CN104269078A - Method for collision detection for agricultural plant protection unmanned aerial vehicle - Google Patents
Method for collision detection for agricultural plant protection unmanned aerial vehicle Download PDFInfo
- Publication number
- CN104269078A CN104269078A CN201410486277.XA CN201410486277A CN104269078A CN 104269078 A CN104269078 A CN 104269078A CN 201410486277 A CN201410486277 A CN 201410486277A CN 104269078 A CN104269078 A CN 104269078A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- distance
- plant protection
- agricultural plant
- camera
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a method for collision detection for an agricultural plant protection unmanned aerial vehicle. The method comprises the specific steps that (100), lasers are emitted by two laser devices and irradiate the surface of an object target, so that two light spots are formed; (200), the light spots formed in the mode that the lasers are emitted by the two laser devices and irradiate the surface of the object target are shot by a camera; (300), an image processor measures the distance between the two light spots according to the received information of the light spot images shot by the camera, and the distance between the unmanned aerial vehicle and the target is worked out according to the distance between the two light spots; (400), a safety distance is set, and when the worked out distance between the unmanned aerial vehicle and the object target is smaller than the safety distance, a flight controller sends an alarm command. In this way, according to the method for collision detection for the agricultural plant protection unmanned aerial vehicle, a large-view distance measuring system is formed through the laser devices and the camera, and the wide-range obstacle distance measurement demand existing during high-speed flight of the unmanned aerial vehicle can be met.
Description
Technical field
The present invention relates to agricultural plant protection unmanned plane field, especially relate to a kind of agricultural plant protection unmanned plane collision checking method.
Background technology
Plant protection unmanned plane is a kind of for touching the agricultural unmanned plane spilling agricultural chemicals, plant protection unmanned plane during flying circumstance complication, especially in middle part and eastern region, have the barriers such as a large amount of trees, house pedestrian and various electric pole, electric wire tower due in densely populated, field, plant protection unmanned plane flies and is easy to crash in field.
Present unmanned plane is generally measured the distance between unmanned plane and barrier by installing laser measurement sensor measuring equipment thus avoids unmanned plane to collide, but existing various unmanned plane collision prevention measuring technique and sensor expensive, even exceed the price of plant protection unmanned plane, still do not have a kind of unmanned plane collision prevention measuring technique can meet the demand of plant protection unmanned plane at present on cost.
Summary of the invention
The technical matters that the present invention mainly solves is to provide a kind of agricultural plant protection unmanned plane collision checking method.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: a kind of agricultural plant protection unmanned plane collision checking method, and concrete steps comprise:
(100), first two laser instruments respectively Emission Lasers be irradiated to object target surface and form two hot spots;
(200) hot spot that target is formed, by laser instrument Emission Lasers described in camera shooting two is irradiated to, and by light spot image information transmission to the image processor in unmanned plane;
(300), described image processor according to the light spot image information of the described camera shooting received, measure the spacing between two hot spots, go out the distance between unmanned plane to target according to distance computation;
(400), a safe distance is set, the time in that distance between the unmanned plane calculated to target being less than the safe distance of setting, flight controller sends alarm command, unmanned plane stops current aerial mission at once after receiving the alarm command that described flight controller sends and starts emergent flight prediction scheme, described flight controller controls unmanned plane hovering, described aircraft controller also will send warning to operator, be determined next step flight planning by operator.
In a preferred embodiment of the present invention, in described step (100), two described laser instruments are that predetermined angular is arranged on unmanned plane front.
In a preferred embodiment of the present invention, described in described step (200), camera is arranged on the axis of two described laser instruments, and the shooting direction of described camera is consistent with the installation axis of two described laser instruments.
In a preferred embodiment of the present invention, described step passes through data cube computation between image processor and described camera described in (300).
In a preferred embodiment of the present invention, described step adopts wireless connections between flight controller and described unmanned plane described in (400).
In a preferred embodiment of the present invention, the angle angular range of the laser projection light source in described step (100) in laser instrument described in two is 2 ° ~ 30 °.
