from
Each emissions groove extract water also directs it towards collection interior conduit, outside being discharged to this air force component.
According to another embodiment of the present invention, each emissions groove can be located on the whole spademan of air force component.
But, when this another embodiment of the present invention is for the turning of rotor blade etc of such as rotary aircraft
During dynamic formula air force component, each emissions groove can be located at the spademan of this air force component except interior zone
Other parts outside (as previously mentioned, being positioned at the adjacent one end of this air force component).
The first version according to this another embodiment, each is collected internal pipeline and is coupled to pumping dress
Put.This pump arrangement generates secondary depression in each collects interior conduit, and this secondary depression is formed in suction passage
Reverberate, thus generate the phenomenon of the water drawing flowing on the intrados and extrados of this air force component.
Each is collected interior conduit and opens from this air force component near the first end, to be coupled to
This pump arrangement.On the contrary, each is collected interior conduit and does not opens at the second end position, so that generating
Secondary depression only reverberate in suction passage.
It addition, in order to draw flowing water on air force component intrados and extrados well,
Should make the number distribution of suction passage on all emissions grooves.Collect internal pipeline and also should be maintained at temperature above freezing
On, to avoid the formation of the ice obstruction cancelling suction effect.Such as, electric defrosting system can be used, to receive
Water is remained liquid form by collection interior conduit.Collect interior conduit followed by each water row to be filled to pumping
Put.
The second version according to this another embodiment, the hot-air of pressurization is received at each at a relatively high speed
Collection interior conduit flows, and in suction passage, therefore generates secondary depression, be subsequently formed absorption flowing at air
The phenomenon of the water on dynamic component intrados and extrados.In order to discharge this pressurization gradually undertaking institute's extract water
Air, each is collected interior conduit and is opened at the second end position freely.Each collects interior conduit also the
It is opened near one end, so that this forced air injection being initially dried.This hot compressed air is such as to exist
It is equipped with the Thermal Motor position of the aircraft of this air force component, especially in the output of compressor
It is extracted at end.
On the other hand, forced air only should flow in each collects interior conduit and not flow in suction passage,
So that secondary depression occurs in these suction passage.It practice, the size of these draw line is relatively big, and especially
It is according to forced air speed of flowing in each collects interior conduit.
Suction passage and collection interior conduit preferably have circular section.But, other section shape can be used
Shape, such as oval-shaped profile.
Such as, the circular section of internal pipeline has the radius being included between 5 millimeters and 10 millimeters.
This other embodiment (no matter its which version) does not use centrifugal force to the row's of discharge trough inner water.
Therefore this other embodiment can be applicable to the air force component fixed, such as aircraft wing or all types
The empennage of aircraft.
It addition, constitute each presenting of this drainage network collecting interior conduit and suction passage should not damage air
The mechanical strength of motivation component and aerodynamic characteristics.Such as, if air force component has one or many
Individual structure case, then this drainage network is positioned in the unique and inside of same structure case, and through this structure
The suction passage of the working component of case is minimized in the spademan length of wing.
It addition, any embodiment of the no matter present invention, anti-icing equipment should have in each emissions groove position
At least one heater at place.It practice, in order to by the anti-icing equipment draining according to the present invention, deposit
The water being in emissions groove should not be transformed into frost or ice.For this purpose it is proposed, at least one heater is positioned at each row
At groove location, it is maintained in liquid form in emissions groove will be present in the water in emissions groove.Each heater example
As for electric heating component.Each heater also can be by coated lining enamelled coating bottom emissions groove or add hot coating and constitute.
And, this heater allows (such as using before the anti-icing equipment according to the present invention runs
Before the aircraft of this anti-icing equipment starts), it would be possible to the frost or the ice that have been formed in emissions groove are transformed into water.
Preferably, once weather conditions are conducive to making frost be formed in emissions groove, are positioned at each emissions groove position
Each heater is powered with continuous fashion.Therefore, the water being present in emissions groove is eliminated all or part of
It is transformed into the risk of frost or ice.
If it is true that alternately or to power to heater in the way of the cycle, water may temporarily and partly
In emissions groove, it is locally changed into frost or ice, obstruction can be manufactured therewith in this emissions groove.Water temporarily can not flow to again
This emissions groove, the most again flows on intrados and extrados, thus forms icing barrier.
