CN106442030A - Real-time gas monitoring and collecting device based on four-rotor aircraft - Google Patents
Real-time gas monitoring and collecting device based on four-rotor aircraft Download PDFInfo
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- CN106442030A CN106442030A CN201610818694.9A CN201610818694A CN106442030A CN 106442030 A CN106442030 A CN 106442030A CN 201610818694 A CN201610818694 A CN 201610818694A CN 106442030 A CN106442030 A CN 106442030A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 26
- 239000007789 gas Substances 0.000 claims abstract description 91
- 239000002341 toxic gas Substances 0.000 claims abstract description 10
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 19
- 230000005611 electricity Effects 0.000 claims description 19
- 238000005183 dynamical system Methods 0.000 claims description 14
- 238000012360 testing method Methods 0.000 claims description 13
- 238000005070 sampling Methods 0.000 claims description 12
- 230000008859 change Effects 0.000 claims description 9
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 6
- 229910052744 lithium Inorganic materials 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000004891 communication Methods 0.000 claims description 2
- 230000009187 flying Effects 0.000 claims description 2
- 230000008901 benefit Effects 0.000 abstract description 3
- RAHZWNYVWXNFOC-UHFFFAOYSA-N Sulphur dioxide Chemical compound O=S=O RAHZWNYVWXNFOC-UHFFFAOYSA-N 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- JCXJVPUVTGWSNB-UHFFFAOYSA-N nitrogen dioxide Inorganic materials O=[N]=O JCXJVPUVTGWSNB-UHFFFAOYSA-N 0.000 description 3
- 229920001343 polytetrafluoroethylene Polymers 0.000 description 3
- 239000004810 polytetrafluoroethylene Substances 0.000 description 3
- 239000000126 substance Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000012528 membrane Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 231100000419 toxicity Toxicity 0.000 description 2
- 230000001988 toxicity Effects 0.000 description 2
- MGWGWNFMUOTEHG-UHFFFAOYSA-N 4-(3,5-dimethylphenyl)-1,3-thiazol-2-amine Chemical compound CC1=CC(C)=CC(C=2N=C(N)SC=2)=C1 MGWGWNFMUOTEHG-UHFFFAOYSA-N 0.000 description 1
- RWSOTUBLDIXVET-UHFFFAOYSA-N Dihydrogen sulfide Chemical compound S RWSOTUBLDIXVET-UHFFFAOYSA-N 0.000 description 1
- 229910018487 Ni—Cr Inorganic materials 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 150000001336 alkenes Chemical class 0.000 description 1
- 239000005030 aluminium foil Substances 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- VNNRSPGTAMTISX-UHFFFAOYSA-N chromium nickel Chemical compound [Cr].[Ni] VNNRSPGTAMTISX-UHFFFAOYSA-N 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 238000005530 etching Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000010006 flight Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 229910000037 hydrogen sulfide Inorganic materials 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000000505 pernicious effect Effects 0.000 description 1
- -1 polytetrafluoroethylene Polymers 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000010206 sensitivity analysis Methods 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229960001866 silicon dioxide Drugs 0.000 description 1
- 229920002379 silicone rubber Polymers 0.000 description 1
- 239000004945 silicone rubber Substances 0.000 description 1
- 238000005245 sintering Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000010409 thin film Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/22—Devices for withdrawing samples in the gaseous state
- G01N1/2273—Atmospheric sampling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/22—Devices for withdrawing samples in the gaseous state
- G01N1/24—Suction devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- G01N27/02—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating impedance
- G01N27/04—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating impedance by investigating resistance
- G01N27/12—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating impedance by investigating resistance of a solid body in dependence upon absorption of a fluid; of a solid body in dependence upon reaction with a fluid, for detecting components in the fluid
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/22—Devices for withdrawing samples in the gaseous state
- G01N1/2273—Atmospheric sampling
- G01N2001/2279—Atmospheric sampling high altitude, e.g. rockets, balloons
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Engineering & Computer Science (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- Pathology (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Biomedical Technology (AREA)
- Molecular Biology (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Aviation & Aerospace Engineering (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention discloses a real-time gas monitoring and collecting device based on a four-rotor aircraft. The real-time gas monitoring and collecting device comprises the four-rotor aircraft and a real-time gas monitoring and collecting device body. The real-time gas monitoring and collecting device body is arranged on the four-rotor aircraft. Compared with the prior art, the real-time gas monitoring and collecting device has the advantages that according to the scheme, gas collection based on the four-rotor aircraft is provided, the properties of good controllability and stability of the multi-rotor aircraft are utilized, gas exhausted in an industrial park is collected, therefore, the probability of toxic gas inhalation during manual collection and enterprise precaution can be avoided, the gas exhausting conditions of the industrial park in all time periods can be effectively monitored, and efficient management of industrial park harmful gas emissions is achieved.