The invention has the beneficial effects as follows: a kind of agricultural plant protection unmanned plane of the present invention collision checking method, this detection method utilizes laser instrument and camera to form large visual field Range Measurement System, the range finding of the barrier on a large scale demand of unmanned plane high-speed flight requirement can be met, simultaneously cheap, reliability is high, structure is simple, can be satisfied with the collision prevention measurement requirement of agriculture unmanned plane.
Accompanying drawing explanation
Fig. 1 is a kind of schematic diagram of agricultural plant protection unmanned plane collision checking method.
In accompanying drawing, the mark of each parts is as follows: 1, laser instrument; 2, camera; 3, image processor; 4, flight controller.
Embodiment
Below in conjunction with accompanying drawing, preferred embodiment of the present invention is described in detail, can be easier to make advantages and features of the invention be readily appreciated by one skilled in the art, thus more explicit defining is made to protection scope of the present invention.
The embodiment of the present invention comprises: a kind of agricultural plant protection unmanned plane collision checking method, and concrete steps comprise:
(100), in unmanned plane front, two laser instruments 1 are installed, described in two, laser instrument 1 is installed at an angle, the angle angular range of the laser projection light source in laser instrument 1 described in two is 2 ° ~ 30 °, different angles is selected with setting according to different demands, according to geometrical principle target from unmanned plane distance more close to spacing then between two hot spots nearer, otherwise then contrary, thus measure.
The laser projection light source of laser instrument 1 described in two respectively Emission Lasers is irradiated to object target surface and forms two hot spots, according to the distance between the range determination aircraft between hot spot and target.
(200), on the axis that laser instrument described in two 1 is installed, a camera 2 is installed, the shooting direction of described camera 2 is consistent with the installation axis of laser instrument described in two 1, described camera 2 can photograph the hot spot that laser projection light source irradiation that laser instrument 1 described in two sends is formed to target, being arranged on axis can make described camera 2 better photograph the image of hot spot, is convenient for measuring the distance between two hot spots.
(300), described camera 2 is connected with the image processor 3 in unmanned plane, the light spot image photographed is transferred to described image processor 3 by described camera 2, described image processor 3 processes the light spot image of described camera 2 shooting, measure the spacing between two hot spots, the distance between unmanned plane to target is gone out according to distance computation, measure the spacing between two hot spots by described image processor 3, and the data measured are transferred to described flight controller 4.
(400), wireless connections are adopted between flight controller 4 and unmanned plane, a safe distance is set in described flight controller 4, the time in that distance between the unmanned plane calculated to target being less than the safe distance of setting, described flight controller 4 sends alarm command, after receiving the alarm command that described flight controller 4 sends, unmanned plane then stops current aerial mission at once and starts emergent flight prediction scheme, control unmanned plane hovers, described aircraft controls 4 also will send warning to operator, be determined next step flight planning by operator.
Compared with prior art, a kind of agricultural plant protection unmanned plane of the present invention collision checking method, this detection method utilizes laser instrument, camera and image processor to form unmanned plane difficulty measurement system, with low cost, measuring speed is fast, system reliably, not affected by environment.
As compared to various unmanned plane ranging technologies such as current such as laser ranging, infrared distance measurement and millimetre-wave radars, its cost is 1/10 of current various ranging technology, meet the application requirement of agricultural plant protection unmanned plane, solve current plant protection unmanned plane simultaneously and there is no the suitable alternative difficult situation of anticollision technology, solve plant protection unmanned plane and improve security and cost balance problem.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every utilize instructions of the present invention and accompanying drawing to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (6)
1. an agricultural plant protection unmanned plane collision checking method, is characterized in that, concrete steps comprise:
(100), first two laser instruments respectively Emission Lasers be irradiated to object target surface and form two hot spots;
(200) hot spot that target is formed, by laser instrument Emission Lasers described in camera shooting two is irradiated to, and by light spot image information transmission to the image processor in unmanned plane;
(300), described image processor according to the light spot image information of the described camera shooting received, measure the spacing between two hot spots, go out the distance between unmanned plane to target according to distance computation;
(400), a safe distance is set, the time in that distance between the unmanned plane calculated to target being less than the safe distance of setting, flight controller sends alarm command, unmanned plane stops current aerial mission at once after receiving the alarm command that described flight controller sends and starts emergent flight prediction scheme, described flight controller controls unmanned plane hovering, described aircraft controller also will send warning to operator, be determined next step flight planning by operator.