It addition, each emissions groove should not destroy the architectural feature of air force component.Each emissions groove is therefore in fortune
Outside the groundwork structure of line space aerodynamic force component, such as allow use centrifugal force and/or shear bending or
In region, surface outside the spar of twisting resistance and rib.
Equally, each emissions groove should not destroy the aerodynamic quality of air force component significantly, so that dry
The gain of the reduction of the performance under dry air ambient and the performance under the frozen environment with this attachment device it
Between break even balance be favourable.
On extrados, it is preferably positioned as being formed on this extrados according to the anti-icing equipment of the present invention
After at least peak value of pneumatic secondary depression, it is preferably positioned as the side string after pneumatic secondary depression peak value extremely
On few 5%.Thus, emissions groove all air forces interference that may introduce does not interferes with or with minimum mode shadow
Ring the aerodynamic quality of air force component.As previously mentioned, defrosting system ensure that from extrados to
The defrosting of emissions groove.Such as, emissions groove is positioned along the side string of air force component on a segment distance of leading edge,
Corresponding to the side string of this air force component 15%.This emissions groove can be regarded as being positioned in a region, exceedes
This region, frost will not be formed on air force component.
On intrados, the most just it is positioned at expection according to the anti-icing equipment of the present invention and forms the limit of frost
After edge, so that air limiting layer is maintained at the laminar flow on this intrados therefore the most for a long time
Inconspicuous increase aerodynamic drag.As previously mentioned, defrosting system ensure that the defrosting from intrados to emissions groove.
Such as, emissions groove is positioned along the side string of air force component on the segment distance that leading edge starts, corresponding to sky
The 25% of aerodynamic force member side string.
Emissions groove on each intrados and extrados the error for example, air force component of these positions
The +/-10% of side string.
It addition, emissions groove has upstream lip, trench bottom and downstream lip.Emissions groove also have at upstream lip and
The first blend radius R between each intrados and extrados1, and between downstream lip and trench bottom
Two blend radius R2.And, the first blend radius R1With the second blend radius R2Effectively water can be drawn
To trench bottom.
In fact, it is preferable that these blend radius R1、R2Bigger, it is possible to utilize at this by water and inner arc or
Laplce's surface tension phenomena between two media that extrados is constituted, to guide water stream in emissions groove
Dynamic.And, these blend radius R1、R2Can make close between each water droplet and the emissions groove sidewall of 0 DEG C
Attachment pressure maximizes.
First blend radius R1Such as it is included between 0 millimeter and 10 millimeters, the second blend radius R2Including
Between 1 millimeter and 10 millimeters.Preferably, the first blend radius is included between 1 millimeter and 2 millimeters,
Second blend radius R2 is included between 1 millimeter and 2 millimeters.
And, by trench bottom sidewall PFForm trench bottom, by the second blend radius R2With downstream lip side
Wall PLBy trench bottom sidewall PFIt is connected to upstream lip.By downstream lip sidewall PLWith inner arc or extrados
Form downstream lip.Trench bottom sidewall PFWith downstream lip sidewall PLForm trench bottom angle beta.Equally, downstream
Antelabium sidewall PLDownstream lip angle α is formed with inner arc or extrados.Therefore, trench bottom angle beta and downstream lip
Angle α can be effectively prevented from outside water is back to emissions groove and form icing barrier.
It is true that trench bottom angle beta and downstream lip angle α are acute angle, i.e. less than 90 °, to avoid water due to hair
Spy with and cross downstream lip and be back to emissions groove.And, these angles are the most identical, bottom land
Portion's sidewall is basically parallel to the outer surface of air force component in geometric construction, is i.e. parallel to intrados or outer
Cambered surface.
It addition, when there being a large amount of water in emissions groove, trench bottom angle beta and downstream lip angle α are sufficiently large, to keep away
Exempt from water flow through downstream lip and be back to outside emissions groove.Trench bottom angle beta and downstream lip angle α are greater than 30 °.
The size of emissions groove is the biggest, on the one hand to make the flowing whole water on intrados and extrados directed
The water being present in this emissions groove and is on the other hand made to be retained in emissions groove until being dispersed in this emissions groove.
