CN111487694B - Lower-throwing type detector and detection system - Google Patents
Lower-throwing type detector and detection system Download PDFInfo
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- CN111487694B CN111487694B CN202010320367.7A CN202010320367A CN111487694B CN 111487694 B CN111487694 B CN 111487694B CN 202010320367 A CN202010320367 A CN 202010320367A CN 111487694 B CN111487694 B CN 111487694B
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- G01—MEASURING; TESTING
- G01W—METEOROLOGY
- G01W1/00—Meteorology
- G01W1/02—Instruments for indicating weather conditions by measuring two or more variables, e.g. humidity, pressure, temperature, cloud cover or wind speed
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- G—PHYSICS
- G01—MEASURING; TESTING
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- G01W1/08—Adaptations of balloons, missiles, or aircraft for meteorological purposes; Radiosondes
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Abstract
The invention provides a downward-projecting detector and a detection system, and relates to the field of high-altitude meteorological detection. The detector includes: a first canopy; a main body part which is cylindrical and is internally provided with a meteorological information acquisition and processing device; the first end of each communication antenna in the plurality of communication antennas is movably connected with the periphery of the main body part at the same interval, and the second ends of the plurality of communication antennas are connected with the inner edge of the first umbrella cover at the same interval; after the detector is thrown, the communication antennas are unfolded around the main body part as a center and fixed at a position which forms a first angle with the axis of the main body part so as to support the first umbrella cover. The downward-projecting type detector provided by the invention can improve the wind resistance of the detector and increase the data transmission distance of the detector.
Description
Technical Field
The invention relates to the field of high-altitude meteorological detection, in particular to a drop-in type detector and a detection system.
Background
A dropdown is a single-use high-altitude meteorological instrument that is dropped by an aircraft (e.g., a drone or airship) after being brought high in the designated area. After the device is thrown, the sonde is driven by the parachute to freely float to the ground, so that weather information of different heights is collected.
Fig. 1 shows a prior art drop down detector. As shown in fig. 1, the existing drop-type detector is composed of a parachute 1, a damping rope 2, a detector body 3 and a shell 4, after the drop-type detector is dropped, the parachute 1 is popped out from the shell 4 and opened, and the detection device body 3 arranged in the shell is connected with the damping rope 2, so that the detection device is driven to float. The detecting instrument main body 3 is internally provided with a meteorological information acquisition and processing device which acquires meteorological information when the detecting instrument main body drifts, and the acquired meteorological information is sent to an airborne receiving device through a communication antenna which is arranged in the cylinder body of the detecting instrument shell 4 or attached to the outer wall of the cylinder body.
For complex and harsh environments (e.g., typhoons) such as strong wind and rain, strong airflow, etc., the airflow may make high-speed complex motions (drifting, overturning, rotating, etc.). The existing detector has weak wind resistance, and can cause rapid change of a transmission channel when used in a complex and severe environment, thereby generating large attenuation and fast fading and causing short data transmission distance.
Therefore, how to improve the wind resistance of the detecting instrument and increase the data transmission distance of the detecting instrument in a complicated and severe environment becomes a technical problem to be solved urgently.
Disclosure of Invention
The invention provides a downward-projecting type detector and a detection system for collecting meteorological information in complex and severe environments such as typhoon and the like, which can solve the problems of weak wind resistance and data transmission distance section of the detector in the complex and severe environments in the prior art.
In one aspect, an embodiment of the present invention provides a downward-projecting type detector, where the detector includes:
a first canopy; a main body part which is cylindrical and is internally provided with a meteorological information acquisition and processing device; the first end of each communication antenna in the plurality of communication antennas is movably connected with the periphery of the main body part at the same interval, and the second ends of the plurality of communication antennas are connected with the inner edge of the first umbrella cover at the same interval; after the detector is thrown, the communication antennas are unfolded around the main body part as a center and fixed at a position which forms a first angle with the axis of the main body part so as to support the first umbrella cover.
In one implementation of this embodiment, the first angle is 90 degrees.
In one implementation of this embodiment, the communication antenna is a whip communication antenna.
In one implementation manner of this embodiment, the number of the communication antennas is 4.
