CN105093961B - A kind of agricultural aircraft simulation device with rotary objective table - Google Patents
A kind of agricultural aircraft simulation device with rotary objective table Download PDFInfo
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- CN105093961B CN105093961B CN201510345827.0A CN201510345827A CN105093961B CN 105093961 B CN105093961 B CN 105093961B CN 201510345827 A CN201510345827 A CN 201510345827A CN 105093961 B CN105093961 B CN 105093961B
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- 238000004088 simulation Methods 0.000 title claims abstract description 20
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- 230000000694 effects Effects 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 7
- 230000036544 posture Effects 0.000 abstract description 5
- 230000007246 mechanism Effects 0.000 description 14
- 239000000725 suspension Substances 0.000 description 11
- 238000011160 research Methods 0.000 description 6
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- 238000003860 storage Methods 0.000 description 2
- 208000033999 Device damage Diseases 0.000 description 1
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- 244000037666 field crops Species 0.000 description 1
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Abstract
The present invention discloses a kind of agricultural aircraft simulation device with rotary objective table, including：Place the annular rotary platform of acquisition target；Translation track above acquisition target；The sliding seat moved along translation track；Limit chamber is provided with vibrating seat in sliding seat, vibrating seat；The rolling dynamic component being placed in the limit chamber, with shaking the locking device that dynamic component coordinates；It is movably arranged on the rotary part for rocking feature bottom；It is hinged on the swing arm of rotary part bottom, and the information acquisition device in swing arm.The present invention is rotated with closer to real flight environment of vehicle, gathering information needed in all directions, and combining annular rotary platform control acquisition target by simulating the various postures during unmanned plane during flying, simulates more complicated flight condition.
Description
Technical field
The present invention relates to a kind of agricultural aircraft simulation device with rotary objective table, belong to agricultural aviation, dynamic
The technical field of acquisition of information, dynamic analog device.
Background technology
The agricultural of modernization will carry out accurate operation according to the upgrowth situation and growing environment situation of crops, therefore real
When rapidly gather field crops information and seem particularly critical.Agricultural aviation technology is due to operating efficiency height, operation quality
Good, operation wide adaptability, operating cost are low and tackle the features such as burst fire-disaster ability is strong, and country leads to agricultural aviation at present
The policy in domain is in situation is promoted, and therefore, agricultural unmanned plane is extremely suitable for as field information collecting platform.Therefore, develop suitable
Information gathering equipment for unmanned plane has great prospect.
The environment flown in the air due to unmanned plane is different from ground, therefore, existing static, hand-held and be based on
The information collecting device of field vehicle is not suitable for the information gathering based on unmanned plane.If information acquisition device directly is installed on into nothing
Man-machine upper carry out field test, not only cost is higher, and the phenomenon of the device damage caused by unmanned plane accident easily occurs.
Current China is tighter to spatial domain control, and the flight of unmanned plane is by many restrictions.Therefore, unmanned plane acquisition of information is researched and developed
Analogue means, flight attitude of the simulation unmanned plane under various emergency situations and adverse circumstances, utilizes the information of state of flight
Acquisition device, sets up the models such as data processing, image procossing, carries out algorithm optimization, and then meet the information based on unmanned plane to adopt
Collect the research and development demand of equipment, have a very big significance.
In the prior art, the A of Publication No. CN 103954314 patent application proposes a kind of unmanned plane low-altitude remote sensing simulation
Device, including：Line slideway, is erected at the top of monitoring object；Suspension, is slidably matched with the line slideway；Haulage gear,
For driving the suspension to be moved along line slideway；Three-dimensional head, hangs the lower section for being located at the suspension；Information acquisition device, is set
In on the three-dimensional head.
Above-mentioned document is deflected by the realization of three-dimensional head, pitched, the motion in three directions of roll, but in flight course
The stability for possessing various emergency cases and flight is difficult to ensure that, the vibration of multi-rotor aerocraft, vibration are simulated using fan
Form can only be had some limitations, it is difficult to realize real unmanned plane during flying attitude-simulating by the rotational speed regulation of fan.
The content of the invention
To overcome the deficiencies in the prior art, the invention provides a kind of agricultural flight with rotary objective table
Device analogue means, the analogue means can simulate the various postures during unmanned plane during flying, and various bursts severe ring
Border, the analogue data for being closer to true environment is provided for the ground aerial dynamic information collection of research.
