CN106184729A - A kind of many rotor wing unmanned aerial vehicles - Google Patents
A kind of many rotor wing unmanned aerial vehicles Download PDFInfo
- Publication number
- CN106184729A CN106184729A CN201610563145.1A CN201610563145A CN106184729A CN 106184729 A CN106184729 A CN 106184729A CN 201610563145 A CN201610563145 A CN 201610563145A CN 106184729 A CN106184729 A CN 106184729A
- Authority
- CN
- China
- Prior art keywords
- fuselage
- wing arm
- wing
- undercarriage
- scalable
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
- B64C25/18—Operating mechanisms
- B64C25/24—Operating mechanisms electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Toys (AREA)
Abstract
The present invention relates to unmanned air vehicle technique field, many rotor wing unmanned aerial vehicles particularly to a kind of civil area, it includes fuselage, electric supply installation, rotor system and undercarriage, fuselage is formed around multiple scalable wing arm, scalable wing arm is articulated and connected by jointed shaft with fuselage, scalable wing arm is provided with rotor system away from one end of fuselage, rotor system includes the motor being arranged on scalable wing arm and the paddle being connected on motor output shaft, undercarriage is flexibly connected with the lower surface of fuselage, is provided with control gear up or the controlling organization of expansion between undercarriage and fuselage.The wing arm of the present invention is telescopic foldable, and undercarriage can automatically be packed up or launch, and compact conformation is convenient for carrying；Limited position stoppage mechanism between fuselage and scalable wing arm, strengthens spacing to wing arm so that it is more firm when wing arm launches；Second wing arm of scalable wing arm can stretch along the first wing arm, folds in the axial notch on income fuselage by jointed shaft so that unmanned plane more compact structure.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, particularly to many rotor wing unmanned aerial vehicles of a kind of civil area.
Background technology
Unmanned plane is a kind of unmanned vehicle operated by radio robot or self presetting apparatus.Nothing
Man-machine of many uses, low cost, mobility is good, easy to use, has broad application prospects.Can from technical standpoint unmanned plane
It is divided into several big class of depopulated helicopter, unmanned fixed-wing aircraft, unmanned multi-rotor aerocraft, unmanned airship, unmanned parasol.Civilian
Many rotor wing unmanned aerial vehicles that application is most widely used, are widely used in real time imaging monitoring, and crop sprays preventing and treating with small-sized
Article transport etc..
Many rotor wing unmanned aerial vehicles under normal circumstances all also exist the problem that structure is the compactest, size is bigger than normal, to this end, at present
More employing folding rotor row unmanned plane.Scheme more typically is that the wing arm of slurry rotor type unmanned plane passes through bolt with main body
Connect, when needing to launch wing arm, loose bolts, promote wing arm to horizontally rotate to vertical with main body surface with bolt for axle center
Position.Existing many rotor wing unmanned aerial vehicles can not realize the contraction of wing arm and fold, the problems such as undercarriage can not fold.
Summary of the invention
For the problems referred to above, it is an object of the invention to provide a kind of wing arm collapsible collapsible, undercarriage is collapsible, profit
In the many rotor wing unmanned aerial vehicles carried, in order to solve above-mentioned technical problem.
The technical scheme is that a kind of many rotor wing unmanned aerial vehicles, including fuselage, electric supply installation, rotor system with rise and fall
Frame, described electric supply installation is arranged on described fuselage interior, and described fuselage is formed around multiple scalable wing arm, the described scalable wing
Arm is articulated and connected by jointed shaft with described fuselage, and described scalable wing arm is provided with rotor system away from one end of fuselage, described
Rotor system includes the motor being arranged on described scalable wing arm and the paddle being connected on described motor output shaft, described
The frame that falls is flexibly connected with the lower surface of described fuselage, is provided with the described gear up of control between described undercarriage and described fuselage
Or the controlling organization launched.
Further, described fuselage includes fuselage top plate and fuselage lower plywood, described fuselage top plate and described fuselage
Lower plywood is connected by riser, and fuselage lower plywood and described riser are formed in one, and described fuselage top plate covers described perpendicular
On plate and described fuselage lower plywood, form one and seal structure.Described electric supply installation storehouse is arranged on described fuselage top plate and institute
Stating in the sealing space that fuselage lower plywood is formed, be provided with stator in described electric supply installation storehouse, stator is provided with installing hole, supplies
Electric installation is fixed in described electric supply installation storehouse by installing hole and stator.