The thickness that the moisture film of flowing is generally of on intrados and extrados is included in 1 millimeter to 2 millimeters
Between (1 arrives 2mm).Therefore the height of collecting tank should be greater than 2mm, and this height of emissions groove is from inner arc or outer
Cambered surface extends to trench bottom sidewall P along the thickness of air force componentF。
Otherwise, in the usual manner, should avoid on the profile standing air flowing, forming height more than this stream
One or more obstacles of the thickness of dynamic limiting layer, to limit aerodynamic interference over the outline.These air
Dynamic interference is mainly caused by the increase of the aerodynamic drag of this profile.
In a preferred embodiment of the invention, i.e. the blade of rotary aircraft, the emissions groove on this blade
The thickness of the air flow restriction layer of position such as changes between about 0,4 millimeter and 3 millimeters.More precisely
Ground, according to the size of aircraft, the thickness of limiting layer can arrive at about 0,4 millimeter in the case of laminar flow
Change between 0,6 millimeter, and 1 in the case of surging flowing, change between 3 millimeters to 3 millimeters.
But, for effective discharge flow moisture film on intrados and extrados, the height of collecting tank can be big
In 2 millimeters, and therefore more than the height of this limiting layer.In view of emissions groove and the efficiency of anti-icing equipment, should
Accept the decline of the aerodynamic quality of the air force component caused by the existence of this emissions groove.
It addition, the opening by the emissions groove formed on the segment distance between upstream lip and downstream lip should be sufficient
Enough greatly to collect flowing water droplet on air force component, formed relatively including by the restructuring of numerous less water droplets
Big water droplet.If the Opening length of emissions groove is too small, then this emissions groove can continue flowing at air force component
On surface and the water droplet of icing barrier can be formed cross.On the contrary, in this Opening length is not sufficiently large interference
Air flowing in cambered surface and extrados.
And, the large water droplet on intrados and extrados can be will be formed in and be approximately the ball of a diameter of 2 millimeters
Body.Opening length then should minimum equal to two drop diameters, i.e. 4 millimeters, so that emissions groove can be made to intercept and capture these
Water droplet, at the first blend radius R of upstream lip position1The most effectively it is prone to guide the water in emissions groove.Open
Mouthful length can be limited in 20 millimeters, the total length of air force member side string be the most about 400 millimeters (right
In the aircraft of 5 tonnes), and about 600 millimeters (aircraft for 10 tonnes).
Such as, the side string total length for its each blade be about 5 tonnes of 400 millimeters aircraft and
Speech, height is 2 millimeters and emissions groove that Opening length is 4 millimeters makes the drag overall of each blade increase about 4%,
And height is 3 millimeters and emissions groove that Opening length is 15 millimeters can make the drag overall of each blade increase by 20%.
Equally, for the side string total length of its each blade is about 10 tons of aerodynes of 600 millimeters,
It is highly 2 millimeters and emissions groove that Opening length is 4 millimeters makes the drag overall of each blade increase about 1%, and
It is highly 3 millimeters and emissions groove that Opening length is 15 millimeters can make the drag overall of each blade increase by 4%.
Thus, according to size and the feature of aircraft of air force component, the Opening length quilt of emissions groove size
Being included between 4 millimeters and 20 millimeters, the height of its association is between 2 millimeters and 5 millimeters.This emissions groove
Height extends to trench bottom sidewall P from inner arc or upper cambered surface along the thickness of air force componentF, and opening is long
Degree extends to the downstream of downstream lip from upstream lip along air force member side string.
Finally, in order to discharge enough water yields, the bottom lengths of emissions groove (from the second blend radius R2 with
Abutment between trench bottom sidewall extends to the downstream of trench bottom along the side string of air force component) at least etc.
In, preferably more than Opening length.This bottom lengths of this emissions groove can be included in 4 millimeters and 30 millimeters it
Between.
These sizes of emissions groove can change along the spademan of air force component, such as to be adapted to be present in emissions groove
In the water yield, this water yield increased the most in a preferred embodiment of this invention.It is preferable to carry out in the present invention
In mode, this change in size of emissions groove can also limit with this emissions groove that to be contained therein frosting effect less
The air force interference being associated (i.e. in the inside of air force component) in region.But, these sizes
The most constant, thus be on the one hand conducive to manufacturing air force component, on the other hand make air force
The mechanical property of component does not produces significant change with its span.Advantageously, emissions groove can be attached to air move
The component being exclusively used in its structure integrated of power component.Therefore the size of emissions groove should be taken into account maximum to be discharged
The water yield, the maximum amount of water especially discharged near air force component second end, to avoid emissions groove to overflow,
Water is back to intrados, thus forms icing barrier.