Description
Technical field
The application belongs to aviation aircraft design field, is related to a kind of supervise in real time based on the gas of quadrotor
Survey and harvester.
Background technology
Quadrotor is also referred to as four-rotor helicopter, is that one kind has 4 screws and screw is in decussation
Aircraft, micro-camera of can arranging in pairs or groups record airborne video.Since entering for 20th century, electronic technology develops rapidly four axle flights
Device starts to move towards to minimize, and has incorporated artificial intelligence so as to development tends to unmanned plane, intelligent robot.Four-axle aircraft is not
But achieve the flying quality of the vertical lift of helicopter, also reduce setting of aircraft mechanical structural simultaneously to a certain extent
Meter difficulty.The balance control system of four-axle aircraft is made up of all kinds of inertial sensors.In manufacturing process, to integral body
Center, symmetry and motor performance requirement are relatively low, and the advantage that this also exactly makes four-axle aircraft is located, and compared to solid
Determine wing aircraft, four axles also have can VTOL, mobility is good, the advantages of easy care.
From four gas sensors all adopt same heater-type sintered pipes, nickel chromium triangle heater strip pass through sintered pipes conduct
The heating electrode of gas sensor, different places is in the sensitive material and manufacturing process smeared on heater-type sintered pipes
Sintering temperature.In a certain temperature conditions, the change of under test gas concentration can lead to the change of sensitive resistance resistance, rear end
Circuit by realizing the detection of gas concentration to the process of resistance signal.
Gas collection bag is broadly divided into two kinds, and one kind is gas aluminium foil sampling bag, and tetrafluoro straight-through valve material is polytetrafluoroethyl-ne
Alkene (PTFE).Tetrafluoro straight-through valve adopts self sealing structure, and sealing is tight, no rubber seal is contacted with gas in bag, do not pollute
Gaseous sample.The wireway of tetrafluoro straight-through valve is perpendicular to bag thin film planar, wireway external diameter 6mm.Rotary handle makes handle vertical
Membrane plane, then valve open；Ratate 90 degrees again and make the parallel membrane plane of handle, then valve cuts out.Tetrafluoro leads directly to threshold switch conveniently rapidly, envelope
Close tight, sampling cap can be installed in the wireway upper end of tetrafluoro straight-through valve, and sampling cap assembling silicagel pad can be used for the sampling of syringe needle sample introduction,
Conduit can inflation/deflation and vacuumizing.It is suitable for filling inorganic, organic gas free from corrosion to polytetrafluoroethylene (PTFE).Due to gas sample in bag
Product do not contact silicone rubber seal gasket, will not be contaminated, thus tetrafluoro straight-through valve interface can be used for that analysis precision has high demands low dense
Degree gaseous sample collection and preservation.Another kind is fluoro-gas sampling bag, and it has fabulous corrosion resistance it is adaptable to deep-etching
Property gas.As corrosive gas such as sulfur dioxide, hydrogen sulfide, nitrogen dioxide.Microcorrosion gas component can effectively be extended exist
Resting period in sampler bag.
Based on the quadrotor that presently, there are is taken photo by plane with plug-in head, for the application side of quadrotor
Still there is certain limitation in face.Quadrotor has been applied in the environment of reality this programme, by board the aircraft
Increased a gas real-time monitoring and harvester achieves the gas that chemical industrial park is discharged and monitored.Using flight
Device can complete specific aerial mission under complicated, dangerous environment, and achieves the monitoring to pernicious gas and collection.
