CN104097767A - Four-rotor aircraft - Google Patents
Four-rotor aircraft Download PDFInfo
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- CN104097767A CN104097767A CN201410265697.5A CN201410265697A CN104097767A CN 104097767 A CN104097767 A CN 104097767A CN 201410265697 A CN201410265697 A CN 201410265697A CN 104097767 A CN104097767 A CN 104097767A
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Abstract
The invention relates to a four-rotor aircraft, which includes a waterproof rack. Landing support frames are symmetrically disposed all around the bottom of the waterproof rack. A flight control device is fixedly mounted inside the middle part of the waterproof rack, and the upper end of the flight control device is connected to a lithium battery. The upper ends of the four rotor frames are all fixedly connected to brushless motors, and the brushless motors are all fixedly connected to propellers and are in connection with No.1 leads. The No.1 leads pass through the rotor frames to enter a mounting part, and the other ends of the No.1 leads are connected to the flight control device. The lower part of the waterproof rack is provided with a downward protruding aerial photographing connection part, which is equipped with a translocation aerial photographing device. The four-rotor aircraft provided by the invention has the advantages of low making cost, reasonable structure design, long service life and the like, and can be used for cruise, aerial photographing and underwater photographing, thus broadening the functions and the application range of the aircraft. By adopting the translocation aerial photographing device, single-freedom translocation photographing view-finding can be realized. With high flexibility and stability, the four-rotor aircraft meets the translocation demand of underwater photographing.
Description
Technical field
The present invention relates to a kind of model plane, a kind of quadrotor, can be used for cruising, takes photo by plane in the air and take photo by plane under water specifically.
Background technology
Aeromodelling airplane is comparatively common in daily life, and a kind of match of Chang Zuowei or toy are for player.The kind of model plane is more, there are quadrotor, six rotorcraft, depopulated helicopter etc., the application of model plane is comparatively general, as taking photo by plane for important places such as wedding ceremonies, discharge color cigarette, for cruising etc. of garden, on the one hand for life has increased color, on the other hand also for people's use provides convenience.And traditional model plane are if quadrotor is only for airflight, cannot realize navigation on the water, major cause is not take corresponding waterproof measure, how exposed circuit is on surface, once contact water can cause short circuit scaling loss, brings certain economic loss, if some model plane when flight break down drop on also can be same on the water surface short circuit scaling loss, and traditional model plane cannot be realized under water and taking photo by plane, and function is comparatively limited to, also cannot meet the new demand in people's life.
Summary of the invention
Technical matters to be solved by this invention is to provide that a kind of cost of manufacture is low, reasonable in design, long service life, can be for the aircraft that cruises, takes photo by plane in the air and take photo by plane under water, i.e. a kind of quadrotor.
Technical matters to be solved by this invention realizes by the following technical solutions:
A kind of quadrotor, comprise waterproof frame, the bottom surrounding of described waterproof frame is arranged with landing bearing support, described waterproof frame integral sealing, described waterproof frame inside is hollow structure, the middle part of described waterproof frame is provided with the installation portion of the curved protuberance of upper and lower surface, the surrounding of described installation portion is provided with four wing framves symmetrically, the upper end, middle part of described installation portion is provided with seal cover cap, between described seal cover cap and installation portion, by seal trim strip, seal snapping, compare with traditional frame, the structure design of waterproof frame of the present invention facilitates processing on the one hand, can one-shot forming, sealing property is higher on the other hand, can avoid the infiltration of water, actv. has been protected the circuit in waterproof frame inside, thereby can be used on water sailing, as rest on the water surface, lifting from the water surface, upset on the water, simultaneously also for taking photo by plane and provide safeguard under water, widened the function and application scope of model plane.
Described waterproof central rack inner side is installed with and flies to control device, described in fly to control device upper end be connected with lithium cell, described lithium cell is positioned at the inside of waterproof frame.Circuit elements device of the present invention is arranged in the waterproof frame of hermetically-sealed construction, avoids contacting with the external world, guaranteed the safety in the use procedure of circuit elements device, played the effect of waterproof simultaneously.
The upper end of described four wing framves is all fixedly connected with brushless motor, on described brushless motor, be all fixedly connected with screw propeller, described brushless motor is connected with wire No. one, and a described wire enters in installation portion through wing frame, and the other end of a wire is connected on and flies to control on device.By flying to control device, control brushless motor, to change the rotating speed of brushless motor and to turn to, thereby meet different flight demands.