Further, described undercarriage includes that undercarriage bends, and the inward at both ends of described undercarriage bow becomes 90 degree of bendings, described
The two ends of undercarriage bow and described fuselage lower surface are hinged by jointed shaft, and the bottom of described undercarriage bow is provided with snubber block.Rise
Falling the ends of 90 degree bendings of two of frame one-tenth can be around described jointed shaft around fuselage rotation so that undercarriage passes through jointed shaft
Can be folded in below fuselage the most deployable.
Further, described controlling organization includes electric expansion bar, the two ends of described electric expansion bar respectively with described machine
Body and described undercarriage bow are hinged.Described electric expansion bar undercarriage bow can be driven to launch below fuselage around jointed shaft or
Pack up.
Further, described fuselage be formed around axial notch, one end of described scalable wing arm is described the most recessed
It is articulated and connected with described fuselage in groove, between described scalable wing arm and described fuselage, is provided with limited position stoppage mechanism.The scalable wing
Arm can be taken in axial notch after folding so that main body mechanism is compacter.
Further, described limited position stoppage mechanism is support bar, and one end of described support bar is articulated and connected with described fuselage,
The other end of described support bar removably connects with described scalable wing arm.Support bar is articulated and connected with fuselage, can be around hinge
Spindle rotates, and the other end of support bar is provided with connection-peg, is provided with spliced eye on scalable wing arm, when scalable wing arm launches,
The connection-peg of support bar is inserted in the spliced eye on scalable wing arm, scalable wing arm is locked so that it is will not rock, make the wing
Arm is more firm.
Further, described scalable wing arm includes the first wing arm and the second wing arm, described first wing arm and described fuselage
Being articulated and connected, described second wing arm is sleeved in described first wing arm, and can stretch along described first wing arm, described second wing arm
Top is provided with described rotor system.
Further, described rotor system also includes that rotor protective cover, described rotor protective cover are fixed on described scalable
On horn and be sleeved on described blade.
Further, described scalable wing arm or rotor system are four, six or eight.
Further, described electric supply installation is rechargeable battery, and described rechargeable battery is by described stator and described installation
Hole is arranged in described battery compartment.
The invention has the beneficial effects as follows:
1, the many rotor wing unmanned aerial vehicles of one that the present invention provides, wing arm is scalable, collapsible, and undercarriage can automatically be packed up or open up
Opening, compact conformation, application flexibly, is convenient for carrying；
2, the present invention between fuselage and scalable wing arm, be provided with limited position stoppage mechanism, be in expansion shape at unmanned wing arm
Spacing to wing arm is strengthened so that it is more firm during state.
3, the second wing arm of the scalable wing arm of the present invention can stretch along the first wing arm, is then folded by jointed shaft and receives
Enter in the axial notch on fuselage so that unmanned plane more compact structure, more convenient carry.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of many rotor wing unmanned aerial vehicles of the present invention.
In figure: 1-fuselage top plate, 2-fuselage lower plywood, 3-riser, 4-first wing arm, 5-second wing arm, 6-is the most recessed
Groove, 7-support bar, 8-connection-peg, 9-spliced eye, 10-paddle, 11-rotor protective cover, 12-undercarriage bends, 13-snubber block, 14-
Electric expansion bar.
Detailed description of the invention
Below in conjunction with Figure of description, the invention will be further described, so that advantages and features of the invention can be more easy to
In being understood by the person skilled in the art, thus protection scope of the present invention is done apparent defining.
As it is shown in figure 1, a kind of many rotor wing unmanned aerial vehicles, including fuselage, electric supply installation, rotor system and undercarriage, fuselage bag
Include fuselage top plate 1 and fuselage lower plywood 2, fuselage top plate 1 and fuselage lower plywood 2 to be connected by riser 3, fuselage lower plywood 2
Being formed in one with riser 3, fuselage top plate 1 covers on riser 3 and fuselage lower plywood 2, forms one and seals structure.Battery
Storehouse is arranged in the sealing space of fuselage top plate 1 and fuselage lower plywood 2 formation, and rechargeable battery is fixing by being provided with in battery compartment
Sheet and installing hole are fixed in battery compartment.
Fuselage is formed around four scalable wing arms, and scalable wing arm includes first wing arm 4 and the second wing arm 5, second wing
One end of arm 5 is articulated and connected with fuselage in axial notch 6, and the second wing arm 5 is sleeved in the first wing arm 4, and can take in
In one wing arm 4, the first wing arm 4 can fold in axial notch 6 so that main body mechanism is compacter.One end of support bar 7 and machine
Body is articulated and connected, and the other end of support bar 7 is provided with connection-peg 8, and the first wing arm 4 is provided with spliced eye 9, and scalable wing arm launches
Time, the connection-peg 8 of support bar is inserted in the spliced eye 9 on the first wing arm 4, is locked by the first wing arm 4, makes scalable wing arm not
Rock more firm.