In one implementation manner of this embodiment, the detecting instrument further includes:
the second umbrella face is located the downside for first umbrella face of many communication antennas, the first edge of second umbrella face with the periphery of main part is connected, the second edge of second umbrella face with first umbrella face with the interior edge that communication antennas links to each other is connected, be provided with the air intake on the second umbrella face.
In one implementation of this embodiment, the housing of the main body is a sealed cylinder made of a lightweight material, and the cylinder is filled with helium gas.
In an implementation manner of this embodiment, the weather information collecting and processing device is configured to obtain current weather information, and includes: the information acquisition unit is used for acquiring meteorological information and navigation information; and the data processing unit is used for processing the acquired meteorological information and the acquired navigation information. And the data transmitting unit is used for transmitting the processed information to the airborne receiving equipment through the communication antenna.
In an implementation manner of this embodiment, the data transmitting unit is configured to perform modulation processing on the information processed by the data processing unit through a space-time diversity differential Chrip technique.
In another aspect, embodiments of the present invention provide a drop-in detection system, including:
an onboard receiver device loaded on board an aircraft, and a dropdown probe as described in the above embodiments that is dropped at a different location.
In an implementation manner of this embodiment, before the launch, the plurality of dropdown detectors are respectively received in respective housings and loaded in a launch bin of the aircraft, and the plurality of communication antennas are fixed at a position that forms a second angle with an axis of the main body; when the aircraft flies to a plurality of preset positions, the plurality of downward-projecting detectors are respectively projected; after the lower projection type detecting instrument is projected, the lower projection type detecting instrument is popped out from the shell, the plurality of communication antennas are unfolded around by taking the main body part as a center and are fixed at positions which form a first angle with the axis of the main body part, and the first umbrella cover is unfolded under the supporting action and the wind power action of the communication antennas.
Compared with the prior art, the lower-projection type detector and the detection system provided by the embodiment of the invention have the following beneficial technical effects:
the invention uses the communication antenna as the keel of the parachute of the detecting instrument, can improve the wind resistance of the detecting instrument and increase the data transmission distance of the detecting instrument.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed in the prior art or the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic diagram of a prior art drop down detector;
fig. 2 is a schematic view of a dropdown probe according to embodiment 1 of the present invention;
FIG. 3 is a schematic view of the dropdown finder of FIG. 2 in the A-A direction;
FIG. 4A is a schematic view of the down-cast probe of FIG. 2 in a breeze condition;
FIG. 4B is a schematic view of the down-cast probe of FIG. 2 in a high wind condition;
fig. 5A is a schematic structural view of the main body portion of the dropdown probe shown in fig. 2;
FIG. 5B is a schematic block diagram of a meteorological information acquisition and processing device of the dropdown finder shown in FIG. 2;
fig. 6 is a schematic view of a dropdown probe according to embodiment 2 of the present invention;
fig. 7 is a schematic diagram of a dropdown detection system according to embodiment 3 of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, various aspects of the present invention will be described in further detail with reference to the accompanying drawings. It is to be understood that the following examples are illustrative only and are not intended to limit the scope of the present invention.
[ example 1 ]
Fig. 2 is a schematic view of a dropdown probe according to embodiment 1 of the present invention; fig. 3 is a schematic view of the down-cast probe shown in fig. 2 in a direction a-a, and fig. 4A is a schematic view of the down-cast probe shown in fig. 2 in a breeze state; fig. 4B is a schematic view of the down-cast probe shown in fig. 2 in a strong wind state. Referring to fig. 2, 3, 4A and 4B, the downward-projecting probe according to the present embodiment includes a first canopy 10, a main body 20, and a plurality of communication antennas 30, and is configured to collect weather information in a complex and severe environment such as a typhoon. The following description will be made separately.
The first umbrella cover 10 is a parachute umbrella cover, which may be circular when unfolded, for driving the detector to fall.
The main body 20 is cylindrical and has a weather information acquisition and processing device provided therein.
And the communication antennas 30 are electrically connected with the meteorological information acquisition and processing device, the first end of each communication antenna in the communication antennas is movably connected with the periphery of the main body part at the same interval, and the second ends of the communication antennas are connected with the inner edge of the first umbrella cover at the same interval.