Preferably, emissions groove has the Opening length of 6 millimeters, the height of 3 millimeters, and the bottom lengths of 9 millimeters,
With the trench bottom angle betas of 45 ° and downstream lip angle α.
It is equally important that especially in the case of air force component operates in the environment be covered with dust,
Can not partly or entirely block the emissions groove of the anti-icing equipment according to the present invention.This environment being covered with dust
Being common in the atmospheric condition being relatively dried, the risk wherein forming frost is less or be zero.This ring being covered with dust
Border is more specifically made up of the existence of the grains of sand being associated with higher temperature, therefore without forming the risk of frost.Make
With the lid of such as plastic material with protection emissions groove be feasible, to avoid the powder when frosting risk does not occur
Dirt or the particle penetration of sand.
The present invention also aims to provide the air force component of a kind of aircraft, described air force component
There is the spademan along described air force component and extend lengthwise into from the first end of described air force component described
The intrados of the second end of air force component and extrados.Described air force component also has along described sky
The spademan longitudinal extension of aerodynamic force component and couple described intrados in the upstream of described air force component
Leading edge with extrados.Described air force component is equipped with the defrosting system being positioned at described leading edge locus
With previously described anti-icing equipment.
This air force component is more specifically for rotary aircraft, and air force component is rotary wind type flight
The blade of the rotor of device.
Accompanying drawing explanation
Referring to the drawings, in the detailed description of the following embodiment be given in a schematic way, the present invention and its
Advantage will become more apparent upon, wherein:
-Fig. 1 is the three-dimensional view of the air force component being equipped with anti-icing equipment according to the present invention,
The transverse cross-sectional view of the air force component that-Fig. 2 is assembled by the preferred embodiment for the present invention,
Two transverse cross-sectional view of air force component that-Fig. 3 and 4 is assembled by another embodiment of the present invention,
-Fig. 5 is the emissions groove detailed view according to anti-icing equipment of the present invention,
-Fig. 6 is rotary aircraft, and
-Fig. 7 is the rotor being equipped with the rotary aircraft according to anti-icing equipment of the present invention.
Detailed description of the invention
The component presented in multiple different accompanying drawings is with the unique and reference number mark of phase.
Notice in Fig. 1 is to 5, represents orthogonal three direction X, Y and Z.
Direction X is longitudinal and directed along the spademan of each air force component 2.
Direction Y is that horizontal and along each air force component 2 side string is directed.
Finally, direction Z is ascent direction and corresponds to described structure size in height.Term " thickness "
It is associated with the rising size along this ascent direction of device.
Fig. 1 represents air force component 2, its can as a example by such as aircraft wing, the leaf of the rotor of rotary aircraft
Sheet or empennage.This air force component 2 has the spademan along air force component 2 from this air force component 2
The first end 24 extend to intrados 22 and the extrados 23 of the second end 25.This air force component 2 is from front
Edge 21 extends transverse to trailing edge 29.Leading edge 21 and trailing edge 29 are along the spademan longitudinal extension of air force component 2
And couple intrados 22 and extrados 23.
Air force component 2 is equipped with the defrosting system 3 being positioned at its leading edge 21 position.This defrosting system
3 for example, electric defrosting systems.This defrosting system 3 is it can be avoided that form frost or ice in leading edge 21 position
Or thawing is formed at the frost in this leading edge 21 or ice.In both cases, the water of film or form of moisture drops can be at sky
Flowing at the intrados 22 in downstream of defrosting system 3 and extrados 23 in the leading edge 21 of aerodynamic force component 2
Upper formation icing barrier, makes the aerodynamic quality of air force component 2 decline.
This air force component 2 also has anti-icing equipment 1, to avoid the formation of icing barrier.This anti-freeze dress
Put 1 collection flowing water on intrados and extrados 23 and discharge it.Fig. 2 to 4 represents this sky
The different horizontal sections of the different embodiments corresponding to anti-icing equipment 1 of aerodynamic force component 2.