2. a kind of agricultural plant protection unmanned plane collision checking method according to claim 1, is characterized in that, in described step (100), two described laser instruments are that predetermined angular is arranged on unmanned plane front.
3. a kind of agricultural plant protection unmanned plane collision checking method according to claim 1, it is characterized in that, described in described step (200), camera is arranged on the axis of two described laser instruments, and the shooting direction of described camera is consistent with the installation axis of two described laser instruments.
4. a kind of agricultural plant protection unmanned plane collision checking method according to claim 1, it is characterized in that, described step passes through data cube computation between image processor and described camera described in (300).
5. a kind of agricultural plant protection unmanned plane collision checking method according to claim 1, is characterized in that,
Described step adopts wireless connections between flight controller and described unmanned plane described in (400).
6. a kind of agricultural plant protection unmanned plane collision checking method according to claim 2, is characterized in that, the predetermined angular range of the laser projection light source in laser instrument described in two is 2 ° ~ 30 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410486277.XA CN104269078A (en) | 2014-09-23 | 2014-09-23 | Method for collision detection for agricultural plant protection unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410486277.XA CN104269078A (en) | 2014-09-23 | 2014-09-23 | Method for collision detection for agricultural plant protection unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104269078A true CN104269078A (en) | 2015-01-07 |
Family
ID=52160595
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410486277.XA Pending CN104269078A (en) | 2014-09-23 | 2014-09-23 | Method for collision detection for agricultural plant protection unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104269078A (en) |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105083573A (en) * | 2015-09-22 | 2015-11-25 | 西华大学 | Unmanned aerial vehicle anti-collision system and anti-collision method thereof |
| CN105278546A (en) * | 2015-11-06 | 2016-01-27 | 中国航空工业经济技术研究院 | Agricultural plant protection unmanned aerial vehicle planting control system |
| CN105652890A (en) * | 2016-01-29 | 2016-06-08 | 北京臻迪机器人有限公司 | Unmanned aerial vehicle control method and device |
| CN105738909A (en) * | 2016-02-02 | 2016-07-06 | 江苏大学 | Unmanned helicopter work boundary extraction method suitable for low-altitude plant protection |
| CN106383485A (en) * | 2015-12-09 | 2017-02-08 | 聂帅 | Plant-protection unmanned-aerial-vehicle horizontal navigation channel detection system based on single chip microcomputer |
| CN106383646A (en) * | 2016-10-26 | 2017-02-08 | 广州极飞科技有限公司 | Method and device for starting plant projection by unmanned aerial vehicle |
| CN106516098A (en) * | 2016-10-19 | 2017-03-22 | 吴瑞霞 | Unpiloted aircraft |
| CN107703519A (en) * | 2017-10-17 | 2018-02-16 | 杭州瓦屋科技有限公司 | Plant protection unmanned plane obstacle detection method based on laser displacement sensor |
| CN107728135A (en) * | 2017-11-16 | 2018-02-23 | 北京首都国际机场股份有限公司 | Laser distance instruction device |
| CN108008403A (en) * | 2017-12-11 | 2018-05-08 | 深圳市富微科创电子有限公司 | Infrared laser ranging device and method, unmanned plane and barrier-avoiding method |
| CN108415459A (en) * | 2018-05-23 | 2018-08-17 | 宜昌快马仕网络科技有限公司 | A kind of unmanned plane is around the circumvolant control method and device of target point |