By empty set, the sealing shroud in a wire outside seals in the junction of a described wire and wing frame, to prevent that water from entering in wing frame, played good waterproof action.
The bottom of described waterproof frame is provided with the connecting portion of taking photo by plane to lower convexity, on the described connecting portion of taking photo by plane, transposition aerial device is installed, the described connecting portion of taking photo by plane be cylindrical-shaped structure, for the transposition of transposition aerial device, take and use, the periphery of the described connecting portion of taking photo by plane is provided with a circle slippage hoop, and slippage hoop supports for transposition aerial device provides transposition.
Described transposition aerial device comprises diverter, No. two wires, turns to magnetic group, The Cloud Terrace, fixed knob and camera, diverter, No. two wires are all placed in waterproof frame, utilize splashproof machine to erect water-proofing treatment, described diverter with fly to control device and be connected, described diverter is connected by No. two wires with turning between magnetic group, described The Cloud Terrace is fixed on the lower end that turns to magnetic group, and described camera is fastened on The Cloud Terrace by fixed knob.By flying to control device control diverter, work, realize the break-in of electric current, thereby utilization turns to the magnetic fields of magnetic group to realize the transposition of The Cloud Terrace, by camera, can be completed the shooting of surrounding is found a view.Compare with traditional exposed holder for aerial photographing, the principle of taking photo by plane of the present invention is more simple, and alerting ability is higher, realized sufficient water-proofing treatment, widen the function and application scope of aircraft, can be used for water sailing, take photo by plane and take photo by plane under water etc. in the air, made up the limitation that tradition is taken photo by plane.
Describedly turn to magnetic group to comprise interior magnetosphere, turn to matrix and outer magnetic ring, described interior magnetosphere is positioned at the connecting portion of taking photo by plane of waterproof frame, between described interior magnetosphere and diverter, by No. two wires, be connected, the described matrix that turns to is circular ring, described inner ring and the slippage hoop bearing fit that turns to matrix, the described lower end of matrix and the upper end of The Cloud Terrace of turning to is connected, and described outer magnetic ring is wrapped in the outside that turns to matrix.By the installation of interior magnetosphere and outer magnetic ring separation type, and the interior magnetosphere of energising is placed in the connecting portion of taking photo by plane of waterproof frame, actv. has prevented the short circuit of interior magnetosphere chance water, guarantee to produce magnetic field, to drive outer magnetic ring to drive, turn to matrix to rotate under the effect of the support guide of slippage hoop, comprise and rotating and reverse, to realize adjustment and the omnibearing shooting in The Cloud Terrace orientation, find a view, it is the rotation of single degree of freedom, the sensitivity of controlling is higher, move comparatively steady, avoided the phenomenon of the shake that traditional steering wheel steering-type exists, guaranteed that in shooting process, camera rotates steadily, thereby shoot photo or video recording that visibility is higher, improved the performance of taking photo by plane.
Described camera is waterproof camera, thereby when the present invention is landed or is placed on the water surface, utilization to finding a view, has been widened the scope that aircraft is taken photo by plane in undersurface camera under water, utilizes waterproof camera to guarantee the quality of finding a view.
When landing or being placed on the water surface due to the present invention, turn in magnetic group and only have outer magnetic ring to contact with water, and outer magnetic ring no power, phenomenon can not be short-circuited, only the effect by magnetic field force drives outer magnetic ring to rotate to adjust the orientation of camera, controls sensitivity higher, stability of rotation.Wherein, camera self-locking is under static state that the friction force when turning to matrix to contact with slippage hoop face is realized, and to guarantee at camera motion after assigned address, can utilize the hover performance of aircraft and the self-locking property of itself to realize location and take and find a view.
Described waterproof frame is moulded moulding by epoxy resin composite material through mould, Integratively formed like this, and to shorten waterproof frame tooling step, the input using manpower and material resources sparingly, has reduced the cost of manufacturing, good forming effect, and airtight quality is high; Adopt epoxy resin composite material, make waterproof frame possess high hardness and aging-resistant performance, extended the practical life of waterproof frame, and epoxy resin composite material environmental protection, can not cause environmental pollution.