In the way of shared, this anti-icing equipment 1 has on each intrados 22 and extrados 23 along empty
The emissions groove 10 of the spademan longitudinal extension of aerodynamic force component 2.Each emissions groove 10 is laterally positioned in defrosting system
The positive downstream of 10, to collect and to be emitted on intrados 22 and extrados 23 water from upstream toward downstream flowing.
Each emissions groove 10 has upstream lip 11, trench bottom 12 and downstream lip 13.Half is engaged by first
Footpath R1Upstream lip 11 is connected to intrados 22 or extrados 23.By trench bottom sidewall PFForm groove
Bottom 12, by the second blend radius R2With downstream lip sidewall PLBy trench bottom sidewall PFIt is connected to upstream
Antelabium 11.By downstream lip sidewall PLDownstream lip 13 is formed with intrados 22 or extrados 23.
Trench bottom sidewall PFWith downstream lip sidewall PLForm trench bottom angle beta, downstream lip sidewall PLAnd inner arc
Face 22 or extrados 23 form downstream lip angle α.
Blend radius R1, R2The biggest.Such as, the first blend radius R1Be included in 0 millimeter and
Between 10 millimeters, and the second blend radius R2It is included between 1 millimeter and 10 millimeters.Preferably,
First blend radius is included between 1 millimeter and 2 millimeters, and the second blend radius R2It is included in 1
Between millimeter and 2 millimeters.
And, trench bottom angle beta and downstream lip angle α are acute angle, i.e. less than 90 °.It addition, trench bottom sidewall
PFGeometric construction is basically parallel to the outer surface of air force component 2, is i.e. parallel to intrados 22 or outer
Cambered surface 23, the two angle beta and α equal to or more than 30 °.
Except angle [alpha], β and blend radius R1, R2, also by bottom lengths LF, highly HROpen with opening
Degree LOCharacterize emissions groove 10.Bottom lengths LFFrom the second blend radius R2With trench bottom sidewall PFBetween connect
Chalaza extends to the downstream of trench bottom 12, highly H along the side string of air force component 2RFrom intrados 22 or
Extrados 23 extends to trench bottom sidewall P along the thickness of air force component 2F.Opening aperture LOCorrespond to
Distance between upstream lip 11 and downstream lip 13.
Such as, Opening length LOIt is included between 4 millimeters and 20 millimeters, highly HRIt is included in 2 millis
Between rice and 5 millimeters, and bottom lengths LFIt is included between 4 millimeters and 30 millimeters.Preferably, row
Groove 10 has the Opening length L of 6 millimetersO, the height H of 3 millimetersR, and bottom lengths L of 9 millimetersF。
Trench bottom angle beta and downstream lip angle α are preferably equivalent to 45 °.
These sizes of emissions groove 10 are constant on the whole spademan of air force component, but these sizes can
Change with this spademan.
The concrete shape of emissions groove 10 is sized to allow to collect and collect flowing at intrados 22 and outer arc with it
Water on face 23, it is entirely avoided flowing back to again and formation icing screen on intrados 22 and extrados 23 of water
Barrier.
Blend radius R1, R2Especially allow effectively to flow at intrados 22 to the bottom-boot of emissions groove 10 or
Water on extrados 23, angle [alpha], β avoids water and flow back into outside emissions groove 10 again.
And, the interference of the air flowing that these sizes can be limited on intrados 22 and extrados 23, and
Limit the air force interference occurred due to the existence of emissions groove 10.
Icing device 1 according to the present invention also has the heater 14 being positioned at each emissions groove 10 position.Should
The existence of heater 14 avoid the water in emissions groove 10 or on its sidewall be transformed into frost or ice and can not
It is discharged.Each heater 14 for example, electric heating component.
Fig. 2 represents a kind of preferred implementation of the present invention, for the air force component 2 more rotated
It is specifically used for the blade 53,54 of the rotor 51,52 of rotary aircraft 50.This aircraft 50 is by table
It is shown in Fig. 6.The rotor 51,52 of this rotation causes at each blade 53, in 54 occur from the first end 24
Centrifugal force to the second end 25 orientation.
As it is shown in figure 1, each emissions groove 10 of icing device 1 can be located at the whole spademan of air force component 2
On, from its first end 24 until the second end 25.