Concrete technical scheme of the present invention is as follows：
A kind of agricultural aircraft simulation device with rotary objective table, including：
Place the annular rotary platform of acquisition target；
Translation track above acquisition target；
The sliding seat moved along translation track；
Limit chamber is provided with vibrating seat in sliding seat, vibrating seat；
The rolling dynamic component being placed in the limit chamber, with shaking the locking device that dynamic component coordinates；
It is movably arranged on the rotary part for rocking feature bottom；
It is hinged on the swing arm of rotary part bottom, and the information acquisition device in swing arm.
In the present invention, translation track installation realizes the height adjustable of information acquisition device on hoistable platform or suspension, simulation
The different flying heights of unmanned plane.
Suspension includes base and the lifting guide mechanism on base, and translation track is arranged on lifting guide mechanism
Bottom.Lifting guide mechanism can be rigid, such as screw-nut body, it would however also be possible to employ flexible, such as rope lifting
Mechanism.The corresponding motor of each lifting guide mechanism is arranged on base, can be using control mode wirelessly or non-wirelessly.It is excellent
Elect wireless as, and corresponding wireless receiving module is installed, signal is started or stoped for transmitting/receiving wireless.
Lifting platform includes spaced apart two hydraulic elevator platform, and translation track is erected between two hydraulic elevator platforms.Hydraulic pressure
Lifting platform drives translation track to rise or fall, and lifting stability is good, and with wireless receiving module, console control similarly hereinafter
Step operation, wireless receiving module is used to receive wireless lifting signal.
Translation track is used for activation bit collector linear running, and the rectilinear flight and acceleration and deceleration of model unmanned plane are flown,
Haulage gear including line slideway and positioned at line slideway two ends, two haulage gears, which have, is connected to the sliding seat
The pull rope at two ends.Haulage gear includes pull rope and translation motor, it is also preferred that by the way of controlled in wireless, two translation electricity
Machine installs wireless receiving module and arrangements for speed regulation, is fixed on the two ends of line slideway, and arrangements for speed regulation are used for controlling point-to-point speed, root
Electric motor starting, stopping and the speed-regulating signal received according to wireless receiving module is controlled.
Vibration during unmanned plane during flying is simulated using vibrating motor, adjustable frequency and amplitude.The vibrating seat
Be arranged in the installation cavity of sliding seat, vibrating motor be housed on vibrating seat, the side of vibrating seat is provided with supporting plate, supporting plate it is upper
Buffer spring is provided between installation cavity below.
Freely the rolling dynamic component of activity is for rocking during simulated flight, and described rolling dynamic component has in limit chamber
Interior movable spherical bottom, the top of spherical bottom is provided with the spacing preiection for being used for limiting amplitude of fluctuation.During rocking, shake
Dynamic amplitude keeps shaking dynamic component and spacing cavity wall lubrication, spacing preiection is integrated with spherical bottom in a certain range intervals
Structure, to limit shaking amplitude.
Lower section mounting rotating unit and the swing arm of dynamic component are shaken, in rotary part and swinging arm, avoids rocking
Shake dynamic component and influence is produced on both motions, should be locked to shaking dynamic component progress.Described locking device is arranged on limit chamber
Top, include locking member of the bottom provided with spacing hole and drive the driving part of locking member lifting, spacing preiection
Top is stretched into described spacing hole.
Spacing preiection is stretched into the spacing hole of locking member, is on the one hand limited amplitude of fluctuation by spacing hole, is on the other hand used
Locked in shaking dynamic component.Driving part is preferred to use cylinder class formation, and effect is shaken dynamic component and pushed, and presses rolling dynamic component
Spherical bottom, and then lock shake dynamic component.
Wherein, the bottom for shaking dynamic component is provided with the fix bar that stretches into rotary part, the rotary part include around
The rotating seat of fix bar activity.Motor is installed in rotating seat, rotating seat 360 degree of any rotations in the horizontal plane are driven.
Swing arm is swung in the lower section of rotary part, when swing arm is adjusted, should control the entirety below rotation portion
On position of centre of gravity direction, therefore, described agricultural aircraft simulation device also includes the adjusting means of control rotary part center of gravity.