| CN108820221A (en) * | 2018-08-16 | 2018-11-16 | 上海重塑能源科技有限公司 | Take-off system |
| CN109669468A (en) * | 2017-10-17 | 2019-04-23 | 株式会社拓普康 | Program is used in measuring device, unmanned plane and its control device, control method and control |
| CN110663074A (en) * | 2017-03-31 | 2020-01-07 | 瑞典爱立信有限公司 | Method and system for using network location services in an unmanned aircraft system traffic management framework |
| CN110785720A (en) * | 2018-04-27 | 2020-02-11 | 深圳市大疆创新科技有限公司 | Information processing device, information presentation instruction method, program, and recording medium |
| CN112034733A (en) * | 2020-08-17 | 2020-12-04 | 广东工业大学 | City simulation method of quad-rotor unmanned aerial vehicle based on Unity3D |
| CN112099556A (en) * | 2016-11-24 | 2020-12-18 | 深圳市大疆创新科技有限公司 | Control method of agricultural unmanned aerial vehicle, ground control terminal and storage medium |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19831452C1 (en) * | 1998-07-14 | 2000-03-09 | Eurocopter Deutschland | Procedures to support flight guidance |
| US20020080046A1 (en) * | 2000-12-22 | 2002-06-27 | Derringer Byron Scott | Apparatus and method for detecting objects located on an airport runway |
| CN1693922A (en) * | 2005-05-10 | 2005-11-09 | 中国科学院电子学研究所 | Combined measuring device using machine interference synthetic aperture radar base line |
| JP2007187581A (en) * | 2006-01-13 | 2007-07-26 | Casio Comput Co Ltd | Range finder and ranging method |
| CN101968354A (en) * | 2010-09-29 | 2011-02-09 | 清华大学 | Laser detection and image identification based unmanned helicopter distance measuring method |
| CN101975569A (en) * | 2010-09-29 | 2011-02-16 | 清华大学 | Height measuring method of unmanned helicopter based on laser detection and image recognition |
| CN201748918U (en) * | 2009-09-30 | 2011-02-16 | 深圳科奥智能设备有限公司 | Electronic device with ranging function and ranging system |
| CN103076614A (en) * | 2013-01-18 | 2013-05-01 | 山东理工大学 | Laser scanning method and device for helicopter collision avoidance |
| CN203250024U (en) * | 2013-05-14 | 2013-10-23 | 罗江临 | Handheld double laser distance measurement instrument |
| CN203275655U (en) * | 2012-10-30 | 2013-11-06 | 东北林业大学 | Vehicle-mounted laser two-point width measuring radar |
| CN203298766U (en) * | 2013-05-08 | 2013-11-20 | 中国地质大学（武汉） | Outdoor geological work imaging device capable of generating proportional scale automatically and remotely |
| CN203465855U (en) * | 2013-10-15 | 2014-03-05 | 江苏艾锐泰克无人飞行器科技有限公司 | Obstacle alarm system for unmanned plane |
-
2014
- 2014-09-23 CN CN201410486277.XA patent/CN104269078A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19831452C1 (en) * | 1998-07-14 | 2000-03-09 | Eurocopter Deutschland | Procedures to support flight guidance |
| US20020080046A1 (en) * | 2000-12-22 | 2002-06-27 | Derringer Byron Scott | Apparatus and method for detecting objects located on an airport runway |
| CN1693922A (en) * | 2005-05-10 | 2005-11-09 | 中国科学院电子学研究所 | Combined measuring device using machine interference synthetic aperture radar base line |
| JP2007187581A (en) * | 2006-01-13 | 2007-07-26 | Casio Comput Co Ltd | Range finder and ranging method |
| CN201748918U (en) * | 2009-09-30 | 2011-02-16 | 深圳科奥智能设备有限公司 | Electronic device with ranging function and ranging system |
| CN101968354A (en) * | 2010-09-29 | 2011-02-09 | 清华大学 | Laser detection and image identification based unmanned helicopter distance measuring method |
| CN101975569A (en) * | 2010-09-29 | 2011-02-16 | 清华大学 | Height measuring method of unmanned helicopter based on laser detection and image recognition |