After the detecting instrument is placed, the plurality of communication antennas 30 are unfolded around the main body portion 20 as a center and fixed at a position forming a first angle with an axis of the main body portion to support the first umbrella cover 10.
Specifically, the communication antenna 30 may be a rod antenna made of an elastic metal material, and in a breeze state, the communication antenna 30 is in a straight rod shape, and in a windy state, that is, in a strong wind state, the communication antenna 30 may be slightly deformed due to the pulling of the first umbrella cover 10. After the detecting instrument is placed, the plurality of communication antennas 30 may be unfolded around the main body 20 and fixed at a position forming a first angle with the axis of the main body (i.e., the central axis of the cylindrical main body 20), so that the plurality of communication antennas 30 may be used as keels of the first canopy 10 after being unfolded to support the first canopy 10.
The detection instrument of this embodiment uses communication antenna as the fossil fragments of parachute (being first umbrella face), can improve the anti-wind ability of detection instrument, increases the data transmission distance of detection instrument. When the detection instrument is put in, the communication antenna can drive the parachute to open rapidly while unfolding, and compared with the prior art that the parachute is opened purely by wind power, the parachute of the embodiment can reach the maximum unfolding area in a short time, and the parachute is opened more rapidly and stably. Moreover, compared with the prior art in which the communication antenna is arranged inside the cylinder body of the detector shell or attached to the outer wall of the cylinder body, the shielding effect of the detector shell on the communication antenna can be avoided.
The size of the first angle formed by the communication antenna 30 and the axis of the main body 20 determines the unfolding area of the first canopy 10. In order to increase the area of the parachute deployed and increase the floating time of the probe for collecting more weather information, the first angle of the present embodiment is preferably 90 degrees, that is, the plurality of communication antennas 30 are radially deployed to a position perpendicular to the axis of the main body with the main body as the center. Of course, in other embodiments, the first angle may be set to other suitable angles, such as 60 degrees, 70 degrees, 80 degrees, etc.
To further increase the distance of data transmission, it is often necessary to increase the communication antenna to increase the antenna gain. If the antenna is enlarged, the size of the shell of the detector is increased, so that the overall weight of the detector is increased. Under the background of large-scale placement of the detectors, the increase in the overall weight of the detectors increases the bearing pressure on the aircraft carrying the detectors, reducing the number of detectors that can be carried by the detectors.
In order to increase the antenna gain without increasing the overall weight of the probe and thereby further increase the data transmission distance of the probe, in one implementation of the present embodiment, the communication antenna 30 is preferably a whip communication antenna.
The whip-type communication antenna is a telescopic rod-type antenna, and the structure of the whip-type communication antenna can be a connecting rod type, a pull rod type or a snake bone type. Before the throwing, the whip communication antenna can be shortened, so that the whole downward throwing type detecting instrument is accommodated in a small detecting instrument shell, after the throwing, the downward throwing type detecting instrument can be popped out from the detecting instrument shell and separated from the detecting instrument shell, and the whip communication antenna can be rapidly extended and radially unfolded around the main body part 20, so that the first umbrella cover 10 is rapidly unfolded.
The length of the whip communication antenna in the above implementation is not limited by the size of the casing of the detector, and the length of the communication antenna can be set longer (for example, three times or more of the casing) without increasing the overall weight of the detector, so as to achieve a higher antenna gain, thereby increasing the data transmission distance. And the improvement of the antenna gain is also beneficial to reducing the transmission power consumption and prolonging the service time of a power supply battery, thereby prolonging the working time of the detecting instrument. In addition, the communication antenna is longer, and meanwhile, the unfolding area of the parachute can be further increased, so that the floating time of the detecting instrument is prolonged.
The weight of the communication antenna itself can also place a load on the aircraft and shorten the float time of the detector. In consideration of the weight problem and the wind resistance problem of the detecting instrument, in one implementation of the present embodiment, "a plurality" of the plurality of communication antennas is preferably 4, and in this case, the 4 communication antennas radiate around the main body portion 20 and have a cross structure. Of course, in other embodiments, more communication antennas (e.g., greater than 4) may be employed. In addition, in other embodiments, fewer communication antennas (e.g., less than 4) may also be employed.