Adjusting means includes the adjusting rod being arranged on rotary part and the sliding block being slidably matched along adjusting rod.Adjusting means has weight
Heart controller, by the position of mobile adjusting rod top shoe, adjustment rotary part and following overall center of gravity keep shaking dynamic component
Rocking in vertical direction.
Wherein, described annular rotary platform sets the rotatable stage of multiple rotations, and acquisition target is placed on each rotation
On objective table.
Annular rotary platform can be rotated, the rotatable stage on annular rotary platform can also rotation, if ring rotation
Platform and rotatable stage start, and rotary part can keep fixed, to simulate the posture of unmanned plane；It is also possible to make to adopt
Collection object and rotary part are rotated simultaneously, simulate more complicated flight environment of vehicle.
Compared with existing information gathering research platform, advantages of the present invention is as follows：
(1) agricultural aircraft simulation device of the invention is a dynamic information gathering research platform, the letter gathered
Breath is obtained in collecting device dynamic operation, the research for being easy to multidate information to handle；
(2) invention emulates the in-flight acceleration and deceleration of unmanned plane, rise and fall, rock, a variety of flight appearances such as vibrate
State, closer to real flight environment of vehicle, the achievement in research based on the platform, which has more, to be of practical significance；
(3) present invention can not only make information collecting device 360 degree of any rotations in the horizontal plane, and can make its
Swung in vertical plane, and then more gather information needed in all directions；
(4) present invention can make the information collecting device remains stationary hung in the sky, and experimental subjects is positioned over into rotation carries
On thing platform and allow rotatable stage with annular rotary platform rotation simultaneously itself rotation, so reduce information collecting device long-term
Up because of the mobile device abrasion produced, the service life of device is extended, while considerably increasing the angle of collection information.
Brief description of the drawings
Fig. 1 is the structural representation of the agricultural aircraft simulation device of column up-down；
In figure：Hydraulic elevator platform 1, hydraulic elevator platform 2, haulage gear 3, line slideway 4, translation track 5, sliding seat 6 shake
Dynamic seat 7, swing arm 8, information acquisition device 9, rotary part 10, fix bar 11, buffer spring 12, vibrating motor 13, pull rope 14 is led
Draw mechanism 15, console 16, locking device 17, adjusting means 18, motor 19, sliding block 20, adjusting rod 21 shakes dynamic component 22, lock
Tight part 23, rotatable stage 24 and annular rotary platform 25.
Fig. 2 is the cooperation schematic diagram for shaking dynamic component and locking device；
Fig. 3 is the structural representation of the agricultural aircraft simulation device of suspension lifting.
In figure：Lifting motor 26, lifting guide mechanism 27, lifting guide mechanism 28, lifting motor 29 and suspension 30.
Embodiment
As shown in figure 1, the agricultural aircraft simulation device of column up-down, including：The ring rotation for placing acquisition target is put down
Platform 25；Lifting platform, lifting platform is provided with the translation track 5 being located above acquisition target；The sliding seat 6 run along translation track 5；
Limit chamber is provided with vibrating seat 7 in sliding seat 6, vibrating seat 7；The rolling dynamic component 22 being placed in limit chamber, with rocking
The locking device 17 that part 22 coordinates；It is movably arranged on the rotary part 10 for shaking the bottom of dynamic component 22；It is hinged on rotary part 10
The swing arm 8 of bottom, the information acquisition device 9 in swing arm 8；And console 16.
Annular rotary platform 25 is fixed on the ground, and inside sets corresponding drive mechanism, drives annular rotary platform 25
Rotate.The rotatable stage 24 of multiple rotations is set on annular rotary platform 25, is distributed in a ring, with 25 turns of annular rotary platform
While dynamic, each rotatable stage 24 can keep rotation, and the rotating speed and direction phase of each rotatable stage 24 can be made as needed
It is same or different.Annular rotary platform 25 can for substitute rotary part 10 function, both can also be controlled to rotate simultaneously, mould
Intend more complicated flight attitude.Acquisition target is positioned on rotatable stage 24, starting annular rotary platform 25 revolves it
Turn, can in the presence of console acceleration or deceleration, and as needed start the rotation of rotatable stage 24, while opening imformation is adopted
Storage such as imager carries out information gathering.