Second wing arm 5 is provided with rotor system, and rotor system includes the motor being arranged on the second wing arm 5 and is connected to electricity
Paddle 10 on machine output shaft, the second wing arm 5 is further fixed on rotor protective cover 11, and paddle 10 is located in rotor protective cover 11.
Undercarriage includes that undercarriage bow 12, the inward at both ends of undercarriage bow 12 become 90 degree of bendings, the two ends of undercarriage bow 12
Hinged by jointed shaft with fuselage lower surface, the bottom of undercarriage bow 12 is provided with snubber block 13.Two one-tenth 90 degree of undercarriage are curved
Bent end can rotate around jointed shaft around fuselage so that undercarriage can be folded in below fuselage by jointed shaft also may be used
Launch.It is hinged that the two ends of electric expansion bar 14 bend 12 with fuselage and undercarriage respectively.Electric expansion bar can drive undercarriage to bend
12 launch below fuselage around jointed shaft or pack up.
The quantity of above-mentioned scalable wing arm or rotor system can also be six or eight.
The foregoing is only presently preferred embodiments of the present invention, be not whole embodiments of the present invention, not in order to limit
The present invention processed, all within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. made, should be included in
Within protection scope of the present invention.
In addition to technical characteristic described in description, remaining technical characteristic is all known to a person skilled in the art technology, in order to prominent
Going out the innovative characteristics of the present invention, above-mentioned technical characteristic does not repeats them here.
Claims (10)
1. rotor wing unmanned aerial vehicle more than a kind, it is characterised in that include fuselage, electric supply installation, rotor system and undercarriage, described power supply
Device is arranged on described fuselage interior, and described fuselage is formed around multiple scalable wing arm, described scalable wing arm and described machine
Body is articulated and connected by jointed shaft, and described scalable wing arm is provided with rotor system, described rotor system bag away from one end of fuselage
Including the motor being arranged on described scalable wing arm and the paddle being connected on described motor output shaft, described undercarriage is with described
The lower surface of fuselage is flexibly connected, and is provided with the described gear up of control or the control of expansion between described undercarriage and described fuselage
Mechanism processed.
The many rotor wing unmanned aerial vehicles of one the most according to claim 1, it is characterised in that described fuselage include fuselage top plate and
Fuselage lower plywood, described fuselage top plate and described fuselage lower plywood are connected by riser, described fuselage top plate and described machine
Being provided with electric supply installation storehouse between body lower plywood, be provided with stator in described electric supply installation storehouse, stator is provided with installing hole.
The many rotor wing unmanned aerial vehicles of one the most according to claim 1, it is characterised in that described undercarriage includes that undercarriage bends,
The inward at both ends of described undercarriage bow becomes 90 degree of bendings, the two ends of described undercarriage bow to pass through jointed shaft with described fuselage lower surface
Hinged, the bottom of described undercarriage bow is provided with snubber block.
4. according to the many rotor wing unmanned aerial vehicles of the one described in claim 1 or 3, it is characterised in that described controlling organization includes electronic
Expansion link, the two ends of described electric expansion bar are bent hinged with described fuselage and described undercarriage respectively.
The many rotor wing unmanned aerial vehicles of one the most according to claim 1, it is characterised in that being formed around of described fuselage is the most recessed
Groove, one end of described scalable wing arm is articulated and connected with described fuselage in described axial notch, described scalable wing arm and institute
State and between fuselage, be provided with limited position stoppage mechanism.
A kind of many rotor wing unmanned aerial vehicles, it is characterised in that described limited position stoppage mechanism is for propping up
Strut, one end of described support bar is articulated and connected with described fuselage, and the other end of described support bar and described scalable wing arm can
Dismounting connects.
A kind of many rotor wing unmanned aerial vehicles, it is characterised in that described scalable wing arm includes
One wing arm and the second wing arm, described first wing arm is articulated and connected with described fuselage, and described second wing arm is sleeved on described first wing
In arm, and can stretch along described first wing arm, described second wing arm top is provided with described rotor system.
The many rotor wing unmanned aerial vehicles of one the most according to claim 1, it is characterised in that described rotor system also includes that rotor is protected
Guard shield, described rotor protective cover is fixed on described scalable horn and is sleeved on described blade.