Content of the invention
For the deficiencies in the prior art, the purpose of the application is to provide a kind of toxic gas based on quadrotor real
When monitoring and harvester, technical scheme propose a kind of gas collecting based on quadrotor, by four rotors
The airflight ability of aircraft is it is achieved that monitoring function to chemical industrial park discharge gas.
For achieving the above object, the application is realized by following technological means：
A kind of gas real-time monitoring based on quadrotor and harvester, real including quadrotor and gas
When monitoring and harvester, gas real-time monitoring and harvester are on quadrotor；
Quadrotor includes flight control system, dynamical system, power supply and frame, and flight control system and dynamical system are respectively mounted
In frame, power supply is flight control system and dynamical system provides electric power, and flight control system is according to the flight attitude of quadrotor
Adjustment controls the power output of dynamical system；
Gas real-time monitoring and harvester include gas sampling bag and testing circuit, and gas sampling bag is provided with air inlet
And gas outlet, air inlet is provided with air pump, and in gas sampling bag, testing circuit includes gas sensing resistance Rx and temperature to testing circuit
Degree display module, temperature display module is used for showing the temperature of gas sensing resistance Rx, when being passed through under test gas in testing circuit, is added
Heat changes to the gas sensing resistance Rx resistance of stable state, and output voltage U also occurs respective change, by output voltage U's
Value is contrasted with the information of voltage of the toxic gas demarcated in advance, can learn the type and concentration being now passed through gas.
The voltage U at gas sensing resistance Rx two ends is added on relay, relay is connected with air pump, by Control electricity
Road disconnects or connects, and when voltage U is changed into preset value, relay makes circuit communication, arranges a timing means, when reaching in relay
Circuit will be made to disconnect to relay during timing, thus stopping gas collecting.
Flight control system includes microcontroller and sensor, and microcontroller uses 32 STM32F1 microcontrollers, sensing
Device using the GY-86 module integrating 9 axle combination sensors, for perceiving the flight attitude of quadrotor, and by flight appearance
State information transmission gets flight attitude to microcontroller, microcontroller, carries out attitude algorithm, exports after PID is processed
Whole attitude angle, the rotating speed of output control dynamical system, keep stabilized flight.
Dynamical system includes brushless electric machine, electricity mediation screw；Brushless electric machine adopts the motor of 2212 models, and electricity is adjusted and adopted
The electricity tune of 40A, screw adopts the oar of 1045 models；Electricity adjusts one end to be connected with flight control system, and the other end is connected with brushless electric machine,
Screw is arranged on brushless electric machine, adjusts output signal to control brushless electric machine to drive propeller rotational by electricity.
Frame adopts S500 tetra- axle frame, installs flight control system above frame central, and four frame arm are installed electricity and adjusted, four
Brushless electric machine and screw are installed in frame arm end, install undercarriage below frame.
Power supply adopts 3S lithium battery, the lithium battery of the 11.1V being composed in series by three cell pieces.
The beneficial effect of the application is：This programme proposes a kind of gas collecting based on quadrotor, using many
The good controllability of rotor craft and the characteristic of stability, are acquired to the gas of industrial park discharge, so permissible
The possible possibility of toxicity on inhalation gas and the strick precaution of enterprise when avoiding manually gathering, and can effectively monitor each time period,
The situation of industrial park discharge gas is it is achieved that the efficient management of chemical industrial park noxious gas emission.
Brief description
Fig. 1 is the structural representation of quadrotor；
The flow chart of Fig. 2 real-time gas monitoring；
Fig. 3 is the circuit diagram having using sensor both end voltage control relay,
Fig. 4 is the structural representation of gas collector.
Wherein, 1- screw, 2- brushless electric machine, 3- frame, 4- undercarriage, 5- power supply, 6- flight control system, 7- air pump, 8-
Relay, 9- gas sampling bag.