Lifting platform includes installing hydraulic elevator platform 1 and hydraulic elevator platform 2 on the ground, and collection is correspondingly placed at two hydraulic pressure
Between lifting platform, for driving translation track to rise or fall, and band wireless receiving module, console 16 control similarly hereinafter
Step operation, wireless receiving module is used to receive wireless lifting signal.
Translation track 5 is erected between hydraulic elevator platform 1 and hydraulic elevator platform 2, including line slideway 4 and is led positioned at straight line
The haulage gear 3 and haulage gear 15 at rail two ends, two haulage gears have the pull rope for being connected to the two ends of sliding seat 6
14, the motor at the other end of pull rope 14 access translation track two ends is installed receive that console 16 sends wireless on motor and opened
Dynamic, stopping and the wireless receiving module of speed-regulating signal, motor drive sliding seat 6 to be moved on line slideway 4 by pull rope 14,
Simulate the rectilinear flight or acceleration and deceleration flight of unmanned plane.
Vibrating motor 13 is housed on installation cavity provided with installing vibrating seat 7 in sliding seat 6, vibrating seat 7, sideways provided with support
Plate, is provided with buffer spring 12 between the top and bottom of supporting plate and installation cavity.Vibrating motor 13 is used to simulate unmanned plane during flying process
In vibration, and use controlled in wireless mode, the vibration frequency and amplitude of controlled motor.The both direction above and below of buffer spring 12
Supporting plate is withstood, is that vibrating seat 7 provides cushion effect, keeps stable amplitude.
In the present embodiment, using YZO-1.5-2 type vibrating motors, vibration frequency is carried out by the governing system of console 16
Regulation, by adjusting the angle step-less adjustment exciting force of eccentric block and then adjusting vibration frequency.
Shake dynamic component 22 to be arranged in the limit chamber of the bottom of vibrating seat 7, for rocking during simulated flight.Rock portion
Part 22 has smooth spherical bottom, coordinates with smooth spacing cavity wall.There is the limit convex of cone shape in spherical bottom
Rise.Installed at the top of limit chamber with shaking the locking device 17 that dynamic component 22 coordinates, it includes liftable locking member 23, and bottom surface is opened up
Limited location hole, the spacing preiection for shaking dynamic component 22 is stretched into spacing hole, by the cooperation of spacing preiection and spacing hole, makes limit convex
The scope of rocking risen is limited in spacing hole, so as to be controlled to the shaking amplitude for shaking dynamic component 22, meets more real fly
Row environment.
Vibrating motor 13 starts or closed under the control of console, after the buffered spring 12 of vibrational energy of generation is buffered
Vibrating seat 6 is transferred to, the vibration in aircraft flight is simulated with this.The Free Slosh part being connected simultaneously with vibrating seat shakes therewith
It is dynamic, further simulate state during unmanned plane during flying.
The lower section for shaking dynamic component 22 is also equipped with rotary part 10 and the swing arm 8 of activity, and rotary part 10 and swing arm 8 are acted
When, answer locked rolling dynamic component 22, it is to avoid freely the dynamic component 22 that shakes of activity produces influence to both motions completely.Therefore, may be used
The locking member 23 of lifting be additionally operable to shake dynamic component 22 carry out it is locked, drive mechanism (such as cylinder) promote locking member 23 push,
As shown in Fig. 2 the spherical bottom of dynamic component 22 is shaken at the bottom of spacing hole along locking, the locking for shaking dynamic component 22 is realized.
In another embodiment, it is spherical to shake dynamic component 22, and the bottom of locking member 23 has the bellmouth of coarse inwall, lock
After tight part 23 is pushed, spherical rolling dynamic component 22 enters in bellmouth, locked rolling dynamic component.
The bottom for shaking dynamic component 22 is provided with the fix bar 11 stretched into rotary part 10, and rotary part 10 is included around fix bar
The rotating seat of 11 horizontal rotations.Motor, and supporting wireless receiving module are installed, for receiving console 16 in rotating seat
The electric motor starting or stop signal sent, controls rotating seat 360 degree of any rotations in the horizontal plane, turning during simulated flight
It is dynamic.