The many rotor wing unmanned aerial vehicles of one the most according to claim 1, it is characterised in that described scalable wing arm or rotor system
It is four, six or eight.
The many rotor wing unmanned aerial vehicles of one the most according to claim 1 and 2, it is characterised in that described electric supply installation is charged electrical
Pond, described rechargeable battery is arranged in described battery compartment by described stator and described installing hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610563145.1A CN106184729A (en) | 2016-07-18 | 2016-07-18 | A kind of many rotor wing unmanned aerial vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610563145.1A CN106184729A (en) | 2016-07-18 | 2016-07-18 | A kind of many rotor wing unmanned aerial vehicles |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106184729A true CN106184729A (en) | 2016-12-07 |
Family
ID=57475788
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610563145.1A Pending CN106184729A (en) | 2016-07-18 | 2016-07-18 | A kind of many rotor wing unmanned aerial vehicles |
Country Status (1)
| Country | Link |
|---|---|
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106672226A (en) * | 2017-01-04 | 2017-05-17 | 四川克瑞斯航空科技有限公司 | Multi-rotor vehicle body structure capable of effectively reducing transport space |
| CN106828866A (en) * | 2016-12-27 | 2017-06-13 | 歌尔科技有限公司 | A kind of unmanned plane |
| CN107054676A (en) * | 2017-06-06 | 2017-08-18 | 贵州电网有限责任公司 | A kind of light-duty multi-rotor unmanned aerial vehicle back-frame type landing platform |
| CN107117296A (en) * | 2017-04-05 | 2017-09-01 | 西北工业大学 | A kind of foldable quadrotor frame |
| CN107512393A (en) * | 2017-08-09 | 2017-12-26 | 深圳中翼特种装备制造有限公司 | A kind of rapid vertical landing fixed-wing unmanned plane |
| CN107933887A (en) * | 2017-10-23 | 2018-04-20 | 四川大学 | A kind of rudder piece development mechanism |
| CN108082456A (en) * | 2018-01-23 | 2018-05-29 | 张烨园 | A kind of mounting structure of unmanned plane fixed frame |
| CN108394554A (en) * | 2018-01-31 | 2018-08-14 | 芜湖市海联机械设备有限公司 | It is a kind of that there is the unmanned plane for folding link arm |
| CN108513559A (en) * | 2017-08-29 | 2018-09-07 | 深圳市大疆创新科技有限公司 | Rack and multi-rotor unmanned aerial vehicle |
| WO2019041097A1 (en) * | 2017-08-28 | 2019-03-07 | 深圳市大疆创新科技有限公司 | Frame assembly of unmanned aerial vehicle, and unmanned aerial vehicle |
| CN109808530A (en) * | 2019-02-20 | 2019-05-28 | 武汉理工大学 | A kind of vehicle-mounted multi-rotor unmanned aerial vehicle charging unit |
| CN109896004A (en) * | 2019-03-25 | 2019-06-18 | 上海应用技术大学 | A kind of unmanned plane of scalable horn |
| CN110667819A (en) * | 2019-10-18 | 2020-01-10 | 重庆电子工程职业学院 | Folding structure and rotor unmanned aerial vehicle thereof |
| CN112357072A (en) * | 2020-11-06 | 2021-02-12 | 武汉鸟瞰天下科技有限公司 | Multi-rotor unmanned aerial vehicle |
| CN112543734A (en) * | 2020-03-31 | 2021-03-23 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle and operation method thereof, imaging device and operation method thereof |
| CN113525672A (en) * | 2021-08-27 | 2021-10-22 | 王丽梅 | Many rotors sightseeing unmanned aerial vehicle undercarriage |
| CN114489145A (en) * | 2022-04-13 | 2022-05-13 | 山东亿华天产业发展集团有限公司 | Unmanned aerial vehicle photogrammetry path planning method and low-altitude flight unmanned aerial vehicle system |
| CN114620229A (en) * | 2022-02-17 | 2022-06-14 | 北京航天长城卫星导航科技有限公司 | Beidou-based intelligent inspection maintenance equipment |
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| CN205186507U (en) * | 2015-12-14 | 2016-04-27 | 石河子大学 | Four rotor crafts of folded cascade |
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| CN203294310U (en) * | 2013-04-27 | 2013-11-20 | 湖北易瓦特科技有限公司 | Retractable undercarriage of unmanned aerial vehicle |