The main body 20 is a main body of the detector, and a meteorological information collecting and processing device is disposed inside the main body 20, and is used for collecting meteorological information and sending the collected meteorological information to an onboard receiver through a communication antenna 30, and the main body 20 will be described in detail below.
As shown in fig. 5A, the main body 20 may include a main body housing 21 and a weather information collection processing device 22, the weather information collection processing device 22 being disposed inside the main body housing 21 for collecting and processing weather information.
As shown in fig. 5B, the weather information collecting and processing device 22 may specifically include an information acquiring unit 221 for acquiring weather information and navigation information, a data processing unit 222 for processing the acquired weather information and navigation information, and a data transmitting unit 223 for transmitting the processed information to the onboard receiving device through the communication antenna 30.
The information acquisition unit 221 may include a temperature sensor, a humidity sensor, a pressure sensor, and the like, which can adapt to a sudden change environment from the cabin to the air, to collect weather information such as temperature, humidity, pressure, and the like, and the information acquisition unit 221 may further include a navigation positioning module to acquire navigation information.
The data processing unit 222 may further process the information acquired by the information acquiring unit 221, for example, wind vector information may be calculated according to the navigation information and a corresponding mathematical model, the information acquired by the information acquiring unit and the calculated information may be processed into a data format conforming to a set communication protocol, and the like.
The data transmitting unit 223 may modulate the data processed by the data processing unit 222 to transmit the data through the communication antenna 30.
The downward-projecting detector is used for collecting meteorological information in complex severe environments such as typhoon, and in the complex severe environments, communication channels are in rapid change and can generate fast fading and fast time change. In order to reduce the influence of fast fading and fast time variation, the data transmitting unit 223 described in this embodiment may adopt a space-time diversity differential Chirp technique in which differential modulation and Chirp spread spectrum are combined, and adopt a multi-antenna mechanism in a space domain to obtain space diversity in cooperation with the communication antenna 30; and a plurality of frequency channels are divided on a frequency domain to realize multi-user differentiation, and each user exclusively occupies one sub-frequency band.
Specifically, the data transmitting unit 223 may perform differential encoding on the original data, then map the differentially encoded data into PSK/QAM symbols to implement differential modulation, and finally perform Chirp spread spectrum processing on the differentially modulated data, and send the processed data to the airborne receiving device through the communication antenna 30.
After the airborne receiving equipment receives the data sent by the detector, the received noisy differential PSK/QAM symbol can be subjected to de-differencing processing to obtain the noisy PSK/QAM symbol. Then, the noisy PSK/QAM symbol is combined with space diversity and time diversity to obtain diversity gain, and finally symbol judgment is carried out to recover the collected meteorological information.
The data transmitting unit in this embodiment modulates data by using a space-time diversity differential Chrip technique, and can further resist fast fading and fast time variation from a software level, thereby improving a receiving signal-to-noise ratio and improving robustness of data transmission.
The main body housing 21 has a cylindrical structure, and is used for mounting the weather information collecting and processing device 22. The diameter of the body part outer shell 21 is preferably less than 200 mm and the length is preferably less than 350 mm in view of the load capacity of the aircraft.
To further increase the floating time of the detector, the main body housing 21 may be provided as a sealed cylinder composed of a lightweight material (e.g., aerogel or graphene), and the inside of the cylinder may be filled with helium gas to increase the floating time of the detector while securing the strength in use.
In one implementation of the embodiment, the inner periphery of the main body housing 21 may be pasted with a black heat insulating material to reduce the influence of light reflection on elements (such as sensors) in the meteorological information collecting and processing device. The main body part shell 21 can be provided with a white ABS engineering plastic bracket base inside to support the meteorological information acquisition and processing device, so as to further reduce the influence of long-wave radiation on devices (such as sensors) and circuits and the like in the meteorological information acquisition and processing device 22.
In an implementation manner of this embodiment, the meteorological information acquisition and processing device 22 and the circuits and devices in the device are all installed in a fixed manner, and the pins with weak keys are further fixed in a gluing manner, so as to avoid the influence of the vibration of the unmanned aerial vehicle or the airship on the detecting instrument or the influence of the impact on the detecting instrument when the unmanned aerial vehicle or the airship is thrown in.