The invention has the beneficial effects as follows: the present invention has the advantages such as cost of manufacture is low, reasonable in design, long service life, can be used for cruising, taking photo by plane in the air and take photo by plane under water, widened the function and application scope of aircraft, the transposition that adopts transposition aerial device can realize single degree of freedom is taken and is found a view, alerting ability and stationarity are higher, utilization turns to the design of the water proof type of magnetic group, has met the transposition demand of underwater photograph technical.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is main TV structure schematic diagram of the present invention;
Fig. 2 is plan structure schematic diagram of the present invention;
Fig. 3 is the structural representation of waterproof frame of the present invention;
Fig. 4 is the I partial enlarged drawing of Fig. 1;
Fig. 5 is the structural representation that transposition aerial device of the present invention is installed;
Fig. 6 is the view of the present invention while floating on the surface;
Fig. 7 is the structural representation of the present invention while standing upside down on the water surface.
The specific embodiment
For technological means, creation characteristic that the present invention is realized, reach object and effect is easy to understand, below the present invention is further set forth.
As shown in Figures 1 to 7, a kind of quadrotor, comprise waterproof frame 1, the bottom surrounding of described waterproof frame 1 is arranged with landing bearing support 7, described waterproof frame 1 integral sealing, described waterproof frame 1 inside is hollow structure, the middle part of described waterproof frame 1 is provided with the installation portion 1a of the curved protuberance of upper and lower surface, the surrounding of described installation portion 1a is provided with four wing frame 1b symmetrically, the upper end, middle part of described installation portion 1a is provided with seal cover cap 1c, between described seal cover cap 1c and installation portion 1a, by seal trim strip 1f, seal snapping, compare with traditional frame, the structure design of waterproof frame 1 of the present invention facilitates processing on the one hand, can one-shot forming, sealing property is higher on the other hand, can avoid the infiltration of water, actv. has been protected the circuit in waterproof frame 1 inside, thereby can be used on water sailing, as rest on the water surface, lifting from the water surface, upset on the water, simultaneously also for taking photo by plane and provide safeguard under water, widened the function and application scope of model plane.
Described waterproof frame 1 inner side, middle part is installed with and flies to control device 2, described in fly to control device 2 upper end be connected with lithium cell 3, described lithium cell 3 is positioned at the inside of waterproof frame 1.Circuit elements device of the present invention is arranged in the waterproof frame 1 of hermetically-sealed construction, avoids contacting with the external world, guaranteed the safety in the use procedure of circuit elements device, played the effect of waterproof simultaneously.
The upper end of described four wing frame 1b is all fixedly connected with brushless motor 4, on described brushless motor 4, be all fixedly connected with screw propeller 5, described brushless motor 4 is connected with wire 6 No. one, a described wire 6 enters in installation portion 1a through wing frame 1b, and the other end of a wire 6 is connected on and flies to control on device 2.By flying to control device 2, control brushless motor 4, to change the rotating speed of brushless motor 4 and to turn to, thereby meet different flight demands.
The junction of a described wire 6 and wing frame 1b is sealing shroud 16 sealings in wire 6 outsides by empty set, to prevent that water from entering in wing frame 1b, played good waterproof action.
The bottom of described waterproof frame 1 is provided with the connecting portion 1d that takes photo by plane to lower convexity, on the described connecting portion 1d that takes photo by plane, transposition aerial device is installed, the cylindrical-shaped structure that is of the described connecting portion 1d that takes photo by plane, for the transposition of transposition aerial device, take and use, described periphery of taking photo by plane connecting portion 1d is provided with a circle slippage hoop 1e, and slippage hoop 1e supports for transposition aerial device provides transposition.
Described transposition aerial device comprises diverter 15, No. two wires 14, turns to magnetic group, The Cloud Terrace 9, fixed knob 10 and camera 11, diverter 15, No. two wires 14 are all placed in waterproof frame 1, utilize waterproof frame 1 to play water-proofing treatment, described diverter 15 with fly to control device 2 and be connected, described diverter 15 is connected by No. two wires 14 with turning between magnetic group, described The Cloud Terrace 9 is fixed on the lower end that turns to magnetic group, and described camera 11 is fastened on The Cloud Terrace 9 by fixed knob 10.By flying to control device 2, control diverter 15 work, realize the break-in of electric current, thereby utilization turns to the magnetic fields of magnetic group to realize the transposition of The Cloud Terrace 9, by camera 11, can be completed the shooting of surrounding is found a view.Compare with traditional exposed holder for aerial photographing, the principle of taking photo by plane of the present invention is more simple, and alerting ability is higher, realized sufficient water-proofing treatment, widen the function and application scope of aircraft, can be used for water sailing, take photo by plane and take photo by plane under water etc. in the air, made up the limitation that tradition is taken photo by plane.