Swing arm 8 is arranged on the lower section of rotary part 10, and one end is hinged on the bottom of rotary part 10, and band is installed in junction
The motor 19 of wireless receiving module, for driving swing arm to swing, startup that wireless receiving module is sent according to console 16, stops
Signal, control swing arm 8 is vacillated now to the left, now to the right in its residing perpendicular.When swing arm 8 carries out control action, rotation portion 10 should be controlled
Following overall center of gravity is remained vertically oriented, and the adjusting means 18 of control center of gravity, including peace are provided with rotary part 10
Adjusting rod 21 on rotary part 10 and the sliding block 20 being slidably matched along adjusting rod 21.Adjusting means 18 has center of gravity control
Device processed, if gravity's center control device senses centre-of gravity shift, sliding block 20 is slided under motor effect along adjusting rod 21, adjusts rotary part
10 and following overall center of gravity, make rolling dynamic component rocking in vertical direction.
The rotary part 10 and swing arm control information collector 9 horizontally rotated such as imager can not only in the horizontal direction 360
Degree chooses to install, and can be swung in perpendicular, adds the shooting angle of imager, improves and obtains the abundant of information
Degree.
Information acquisition device 9 according to research need can for RGB camera, infrared thermography, the CCD imagers of multichannel,
The imaging devices such as the hyperspectral imager of continuous wave band, information acquisition device 9 is with storage card to store collection spectrum or image letter
Breath.
Console 16 is the control centre of whole device, formulates the service data of each motor, and is provided with wireless signal hair
Module is penetrated, signal is started or stoped for being sent to the motor for being equipped with wireless receiving module, each part operation is controlled, simulates nobody
The posture of machine flight.
As shown in figure 3, in the agricultural aircraft simulation device of suspension lifting, translation track 5 is suspended on the bottom of suspension 30,
Suspension 30 is installed on ceiling indoors or is placed on corresponding support, and suspension 30 includes fixed base and installed in base
On lifting guide mechanism 27 and lifting guide mechanism 128.Lifting guide mechanism is used to control translation track 5 to lift, adjustment letter
The height of collector 9 is ceased, the flying height of unmanned plane is simulated.Lifting guide mechanism is two groups, using screw-nut body, is risen
Drop motor 26 and lifting motor 29 are fixed on base or ceiling, are equipped with wireless receiving module, are sent out for receiving console 16
The electric motor starting or stop signal gone out.Motor drives screw part to move up and down according to signal drive nut partial turn, adjusts
The height of translation track 5.
The present embodiment realizes information acquisition device horizontal direction by cordless communication network (frequency modulation AM communication modes)
Acceleration and deceleration movement, vertical lift, horizontal rotation, waving in perpendicular, and with vibrating function, not only adopt information
The comprehensive acquisition plant growth information of acquisition means, and the work shape of information acquisition device under unmanned plane during flying state can be simulated
Condition, is easy to set up the models such as data processing, image procossing and optimized algorithm, beneficial to the application of true unmanned plane information gathering, is
The development and exploitation of agricultural unmanned plane information acquisition platform provide experimental study platform.
The present invention has the advantages that the following aspects：
1st, the present invention simulates the vibration of agricultural aircraft with vibrating motor, and vibration frequency and amplitude can individually be adjusted, shaken
Dynamic form is more various；
2nd, the present invention, which is added, shakes dynamic component, being capable of the working condition of analog information harvester in a free state so that
The agricultural aircraft flight situation that the present invention is simulated is closer to truth；
3rd, the present invention has the locking device for coordinating and shaking dynamic component, is convenient for the regulation of information collecting device posture；
4th, the present invention realizes the comprehensive information gathering of information collecting device by two parts of rotary part and swing arm
Function；
5th, the present invention adds gravity adjusting device so that the center of gravity of rotary part is maintained at same vertical curve with shaking dynamic component
On, it is to avoid the injury that mechanical stress caused by centre-of gravity shift is caused to device.
Claims (5)
1. a kind of agricultural aircraft simulation device with rotary objective table, it is characterised in that including：
Place the annular rotary platform of acquisition target；
Translation track above acquisition target；
The sliding seat moved along translation track；
Limit chamber is provided with vibrating seat in sliding seat, vibrating seat；
The rolling dynamic component being placed in the limit chamber, with shaking the locking device that dynamic component coordinates；
It is movably arranged on the rotary part for rocking feature bottom；
It is hinged on the swing arm of rotary part bottom, and the information acquisition device in swing arm；
The vibrating seat is arranged in the installation cavity of sliding seat, vibrating motor is housed, the side of vibrating seat is provided with branch on vibrating seat
Fagging, is provided with buffer spring between the top and bottom of supporting plate and installation cavity；
Described rolling dynamic component has the spherical bottom rocked in limit chamber, and the top surface of spherical bottom, which is provided with, to be used to limit swing
The spacing preiection of amplitude；Described locking device be arranged on limit chamber top, including bottom provided with spacing hole locking member with
And drive in the spacing hole described in being stretched at the top of the driving part of the locking member lifting, spacing preiection；
Described agricultural aircraft simulation device also includes the adjusting means of control rotary part center of gravity.