Specific embodiment
Below in conjunction with Figure of description, the application is further described.
Quadrotor mainly includes flight control system, dynamical system, power supply and frame.
Flight control system uses 32 STM32F1 microcontrollers of low-cost and high-performance, and STM32 series is based on ARM
A high-performance of company's Cortex-M3 kernel, low-power consumption, resourceful microcontroller, abundant hardware resource makes it
It is highly suitable as the main control chip of quadrotor；Sensor, using the GY-86 module integrating 9 axle combination sensors, is used
In the flight attitude of perception quadrotor, the attitude information how in real time low noise ground obtains aircraft is entirely to control system
The key of system.
Dynamical system includes brushless electric machine, electricity mediation screw；Brushless electric machine adopts the motor of 2212 models, and electricity is adjusted and adopted
The electricity tune of 40A, screw adopts the oar of 1045 models；Electricity adjusts one end to be connected with flight control system, and the other end is connected with brushless electric machine,
Screw is arranged on brushless electric machine, adjusts output signal to control brushless electric machine to drive propeller rotational by electricity, carries to aircraft
For power.
Power supply adopts 3S lithium battery, the lithium battery of the 11.1V being composed in series by three cell pieces.
Frame adopts S500 tetra- axle frame, and material is light strong；Flight control system, four frame arm are installed above frame central
Electricity is installed adjust, motor and screw are installed in four frame arm ends, undercarriage is installed below frame.
Under the conditions of uniform temperature, the sensitivity of gas sensing resistance Rx can become higher, stablizes when gas sensing resistance Rx is heated to
It is passed through under test gas during state, the change of gas sensing resistance Rx resistance can be caused, circuit reaches another kind of stable state again, now
Output voltage UoChange can reflect gas sensing resistance RxThe change of resistance, is demarcated by the information of toxic gas, just can learn
Now it is passed through the concentration of gas.And achieve, using the voltage at sensor two ends, the control that relay switchs to Storage Time in Gas Collecting Bag
System, has added a timing means in relay, when reaching timing, relay will make circuit disconnect, thus stopping gas
Collection.
The flow chart that Fig. 2 monitors for real-time gas, its workflow is：First determine whether whether gas has oxidisability or go back
Originality, if comprising one of characteristic, carries out sensitivity analysis to gas, and then judges it is any toxic gas,
And calculate its gas concentration, this experiment mainly for toxic gas be mainly Cl2、NO2、CO、SO2.
The operation principle of the application is：The application adopts four rotor types, and 3S battery is powered, and flight control system adopts high-performance
32 STM32 microcontrollers simultaneously integrate 9 axle combination sensors, and sensor is used for perceiving the flight attitude of quadrotor, micro-
Controller gets flight attitude, carries out attitude algorithm, exports final carriage angle, output control motor turns after PID is processed
Speed, keeps stabilized flight；Real-time monitoring to toxic gas is achieved by toxic gas sensor, because under test gas concentration
Change can lead to the change of sensitive resistance resistance, back-end circuit by realizing the inspection of gas concentration to the process of resistance signal
Survey.And gather sensor both end voltage, the switch control rule of gas collecting device is achieved using relay.
The beneficial effect of the application is：This programme proposes a kind of gas collecting based on quadrotor, using many
The good controllability of rotor craft and the characteristic of stability, are acquired to the gas of industrial park discharge, so permissible
The strick precaution of the possibility of easy toxicity on inhalation gas and enterprise when avoiding manually gathering, and can effectively monitor each time period, work
The situation of industry garden discharge gas.
Technological means disclosed in the technical scheme of the application is not limited only to the technological means disclosed in above-mentioned technological means,
Also include the technical scheme formed by above technical characteristic any combination.
With the above-mentioned ideal case according to the application for enlightenment, by above-mentioned description, relevant staff is complete
Various change and modification can be carried out in the range of without departing from this application technological thought.This application technical
The content that scope is not limited on specification it is necessary to determine its technical scope according to right.