But, this rotor 51,52 is to rotate, and at each blade 53, produces aerodynamic lift and resistance on 54
Power air flowing speed according to blade 53, the spademan position on 54 is different.Especially, these
In aerodynamic lift and resistance region near rotor 51, the center of rotation of 52 less, therefore, in this region
The existence of icing barrier only slightly affect the aerodynamic quality of air force component 2.
It practice, as indicated in fig 7, each emissions groove 10 can be from the center of rotation of this rotor 51,52
Distance D starts, and open-minded in the position of the second end 25.Such as, this distance D corresponds to air force
The whole spademan L of component 2E50%.
And, in order to not make the aerodynamic quality of air force component 2 decline, each emissions groove 10 can be determined
To limit, position, on intrados 22 and extrados 23, occurs that air force is disturbed, does not even produce any sky
Aerodynamic intenference.
Such as, on extrados 23, emissions groove 10 be laterally positioned start from leading edge 21 corresponding to air
The side string l of dynamic component 2C50% distance on.
Equally, on intrados 22, emissions groove 10 be laterally positioned start from leading edge 21 corresponding to air
The side string l of dynamic component 2C25% distance on.
The tolerance limit of these positions of emissions groove 10 for example, air force component 2 on intrados 22 and extrados 23
Side string lC+/-10%.
Fig. 3 and 4 represents two kinds of embodiments of the present invention, and its operation logic is identical.
The anti-icing equipment 1 being shown in Fig. 3 has two collection interior conduits 15 and emissions groove 10 is connected to one
The suction passage 16 of individual collection interior conduit 15.Collect interior conduit 15 and suction passage 16 is positioned at air force structure
In part 2.Suction passage 16 each emissions groove 10 on the whole along air force component 2 spademan longitudinally point
Cloth.
The anti-icing equipment 1 being shown in Fig. 4 has only one collection interior conduit 15 and is coupled by emissions groove 10
To the suction passage 16 collecting interior conduit 15.Collect interior conduit 15 and suction passage 16 is positioned at air force structure
On part 2, draw people having a common goal 16 each emissions groove 10 on the whole along air force component 2 spademan longitudinally point
Cloth.
Secondary depression is formed in suction passage 16 to promote that flowing is at intrados 22 and extrados by absorption
Each emissions groove 10 of current direction on 23.
This secondary depression being present in suction passage 16 can also draw the water in each emissions groove 10 and by its to
Collect interior conduit 15 to guide, outside being discharged to air force component 2.Can by different way, independent of Fig. 3
This secondary depression is generated with anti-icing equipment 1 ground represented by 4.
Such as, each is collected interior conduit 15 and is coupled to pump arrangement.Therefore this pump arrangement is collected at each
Forming secondary depression in interior conduit 15, this secondary depression is reverberating therefore generation absorption flowing in suction passage 16
The phenomenon of the water on the intrados 22 and extrados 23 of air force component 2.Each collects interior conduit 15
Only open-minded near the first end 24 of air force component 2, to be coupled to pump arrangement and can discharge
Water.
According to another embodiment, forced air flows with bigger speed in each collects interior conduit 15, thus
In suction passage 16, form secondary depression, produce therewith and draw flowing on intrados 22 and extrados 23
The phenomenon of water.Each is collected interior conduit 15 and opens near the first end 24, to spray this forced air.Respectively
Individual collection interior conduit 15 is also opened in the second end 25 position freely, thus it is empty on the one hand to discharge this pressurization
On the other hand gas also disperse the water from emissions groove 10.
And, air motivation component 2 individual can have multiple structure case 26,27,28.In order to not destroy this air
The mechanical features of motivation component 2, each collects interior conduit 15 and suction passage 16 is positioned at unique and same knot
The inside of structure case 27.
As previously mentioned, the anti-icing equipment 1 being shown on Fig. 3 and 4 has and is positioned at each emissions groove 10
Put at least one heater 14 at place, to avoid the water being present in emissions groove 10 to be transformed into frost or ice.
Obviously, the present invention is limited by multiple enforcement version.Even if having been described for numerous embodiments, can
To understand, it is impossible to exclusive mode determine likely mode.Certainly it will be appreciated that can use equivalent portion
Part replace the parts retouched and without departing from the scope of the present invention.