2. agricultural aircraft simulation device as claimed in claim 1, it is characterised in that described translation track is led including straight line
Rail and the haulage gear positioned at line slideway two ends, two haulage gears have the traction for being connected to the sliding seat two ends
Rope.
3. agricultural aircraft simulation device as claimed in claim 1, it is characterised in that the bottom of the rolling dynamic component, which is provided with, stretches
Enter the fix bar in rotary part, the rotary part includes the rotating seat around fix bar activity, and drives the rotating seat
Motor.
4. agricultural aircraft simulation device as claimed in claim 3, it is characterised in that described adjusting means includes being arranged on
Adjusting rod on rotary part and the sliding block being slidably matched along adjusting rod.
5. agricultural aircraft simulation device as claimed in claim 1, it is characterised in that described annular rotary platform sets many
The rotatable stage of individual rotation, acquisition target is placed on each rotatable stage.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510345827.0A CN105093961B (en) | 2015-06-18 | 2015-06-18 | A kind of agricultural aircraft simulation device with rotary objective table |
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| CN201510345827.0A CN105093961B (en) | 2015-06-18 | 2015-06-18 | A kind of agricultural aircraft simulation device with rotary objective table |
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| CN105093961B true CN105093961B (en) | 2017-08-15 |
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| US10604252B2 (en) * | 2016-11-22 | 2020-03-31 | Wing Aviation Llc | Landing and payload loading structures |
| CN112097839A (en) * | 2020-09-29 | 2020-12-18 | 广西壮族自治区农业科学院 | Field information acquisition device |
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| CN101051774A (en) * | 2007-02-05 | 2007-10-10 | 吴志恒 | Artificial vibrator |
| CN101596940A (en) * | 2009-07-13 | 2009-12-09 | 葛升民 | Ground simulation test device for space vehicle |
| CN102779438A (en) * | 2012-07-10 | 2012-11-14 | 黄力红 | Flight simulated mechanical execution system simulating full-motion of airplane |
| CN103954314A (en) * | 2014-04-16 | 2014-07-30 | 浙江大学 | Unmanned aerial vehicle low-altitude remote sensing simulating device |
| CN104494840A (en) * | 2014-12-03 | 2015-04-08 | 中国人民解放军海军航空工程学院 | Unmanned helicopter ground testing console and application method thereof |
| CN104614150A (en) * | 2015-01-30 | 2015-05-13 | 农业部南京农业机械化研究所 | Indoor simulation testing platform and method for two-phase flow field of spraying of plant protection unmanned aerial vehicle |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020164560A1 (en) * | 2001-05-04 | 2002-11-07 | Ronbotics Corporation | Acceleration sensitive electric motion platform and a control system for controlling the same |
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2015
- 2015-06-18 CN CN201510345827.0A patent/CN105093961B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101051774A (en) * | 2007-02-05 | 2007-10-10 | 吴志恒 | Artificial vibrator |
| CN101596940A (en) * | 2009-07-13 | 2009-12-09 | 葛升民 | Ground simulation test device for space vehicle |
| CN102779438A (en) * | 2012-07-10 | 2012-11-14 | 黄力红 | Flight simulated mechanical execution system simulating full-motion of airplane |
| CN103954314A (en) * | 2014-04-16 | 2014-07-30 | 浙江大学 | Unmanned aerial vehicle low-altitude remote sensing simulating device |
| CN104494840A (en) * | 2014-12-03 | 2015-04-08 | 中国人民解放军海军航空工程学院 | Unmanned helicopter ground testing console and application method thereof |
| CN104614150A (en) * | 2015-01-30 | 2015-05-13 | 农业部南京农业机械化研究所 | Indoor simulation testing platform and method for two-phase flow field of spraying of plant protection unmanned aerial vehicle |
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