[ example 2 ]
Fig. 6 is a schematic view of a dropdown probe according to embodiment 2 of the present invention. Referring to fig. 6, the dropdown finder of the present embodiment is used for collecting weather information of a complex and severe environment such as a typhoon, and includes a second canopy 40 in addition to the first canopy 10, the main body portion 20, and the plurality of communication antennas 30 described in embodiment 1.
The first umbrella surface 10 (upper umbrella surface) and the second umbrella surface 40 (lower umbrella surface) provided by the embodiment can be wrapped with a plurality of communication antennas, so that the wind resistance is further enhanced, and the influence of strong wind on the communication antennas is prevented.
[ example 3 ]
Fig. 7 is a schematic diagram of a dropdown detection system according to embodiment 3 of the present invention. As shown in fig. 7, the dropdown detection system includes an onboard receiver 110 loaded on an aircraft, and a plurality of dropdown detectors 120 as described in embodiment 1 or 2 above, which are dropped at different positions.
The dropsonde system described in this embodiment can acquire meteorological information of different heights on a plurality of levels through a plurality of dropsondes 120 to acquire meteorological information from a plurality of dimensions, thereby realizing continuous fine detection of large-scale gridding.
Before the launch, the plurality of dropdown probes 120 may be housed in respective housings and loaded in a launch bin of the aircraft, wherein when housed in the housings of the probes, the plurality of communication antennas are fixed at a second angle, preferably 0 degrees, to the axis of the main body, that is, the plurality of communication antennas are retracted within the housings centered on the main body.
Then, the aircraft flies to the target area, and each of the down-cast detectors 120 is thrown at each of the predetermined positions. After the detector is dropped, the drop detector 120 pops out from the housing, and the plurality of communication antennas are unfolded around the main body and fixed at a position forming a first angle with the axis of the main body, so as to drive the parachute fabric (the first fabric, or the first fabric and the second fabric) of the detector to be rapidly unfolded to the maximum area.
The drop-down detection system provided by the embodiment can acquire meteorological information of multiple positions and multiple heights of the target area, and realizes networked fine detection.
The present invention has been described in conjunction with specific embodiments which are intended to be exemplary only and are not intended to limit the scope of the invention, which is to be given the full breadth of the appended claims and any and all modifications, variations or alterations that may occur to those skilled in the art without departing from the spirit of the invention. Therefore, various equivalent changes made according to the present invention are still within the scope of the present invention.
Claims (10)
1. A dropoff detector, comprising:
a first canopy;
a main body part which is cylindrical and is internally provided with a meteorological information acquisition and processing device;
the communication antennas are rod-shaped, made of elastic metal materials and electrically connected with the meteorological information acquisition and processing device, the first end of each communication antenna in the communication antennas is movably connected with the periphery of the main body part at the same interval, and the second ends of the communication antennas are connected with the inner edge of the first umbrella cover at the same interval;
before the detector is put in, the plurality of communication antennas are fixed at a position forming a second angle with the axis of the main body part;
after the detecting instrument is thrown, the communication antennas are unfolded from the second angle to the periphery by taking the main body part as a center and are finally fixed at the position which is at the first angle with the axis of the main body part, so that the first umbrella cover is driven to be rapidly unfolded and supported, the floating time is prolonged, and the wind resistance is improved.
2. The probe of claim 1, wherein the first angle is 90 degrees.
3. The probe of claim 1, wherein the communication antenna is a whip communication antenna.
4. The probe according to claim 1, wherein the number of communication antennas is 4.
5. The probe according to claim 1, wherein the probe further comprises:
the second umbrella face is located the downside for first umbrella face of many communication antennas, the first edge of second umbrella face with the periphery of main part is connected, the second edge of second umbrella face with first umbrella face with the interior edge that communication antennas links to each other is connected, be provided with the air intake on the second umbrella face.
6. The probe according to claim 1, wherein the outer shell of the body portion is a sealed cylinder of lightweight material, the cylinder being filled with helium.
7. The surveying instrument according to any one of claims 1 to 6, wherein the weather information acquisition and processing device is configured to acquire current weather information and includes:
the information acquisition unit is used for acquiring meteorological information and navigation information;
the data processing unit is used for processing the acquired meteorological information and the acquired navigation information;
and the data transmitting unit is used for transmitting the processed information to the airborne receiving equipment through the communication antenna.