| CN203275655U (en) * | 2012-10-30 | 2013-11-06 | 东北林业大学 | Vehicle-mounted laser two-point width measuring radar |
| CN103076614A (en) * | 2013-01-18 | 2013-05-01 | 山东理工大学 | Laser scanning method and device for helicopter collision avoidance |
| CN203298766U (en) * | 2013-05-08 | 2013-11-20 | 中国地质大学（武汉） | Outdoor geological work imaging device capable of generating proportional scale automatically and remotely |
| CN203250024U (en) * | 2013-05-14 | 2013-10-23 | 罗江临 | Handheld double laser distance measurement instrument |
| CN203465855U (en) * | 2013-10-15 | 2014-03-05 | 江苏艾锐泰克无人飞行器科技有限公司 | Obstacle alarm system for unmanned plane |
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105083573B (en) * | 2015-09-22 | 2018-07-13 | 西华大学 | A kind of anticollision unmanned vehicle system and its avoiding collision |
| CN105083573A (en) * | 2015-09-22 | 2015-11-25 | 西华大学 | Unmanned aerial vehicle anti-collision system and anti-collision method thereof |
| CN105278546A (en) * | 2015-11-06 | 2016-01-27 | 中国航空工业经济技术研究院 | Agricultural plant protection unmanned aerial vehicle planting control system |
| CN106383485A (en) * | 2015-12-09 | 2017-02-08 | 聂帅 | Plant-protection unmanned-aerial-vehicle horizontal navigation channel detection system based on single chip microcomputer |
| CN106383485B (en) * | 2015-12-09 | 2019-12-03 | 陕西无人系统工程研究院有限公司 | The SCM Based horizontal navigation channel detection system of plant protection drone |
| CN105652890A (en) * | 2016-01-29 | 2016-06-08 | 北京臻迪机器人有限公司 | Unmanned aerial vehicle control method and device |
| CN105652890B (en) * | 2016-01-29 | 2019-02-15 | 北京臻迪机器人有限公司 | A kind of unmanned aerial vehicle (UAV) control method and apparatus |
| CN105738909A (en) * | 2016-02-02 | 2016-07-06 | 江苏大学 | Unmanned helicopter work boundary extraction method suitable for low-altitude plant protection |
| CN105738909B (en) * | 2016-02-02 | 2018-07-20 | 江苏大学 | One kind being suitable for low latitude plant protection unmanned helicopter operation boundary extraction method |
| CN106516098A (en) * | 2016-10-19 | 2017-03-22 | 吴瑞霞 | Unpiloted aircraft |
| CN106516097A (en) * | 2016-10-19 | 2017-03-22 | 吴瑞霞 | Unpiloted aircraft |
| CN106383646A (en) * | 2016-10-26 | 2017-02-08 | 广州极飞科技有限公司 | Method and device for starting plant projection by unmanned aerial vehicle |
| CN112099556A (en) * | 2016-11-24 | 2020-12-18 | 深圳市大疆创新科技有限公司 | Control method of agricultural unmanned aerial vehicle, ground control terminal and storage medium |
| CN110663074A (en) * | 2017-03-31 | 2020-01-07 | 瑞典爱立信有限公司 | Method and system for using network location services in an unmanned aircraft system traffic management framework |
| CN109669468A (en) * | 2017-10-17 | 2019-04-23 | 株式会社拓普康 | Program is used in measuring device, unmanned plane and its control device, control method and control |
| CN107703519A (en) * | 2017-10-17 | 2018-02-16 | 杭州瓦屋科技有限公司 | Plant protection unmanned plane obstacle detection method based on laser displacement sensor |
| CN107703519B (en) * | 2017-10-17 | 2020-04-28 | 杭州瓦屋科技有限公司 | Plant protection unmanned aerial vehicle obstacle detection method based on laser displacement sensor |
| CN107728135A (en) * | 2017-11-16 | 2018-02-23 | 北京首都国际机场股份有限公司 | Laser distance instruction device |
| CN108008403A (en) * | 2017-12-11 | 2018-05-08 | 深圳市富微科创电子有限公司 | Infrared laser ranging device and method, unmanned plane and barrier-avoiding method |
| CN110785720A (en) * | 2018-04-27 | 2020-02-11 | 深圳市大疆创新科技有限公司 | Information processing device, information presentation instruction method, program, and recording medium |