Claims (18)
1. the anti-icing equipment (1) for air force component (2), described air force component (2)
The spademan along described air force component (2) having is from first end (24) of described air force component (2)
Extend lengthwise into intrados (22) and the extrados (23) of second end (25) of described air force component (2),
And move along described spademan longitudinal extension and in the upstream of described air force component (2) along described air
The side string of power component (2) couples described intrados (22) and the leading edge (21) of extrados (23), described
Air force component (2) is equipped with the defrosting system (3) being positioned at described leading edge (21) position,
It is characterized in that, described anti-icing equipment (1) has and is suitable to along described spademan in each intrados (22)
The emissions groove (10) of longitudinal extension upper with extrados (23), each emissions groove (10) is suitable to just be positioned at horizontal stroke
To ground along the downstream of described defrosting system (3) of described side string, to collect flowing at described air force component
(2) water on and by its from the upstream of described air force component (2) to described air force component (2)
Downstream drain, each emissions groove (10) has upstream lip (11), trench bottom (12) and downstream lip (13),
And on the one hand between described upstream lip (11) and each intrados (22) and extrados (23)
First blend radius R1, and on the other hand between described upstream lip (11) and described trench bottom (12)
The second blend radius R2, described first blend radius R1With described second blend radius R2Can be by described
Water guides described trench bottom (12) into.
Anti-icing equipment the most according to claim 1 (1), it is characterised in that described trench bottom (12)
By trench bottom sidewall PFFormed, described trench bottom sidewall PFBy described first blend radius R1With downstream lip
Edge sidewall PLIt is connected to described upstream lip (11), and described downstream lip (13) is by described downstream lip side
Wall PLFormed with described intrados (22) or extrados (23), described trench bottom sidewall PFWith described downstream
Antelabium sidewall PLFormation bottom land angle beta, and described downstream lip sidewall PLWith described intrados (22) or outer
Cambered surface (23) forms downstream lip angle [alpha], and described bottom land angle beta and described downstream lip angle [alpha] can be kept away
Exempt from described water to be back to outside described emissions groove (10).
3. according to the anti-icing equipment (1) described in claim 1 to 2 wherein any one, it is characterised in that
The length of described emissions groove (10) is included between 4 millimeters and 20 millimeters, and described length is according to described air
The described side string of dynamic component (2) determines.
4. according to the anti-icing equipment (1) described in claim 1 to 2 wherein any one, it is characterised in that
The height of described emissions groove (10) is included between 2 millimeters and 10 millimeters, and described height is according to described air
The thickness of dynamic component (2) determines.
5. according to the anti-icing equipment (1) described in claim 1 to 4 wherein any one, it is characterised in that
Described first blend radius R1It is included between 0 millimeter and 10 millimeters.
6. according to the anti-icing equipment (1) described in claim 1 to 5 wherein any one, it is characterised in that
Described second blend radius R2It is included between 1 millimeter and 10 millimeters.
7. according to the anti-icing equipment (1) described in claim 2 to 6 wherein any one, it is characterised in that
Described bottom land angle beta is less than 90 °.
8. according to the anti-icing equipment (1) described in claim 2 to 7 wherein any one, it is characterised in that
Described downstream lip angle [alpha] is less than 90 °.
9. according to the anti-icing equipment (1) described in claim 1 to 8 wherein any one, it is characterised in that
Described anti-icing equipment (1) has at least one heater (14) in the position of each emissions groove (10).
10. according to the anti-icing equipment (1) described in claim 1 to 9 wherein any one, it is characterised in that
Described first end (24) is fixed on aircraft (50), and described second end (25) is freely,
Described emissions groove (10) is opened in described second end (25) position.
11. according to the anti-icing equipment (1) described in claim 1 to 10 wherein any one, and its feature exists
In, described anti-icing equipment (1) have along described air force component (2) spademan longitudinal extension extremely
Collecting interior conduit (15) and suction passage (16) for few one, each is collected interior conduit (15) and is positioned at described sky
The inside of aerodynamic force component (2), and described suction passage (16) each emissions groove (10) is connected to collect
Interior conduit (15), in described suction passage (16), formation secondary depression is to draw described water, and then to described
Trench bottom (12) guides described water.