8. The probe according to claim 7, wherein the data transmitting unit is configured to modulate the information processed by the data processing unit by a space-time diversity differential Chrip technique.
9. A drop-in detection system, the detection system comprising:
an on-board receiver device for loading on an aircraft, and
a dropdown detector according to any one of claims 1 to 8 dropped at different locations.
10. The system of claim 9,
before the launching, the plurality of downward-projecting type detectors are respectively accommodated in respective shells and loaded in a launching cabin of the aircraft, and the plurality of communication antennas are fixed at positions forming a second angle with the axis of the main body part;
when the aircraft flies to a plurality of preset positions, the plurality of downward-projecting detectors are respectively projected;
after the lower projection type detecting instrument is projected, the lower projection type detecting instrument is popped out from the shell, the plurality of communication antennas are unfolded around by taking the main body part as a center and are fixed at positions which form a first angle with the axis of the main body part, and the first umbrella cover is unfolded under the supporting action and the wind power action of the communication antennas.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010320367.7A CN111487694B (en) | 2020-04-22 | 2020-04-22 | Lower-throwing type detector and detection system |
| PCT/CN2020/132152 WO2021212832A1 (en) | 2020-04-22 | 2020-11-27 | Dropsonde and reconnaissance system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010320367.7A CN111487694B (en) | 2020-04-22 | 2020-04-22 | Lower-throwing type detector and detection system |
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| CN111487694A CN111487694A (en) | 2020-08-04 |
| CN111487694B true CN111487694B (en) | 2021-06-11 |
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| CN202010320367.7A Active CN111487694B (en) | 2020-04-22 | 2020-04-22 | Lower-throwing type detector and detection system |
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| WO (1) | WO2021212832A1 (en) |
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| FI20195995A1 (en) * | 2019-11-20 | 2021-05-21 | Hurricane Unwinder Oy Ab | Aerological sonde |
| CN111487694B (en) * | 2020-04-22 | 2021-06-11 | 北京航空航天大学 | Lower-throwing type detector and detection system |
| CN113721307B (en) * | 2021-09-28 | 2024-03-12 | 黄兵 | Air-drop type meteorological detection and transmission equipment |
| CN114355479B (en) * | 2022-03-16 | 2022-06-21 | 国家海洋技术中心 | Air-drop type typhoon sea area meteorological marine environment information measuring device |
| CN115993669B (en) * | 2023-03-21 | 2023-05-16 | 北京航空航天大学 | Typhoon information detection system and detector |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003227882A (en) * | 2002-02-01 | 2003-08-15 | Meisei Electric Co Ltd | Meteorological observation device |
| CN102582826B (en) * | 2011-01-06 | 2015-09-30 | 佛山市安尔康姆航拍科技有限公司 | A kind of drive manner of four rotor unmanned aircrafts and system |
| CN102520727B (en) * | 2011-12-31 | 2014-11-26 | 沈阳航天新光集团有限公司 | Reconnaissance system with unmanned plane |
| US10436941B2 (en) * | 2014-07-18 | 2019-10-08 | Altec S.P.A. | Image and/or radio signals capturing platform |
| CN105954820A (en) * | 2016-05-30 | 2016-09-21 | 南开大学 | Dropsonde and detection method |
| CN207249145U (en) * | 2017-08-23 | 2018-04-17 | 安徽珂祯大气环境科技有限公司 | A kind of dropsonde high altitude balloon carrying plateform system |
| CN108710161A (en) * | 2018-04-20 | 2018-10-26 | 中国气象局气象探测中心 | A kind of aerial exploration and method |
| CN110308499B (en) * | 2019-06-26 | 2023-12-12 | 中国科学院大气物理研究所 | Recoverable multiplexing lifting double-pass effective measurement weather sounding device |
| CN110927826A (en) * | 2019-12-06 | 2020-03-27 | 航天新气象科技有限公司 | Down-throwing type sonde and throwing method and system thereof |
| CN111487694B (en) * | 2020-04-22 | 2021-06-11 | 北京航空航天大学 | Lower-throwing type detector and detection system |
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| WO2021212832A1 (en) | 2021-10-28 |
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