Describedly turn to magnetic group to comprise interior magnetosphere 13, turn to matrix 12 and outer magnetic ring 8, described interior magnetosphere 13 is positioned at the connecting portion 1d that takes photo by plane of waterproof frame 1, described interior magnetosphere 13 is connected by No. two wires 14 with 15 of diverters, the described matrix 12 that turns to is circular ring, described inner ring and the slippage hoop 1e bearing fit that turns to matrix 12, the described lower end of matrix 12 and the upper end of The Cloud Terrace 9 of turning to is connected, and described outer magnetic ring 8 is wrapped in the outside that turns to matrix 12.By the installation of interior magnetosphere 13 and outer magnetic ring 8 separation types, and the interior magnetosphere 13 of energising is placed in the connecting portion 1d that takes photo by plane of waterproof frame 1, actv. has prevented interior magnetosphere 13 chance water short circuits, guarantee to produce magnetic field, to drive outer magnetic ring 8 to drive, turn to matrix 12 to rotate under the effect of the support guide of slippage hoop 1e, comprise and rotating and reverse, to realize adjustment and the omnibearing shooting in The Cloud Terrace 9 orientation, find a view, it is the rotation of single degree of freedom, the sensitivity of controlling is higher, move comparatively steady, avoided the phenomenon of the shake that traditional steering wheel steering-type exists, guaranteed that in shooting process, camera 11 rotates steadily, thereby shoot photo or video recording that visibility is higher, improved the performance of taking photo by plane.
Described camera 11 is waterproof camera, thereby when the present invention is landed or is placed on the water surface, utilizes and find a view under water in 11 pairs, undersurface camera, has widened the scope that aircraft is taken photo by plane, and utilizes waterproof camera to guarantee the quality of finding a view.
When landing or being placed on the water surface due to the present invention, turn in magnetic group and only have outer magnetic ring 8 to contact with water, and outer magnetic ring 8 no powers, phenomenon can not be short-circuited, only the effect by magnetic field force drives outer magnetic ring 8 to rotate to adjust the orientation of camera 11, controls sensitivity higher, stability of rotation.Wherein, camera 11 self-locking is under static state that the friction force when turning to matrix 12 to contact with slippage hoop 1e face is realized, at camera 11, move to after assigned address guaranteeing, can utilize the hover performance of aircraft and the self-locking property of itself to realize location and take and find a view.
Described waterproof frame 1 is moulded moulding by epoxy resin composite material through mould, Integratively formed like this, and to shorten waterproof frame 1 tooling step, the input using manpower and material resources sparingly, has reduced the cost of manufacturing, good forming effect, and airtight quality is high; Adopt epoxy resin composite material, make waterproof frame 1 possess high hardness and aging-resistant performance, extended the practical life of waterproof frame 1, and epoxy resin composite material environmental protection, can not cause environmental pollution.
Fig. 6 and Fig. 7 have shown two kinds of mode of operations of the present invention, Fig. 6 be the present invention floating, take photo by plane or take the constitution diagram of the water surface during as landing point under water, as shown in Figure 6, the exposed parts of transposition aerial device is that The Cloud Terrace 9, fixed knob 10 and camera 11 are immersed in water, owing to having taked the measure of water-proofing treatment, can not impact camera 11 underwater photograph technicals, thereby utilization flies to control device, 2 control screw propellers 5 rotate to realize navigation and underwater photograph technical on the water surface, have widened the function and application scope of aircraft; While equally aloft flying, can utilize camera 11 to take photo by plane and find a view.