| CN204368421U (en) * | 2014-12-25 | 2015-06-03 | 武汉智能鸟无人机有限公司 | A kind of novel four rotor wing unmanned aerial vehicles |
| CN204871592U (en) * | 2015-06-10 | 2015-12-16 | 深圳九星智能航空科技有限公司 | Set up unmanned vehicles of collapsible lifting lever in rotor arm |
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Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106828866A (en) * | 2016-12-27 | 2017-06-13 | 歌尔科技有限公司 | A kind of unmanned plane |
| CN106672226A (en) * | 2017-01-04 | 2017-05-17 | 四川克瑞斯航空科技有限公司 | Multi-rotor vehicle body structure capable of effectively reducing transport space |
| CN107117296A (en) * | 2017-04-05 | 2017-09-01 | 西北工业大学 | A kind of foldable quadrotor frame |
| CN107054676A (en) * | 2017-06-06 | 2017-08-18 | 贵州电网有限责任公司 | A kind of light-duty multi-rotor unmanned aerial vehicle back-frame type landing platform |
| CN107512393A (en) * | 2017-08-09 | 2017-12-26 | 深圳中翼特种装备制造有限公司 | A kind of rapid vertical landing fixed-wing unmanned plane |
| WO2019041097A1 (en) * | 2017-08-28 | 2019-03-07 | 深圳市大疆创新科技有限公司 | Frame assembly of unmanned aerial vehicle, and unmanned aerial vehicle |
| CN108513558B (en) * | 2017-08-28 | 2021-06-01 | 深圳市大疆创新科技有限公司 | Unmanned vehicles's frame subassembly and unmanned vehicles |
| CN108513559A (en) * | 2017-08-29 | 2018-09-07 | 深圳市大疆创新科技有限公司 | Rack and multi-rotor unmanned aerial vehicle |
| CN108513559B (en) * | 2017-08-29 | 2021-03-19 | 深圳市大疆创新科技有限公司 | Frame and many rotor unmanned aerial vehicle |
| WO2019041126A1 (en) * | 2017-08-29 | 2019-03-07 | 深圳市大疆创新科技有限公司 | Frame and multi-rotor unmanned aerial vehicle |
| CN107933887A (en) * | 2017-10-23 | 2018-04-20 | 四川大学 | A kind of rudder piece development mechanism |
| CN107933887B (en) * | 2017-10-23 | 2023-10-20 | 四川大学 | Rudder sheet unfolding mechanism |
| CN108082456A (en) * | 2018-01-23 | 2018-05-29 | 张烨园 | A kind of mounting structure of unmanned plane fixed frame |
| CN108394554A (en) * | 2018-01-31 | 2018-08-14 | 芜湖市海联机械设备有限公司 | It is a kind of that there is the unmanned plane for folding link arm |
| CN109808530A (en) * | 2019-02-20 | 2019-05-28 | 武汉理工大学 | A kind of vehicle-mounted multi-rotor unmanned aerial vehicle charging unit |
| CN109896004A (en) * | 2019-03-25 | 2019-06-18 | 上海应用技术大学 | A kind of unmanned plane of scalable horn |
| CN109896004B (en) * | 2019-03-25 | 2022-11-15 | 上海应用技术大学 | Unmanned aerial vehicle with telescopic arm |
| CN110667819A (en) * | 2019-10-18 | 2020-01-10 | 重庆电子工程职业学院 | Folding structure and rotor unmanned aerial vehicle thereof |
| CN112543734A (en) * | 2020-03-31 | 2021-03-23 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle and operation method thereof, imaging device and operation method thereof |
| WO2021195966A1 (en) * | 2020-03-31 | 2021-10-07 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle and operation method therefor, and imaging device and operation method therefor |
| CN112357072A (en) * | 2020-11-06 | 2021-02-12 | 武汉鸟瞰天下科技有限公司 | Multi-rotor unmanned aerial vehicle |
| CN113525672A (en) * | 2021-08-27 | 2021-10-22 | 王丽梅 | Many rotors sightseeing unmanned aerial vehicle undercarriage |
| CN113525672B (en) * | 2021-08-27 | 2022-10-21 | 固安沿中消防科技有限公司 | Many rotors sightseeing unmanned aerial vehicle undercarriage |
| CN114620229A (en) * | 2022-02-17 | 2022-06-14 | 北京航天长城卫星导航科技有限公司 | Beidou-based intelligent inspection maintenance equipment |
| CN114489145A (en) * | 2022-04-13 | 2022-05-13 | 山东亿华天产业发展集团有限公司 | Unmanned aerial vehicle photogrammetry path planning method and low-altitude flight unmanned aerial vehicle system |
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Application publication date: 20161207 |
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| RJ01 | Rejection of invention patent application after publication |