Claims (6)
1. a kind of gas real-time monitoring based on quadrotor and harvester it is characterised in that：Including four rotor flyings
Device and gas real-time monitoring and harvester, gas real-time monitoring and harvester are on quadrotor；Four rotors fly
Row device includes flight control system, dynamical system, power supply and frame, and flight control system and dynamical system are mounted in frame, and power supply is
Flight control system and dynamical system provide electric power, and flight control system controls dynamical system according to the flight attitude adjustment of quadrotor
Power output；Gas real-time monitoring and harvester include gas sampling bag and testing circuit, gas sampling bag be provided with into
Gas port and gas outlet, air inlet is provided with air pump, and in gas sampling bag, testing circuit includes gas sensing resistance Rx to testing circuit
And temperature display module, temperature display module is used for showing the temperature of gas sensing resistance Rx, when being passed through under test gas in testing circuit,
It is heated to the changing of gas sensing resistance Rx resistance of stable state, output voltage U also occurs respective change, by output voltage
The value of U is contrasted with the information of voltage of the toxic gas demarcated in advance, can learn the type and concentration being now passed through gas.
2. a kind of gas real-time monitoring based on quadrotor according to claim 1 and harvester, its feature
It is：The voltage U at gas sensing resistance Rx two ends is added on relay, relay is connected with air pump, by control relay circuit
Disconnect or connect, when voltage U is changed into preset value, relay makes circuit communication, in relay, a timing means is set, when reaching
During timing, relay will make circuit disconnect, thus stopping gas collecting.
3. a kind of gas real-time monitoring based on quadrotor according to claim 1 and harvester, its feature
It is：Flight control system includes microcontroller and sensor, and microcontroller uses 32 STM32F1 microcontrollers, sensor
Using the GY-86 module integrating 9 axle combination sensors, for perceiving the flight attitude of quadrotor, and by flight attitude
Information transmission gets flight attitude to microcontroller, microcontroller, carries out attitude algorithm, and after PID is processed, output is final
Attitude angle, the rotating speed of output control dynamical system, keep stabilized flight.
4. a kind of gas real-time monitoring based on quadrotor according to claim 1 and harvester, its feature
It is：Dynamical system includes brushless electric machine, electricity mediation screw；Brushless electric machine adopts the motor of 2212 models, and electricity is adjusted and adopted 40A
Electricity tune, screw adopt 1045 models oar；Electricity adjusts one end to be connected with flight control system, and the other end is connected with brushless electric machine, spiral shell
Rotation oar is arranged on brushless electric machine, adjusts output signal to control brushless electric machine to drive propeller rotational by electricity.
5. a kind of gas real-time monitoring based on quadrotor according to claim 4 and harvester, its feature
It is：Frame adopts S500 tetra- axle frame, installs flight control system above frame central, and four frame arm are installed electricity and adjusted, four machines
Brushless electric machine and screw are installed in boom end, install undercarriage below frame.
6. a kind of gas real-time monitoring based on quadrotor according to claim 1 and harvester, its feature
It is：Power supply adopts 3S lithium battery, the lithium battery of the 11.1V being composed in series by three cell pieces.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610818694.9A CN106442030A (en) | 2016-09-12 | 2016-09-12 | Real-time gas monitoring and collecting device based on four-rotor aircraft |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610818694.9A CN106442030A (en) | 2016-09-12 | 2016-09-12 | Real-time gas monitoring and collecting device based on four-rotor aircraft |
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| CN201610818694.9A Pending CN106442030A (en) | 2016-09-12 | 2016-09-12 | Real-time gas monitoring and collecting device based on four-rotor aircraft |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109911229A (en) * | 2019-03-23 | 2019-06-21 | 佛山昊航科技有限公司 | A kind of environment monitoring unmanned vehicle |
| CN110582829A (en) * | 2017-05-05 | 2019-12-17 | 天体电子学先进电子系统公司 | Volatile organic compound controlled relay for power applications |
| CN111152925A (en) * | 2020-01-20 | 2020-05-15 | 重庆三峡学院 | Unmanned aerial vehicle for detecting position of fire and explosion disaster point |
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Application publication date: 20170222 |
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