Fig. 7 is the view that the present invention stands upside down on the water surface, thereby the rotation that can control screw propeller 5 by the constitution diagram of Fig. 6 becomes constitution diagram as shown in Figure 7, makes the present invention have more polytropy, on the water surface, can make various postures, controls principle as follows:
As shown in Figure 2, screw propeller 5 is divided into a screw propeller 5a, No. two screw propeller 5b, No. three screw propeller 5c and No. four screw propeller 5d according to the clockwise direction of installation site, in the time need to becoming the state of Fig. 7 by the state of Fig. 6, operating personal sends instruction by controlling remote control equipment (RCE), receive after instruction flying to control device 2, control a screw propeller 5a, No. two screw propeller 5b, No. three screw propeller 5c and No. four screw propeller 5d and rotate accordingly, be divided into following several:
(1) screw propeller 5a, No. two screw propeller 5b forwards, No. three screw propeller 5c and No. four screw propeller 5d reversions, that side at screw propeller 5a, No. two screw propeller 5b can produce thrust upwards, that side at No. three screw propeller 5c and No. four screw propeller 5d can produce downward pressure, waterproof frame 1 is produced topples, when dynamics is enough large, can make the present invention from the state of Fig. 6, become the state of Fig. 7;
(2) No. two screw propeller 5b, No. three screw propeller 5c forwards, a screw propeller 5a, No. four screw propeller 5d reversions, in like manner in that sides of No. two screw propeller 5b, No. three screw propeller 5c forwards, can produce thrust upwards, that side at screw propeller 5a, No. four screw propeller 5d can produce downward pressure, waterproof frame 1 is produced topples, when dynamics is enough large, can make the present invention from the state of Fig. 6, become the state of Fig. 7;
(3) in like manner, a screw propeller 5a, No. two screw propeller 5b reversions, No. three screw propeller 5c and No. four screw propeller 5d forwards, also there will be and similar situation described in (1), (2), can make equally the present invention from the state of Fig. 6, become the state of Fig. 7;
(4) in like manner, No. two screw propeller 5b, No. three screw propeller 5c reversions, a screw propeller 5a, No. four screw propeller 5d forwards, also there will be and similar situation described in (1), (2), can make equally the present invention from the state of Fig. 6, become the state of Fig. 7.
Otherwise, in the time need to becoming the state of Fig. 6 from the state of Fig. 7, only need be according to the method described in (1), (2), (3) or (4).
More than show and described groundwork of the present invention, principal character and advantage of the present invention.The technical personnel of the industry should be understood; the present invention is not restricted to the described embodiments; what in above-described embodiment and specification sheets, describe is principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.The claimed scope of the present invention is defined by appending claims and equivalent thereof.
Claims (4)
1. a quadrotor, comprise waterproof frame (1), it is characterized in that: the bottom surrounding of described waterproof frame (1) is arranged with landing bearing support (7), described waterproof frame (1) integral sealing, described waterproof frame (1) inside is hollow structure, the middle part of described waterproof frame (1) is provided with the installation portion (1a) of the curved protuberance of upper and lower surface, the surrounding of described installation portion (1a) is provided with four wing framves (1b) symmetrically, the upper end, middle part of described installation portion (1a) is provided with seal cover cap (1c), between described seal cover cap (1c) and installation portion (1a), by seal trim strip (1f), seal snapping,
Described waterproof frame (1) middle part inner side is installed with and flies to control device (2), described in fly to control device (2) upper end be connected with lithium cell (3), described lithium cell (3) is positioned at the inside of waterproof frame (1);
The upper end of described four wing framves (1b) is all fixedly connected with brushless motor (4), on described brushless motor (4), be all fixedly connected with screw propeller (5), described brushless motor (4) is connected with a wire (6), a described wire (6) enters in installation portion (1a) through wing frame (1b), and the other end of a wire (6) is connected on and flies to control on device (2);
The junction of a described wire (6) and wing frame (1b) is sealing shroud (16) sealing in a wire (6) outside by empty set;
The bottom of described waterproof frame (1) is provided with the connecting portion of taking photo by plane (1d) to lower convexity, on the described connecting portion of taking photo by plane (1d), transposition aerial device is installed, the described connecting portion of taking photo by plane (1d) be cylindrical-shaped structure, described in the take photo by plane periphery of connecting portion (1d) be provided with a circle slippage hoop (1e);
Described transposition aerial device comprises diverter (15), No. two wires (14), turns to magnetic group, The Cloud Terrace (9), fixed knob (10) and camera (11), described diverter (15) with fly to control device (2) and be connected, described diverter (15) is connected by No. two wires (14) with turning between magnetic group, described The Cloud Terrace (9) is fixed on the lower end that turns to magnetic group, and described camera (11) is fastened on The Cloud Terrace (9) by fixed knob (10).