| CN108415459A (en) * | 2018-05-23 | 2018-08-17 | 宜昌快马仕网络科技有限公司 | A kind of unmanned plane is around the circumvolant control method and device of target point |
| CN108820221A (en) * | 2018-08-16 | 2018-11-16 | 上海重塑能源科技有限公司 | Take-off system |
| CN112034733A (en) * | 2020-08-17 | 2020-12-04 | 广东工业大学 | City simulation method of quad-rotor unmanned aerial vehicle based on Unity3D |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104269078A (en) | Method for collision detection for agricultural plant protection unmanned aerial vehicle | |
| US10746858B2 (en) | Calibration for an autonomous vehicle LIDAR module | |
| US10775488B2 (en) | Calibration for an autonomous vehicle LIDAR module | |
| CN103135550B (en) | Multiple obstacle-avoidance control method of unmanned plane used for electric wire inspection | |
| US10369993B2 (en) | Method and device for monitoring a setpoint trajectory to be traveled by a vehicle for being collision free | |
| CN204956914U (en) | Automatic unmanned aerial vehicle of flight is dodged and passes through in three dimensions range finding | |
| US7903023B2 (en) | Obstacle detection system notably for an anticollision system | |
| CN103941233B (en) | The radar interval alternately radiation control method of tracking worked in coordination with by a kind of multi-platform main passive sensor | |
| CN106896828B (en) | A kind of unmanned plane automated wireless charging method and system | |
| CN107402581A (en) | Express delivery unmanned plane landing guiding system and bootstrap technique based on wireless ultraviolet light | |
| EP3062123B1 (en) | System and methods of detecting an intruding object in a relative navigation system | |
| CN104298248A (en) | Accurate visual positioning and orienting method for rotor wing unmanned aerial vehicle | |
| CN105468018B (en) | A kind of unmanned plane target system for simulating feature | |
| BRPI0918818B1 (en) | anti-collision system and method to avoid collisions between air vehicles in midair | |
| CN106197404B (en) | A kind of AGV positioning system and localization method | |
| CN106950989B (en) | A kind of unmanned plane fixed point location method and system | |
| CN107561547A (en) | Distance measurement method, apparatus and system of the transmission line of electricity to object | |
| JP2013173523A (en) | Method for formation flying aided by relative navigation system | |
| CN107783547A (en) | Post disaster relief rotor wing unmanned aerial vehicle obstacle avoidance system and method | |
| CN103984355A (en) | Routing inspection flying robot and overhead power line distance prediction and maintaining method | |
| CN106774387A (en) | A kind of unmanned plane barrier-avoiding method and obstacle avoidance system | |
| CN108710381A (en) | A kind of servo-actuated landing method of unmanned plane | |
| US20230196612A1 (en) | Method and system for object detection | |
| US20230044889A1 (en) | Training Neural Networks Using a Neural Network | |
| EP1511673B1 (en) | A method for the contactless measuring of distance and position in respect of aircraft docking procedures, and an arrangement for this purpose. |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20160829 Address after: 215021 No. 75, Song Bei Road, Suzhou Industrial Park, Jiangsu Applicant after: Best flying technology (Suzhou) Co., Ltd. Address before: 215500 Changshu City, Jiangsu province high tech Industrial Development Zone, Southeast Avenue, No. 1, building 68, No. Applicant before: SUZHOU TIANYI AVIATION TECHNOLOGY CO., LTD. |
|
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150107 |
|
| WD01 | Invention patent application deemed withdrawn after publication |