12. anti-icing equipments according to claim 11 (1), it is characterised in that each collects inner tube
Road (15) is coupled to pump arrangement (17), to form described secondary depression in described suction passage (16).
13. according to the anti-icing equipment (1) described in claim 11 to 12 wherein any one, and its feature exists
In, described first end (24) is fixed on aircraft (50), and described second end (25) is freely
, forced air flows with higher rate in each collects interior conduit (15), with in described suction passage
(16) forming described secondary depression in, each is collected interior conduit (15) and opens in described second end (25) position
Locate, and described air flows to described second end (25).
14. according to the anti-icing equipment (1) described in claim 1 to 13 wherein any one, and its feature exists
In, described defrosting system (3) is thermoelectric defrosting system.
15. according to the anti-icing equipment (1) described in claim 1 to 14 wherein any one, and its feature exists
In blade that, described air force component (2) is the rotor (51,52) of rotary aircraft (50) (53,
54)。
16. anti-icing equipments according to claim 15 (1), it is characterised in that described emissions groove (10)
Distance from the 35% of the whole spademan corresponding to described blade (53,54) of described first end (24) is opened
Beginning and the described spademan along described blade (53,54) extend to described second end (25).
The air force component (10) of 17. 1 kinds of aircraft (50), described air force component (2) has
Intrados (22), extrados (23) and leading edge (21) and the second end (25), described air force structure
Part (2) is equipped with the defrosting system (3) being positioned at described leading edge (21) position,
It is characterized in that, described air force component (2) has according to claim 1 to 16 the most any
One described anti-icing equipment (1).
18. air force components (10) according to claim 17, it is characterised in that described aircraft
(50) it is rotary aircraft, and described air force component (2) is described rotary aircraft (50)
The blade (53,54) of rotor (51,52).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510175391.5A CN105882979B (en) | 2015-01-14 | 2015-01-14 | The anti-icing equipment of aircraft blade |
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|---|---|---|---|
| CN201510175391.5A CN105882979B (en) | 2015-01-14 | 2015-01-14 | The anti-icing equipment of aircraft blade |
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| CN105882979B CN105882979B (en) | 2018-06-15 |
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Cited By (5)
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| CN107117318A (en) * | 2017-03-22 | 2017-09-01 | 武汉航空仪表有限责任公司 | A kind of preparation method of Fang ∕ deicing composite functional unit |
| CN108327892A (en) * | 2017-12-30 | 2018-07-27 | 镇江同舟螺旋桨有限公司 | Ending flap type propeller blade ending formative method |
| EP3431395A1 (en) * | 2017-07-20 | 2019-01-23 | The Boeing Company | Eductor driven anti-ice system |
| RU2768992C1 (en) * | 2021-05-19 | 2022-03-28 | федеральное государственное бюджетное образовательное учреждение высшего образования "Уфимский государственный авиационный технический университет" | Device for preventing the formation of barrier ice on the wing of an aircraft |
| CN114291281A (en) * | 2021-12-30 | 2022-04-08 | 浙江科比特科技有限公司 | Automatic correction channel unmanned aerial vehicle applying AI technology |
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| DE709354C (en) * | 1938-12-11 | 1941-08-14 | Focke Wulf Flugzeugbau G M B H | Device for preventing ice formation on the wings or tail surfaces of aircraft |
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| EP3431395A1 (en) * | 2017-07-20 | 2019-01-23 | The Boeing Company | Eductor driven anti-ice system |
| US10870491B2 (en) | 2017-07-20 | 2020-12-22 | The Boeing Company | Eductor driven anti-ice system |
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| RU2768992C1 (en) * | 2021-05-19 | 2022-03-28 | федеральное государственное бюджетное образовательное учреждение высшего образования "Уфимский государственный авиационный технический университет" | Device for preventing the formation of barrier ice on the wing of an aircraft |
| CN114291281A (en) * | 2021-12-30 | 2022-04-08 | 浙江科比特科技有限公司 | Automatic correction channel unmanned aerial vehicle applying AI technology |
| CN114291281B (en) * | 2021-12-30 | 2023-12-26 | 浙江科比特科技有限公司 | Automatic correction channel unmanned aerial vehicle applying AI technology |
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|---|---|
| CN105882979B (en) | 2018-06-15 |
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