2. a kind of quadrotor according to claim 1, it is characterized in that: described in turn to magnetic group to comprise interior magnetosphere (13), turn to matrix (12) and outer magnetic ring (8), described interior magnetosphere (13) is positioned at the connecting portion of taking photo by plane (1d) of waterproof frame (1), between described interior magnetosphere (13) and diverter (15), by No. two wires (14), be connected, the described matrix (12) that turns to is circular ring, described inner ring and slippage hoop (1e) bearing fit that turns to matrix (12), the described lower end of matrix (12) and the upper end of The Cloud Terrace (9) of turning to is connected, described outer magnetic ring (8) is wrapped in the outside that turns to matrix (12).
3. a kind of quadrotor according to claim 1, is characterized in that: described camera (11) is waterproof camera.
4. a kind of quadrotor according to claim 1, is characterized in that: described waterproof frame (1) is moulded moulding by epoxy resin composite material through mould.
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| CN201410265697.5A CN104097767B (en) | 2014-06-13 | 2014-06-13 | A kind of quadrotor |
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| CN201410265697.5A CN104097767B (en) | 2014-06-13 | 2014-06-13 | A kind of quadrotor |
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| CN104097767B CN104097767B (en) | 2016-01-27 |
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| CN104401486A (en) * | 2014-11-21 | 2015-03-11 | 吉林大学 | Solar aircraft |
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| CN104691750A (en) * | 2015-03-09 | 2015-06-10 | 浙江海洋学院 | Photographing aircraft used for water and aerial photographing |
| CN104890891A (en) * | 2015-06-10 | 2015-09-09 | 浙江空行飞行器技术有限公司 | Amphibious unmanned plane capable of recording accident |
| CN105136272A (en) * | 2015-08-18 | 2015-12-09 | 北京神州普惠科技股份有限公司 | Multi-rotor floating underwater sound detection system |
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| CN105775133A (en) * | 2016-03-03 | 2016-07-20 | 致导科技（北京）有限公司 | Waterproof unmanned aerial vehicle |
| CN106526116A (en) * | 2016-11-10 | 2017-03-22 | 浙江大学 | Water area environment monitoring aircraft and monitoring method thereof |
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| CN104401486B (en) * | 2014-11-21 | 2016-04-20 | 吉林大学 | Helios |
| CN104401486A (en) * | 2014-11-21 | 2015-03-11 | 吉林大学 | Solar aircraft |
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| CN104890891A (en) * | 2015-06-10 | 2015-09-09 | 浙江空行飞行器技术有限公司 | Amphibious unmanned plane capable of recording accident |
| CN105136272A (en) * | 2015-08-18 | 2015-12-09 | 北京神州普惠科技股份有限公司 | Multi-rotor floating underwater sound detection system |
| CN105235898A (en) * | 2015-11-13 | 2016-01-13 | 中航鹰航空技术（北京）有限公司 | Flame-proof type multi-rotor unmanned aerial vehicle |
| CN105235898B (en) * | 2015-11-13 | 2016-06-29 | 中航鹰航空技术（北京）有限公司 | The many rotor unmanned aircrafts of flame-proof type |
| CN105775133A (en) * | 2016-03-03 | 2016-07-20 | 致导科技（北京）有限公司 | Waterproof unmanned aerial vehicle |
| CN106526116A (en) * | 2016-11-10 | 2017-03-22 | 浙江大学 | Water area environment monitoring aircraft and monitoring method thereof |
| WO2020011013A1 (en) * | 2018-07-11 | 2020-01-16 | 深圳市道通智能航空技术有限公司 | Water-resistant unmanned aerial vehicle |
| CN110683053A (en) * | 2019-09-09 | 2020-01-14 | 苏州臻迪智能科技有限公司 | Intelligent equipment, floating and unmanned aerial vehicle |
| WO2022205116A1 (en) * | 2021-03-31 | 2022-10-06 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle, control terminal, drone rescue method and drone rescue system |
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