CN106586009A - Unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle Download PDFInfo
- Publication number
- CN106586009A CN106586009A CN201610959728.6A CN201610959728A CN106586009A CN 106586009 A CN106586009 A CN 106586009A CN 201610959728 A CN201610959728 A CN 201610959728A CN 106586009 A CN106586009 A CN 106586009A
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- head
- unmanned plane
- protective cover
- linking arm
- cradle head
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- 230000001681 protective effect Effects 0.000 claims description 20
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 8
- 229910052799 carbon Inorganic materials 0.000 claims description 8
- 239000002994 raw material Substances 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims 1
- 238000007689 inspection Methods 0.000 abstract description 4
- 238000013016 damping Methods 0.000 abstract 2
- 230000004888 barrier function Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000012360 testing method Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 229920003023 plastic Polymers 0.000 description 2
- 239000004033 plastic Substances 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 239000013536 elastomeric material Substances 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- 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
-
- 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
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/042—Control of altitude or depth specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- 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
- B64C2001/0054—Fuselage structures substantially made from particular materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- General Engineering & Computer Science (AREA)
- Acoustics & Sound (AREA)
- Studio Devices (AREA)
Abstract
The invention relates to an unmanned aerial vehicle, comprising an unmanned aerial vehicle aircraft, a cradle head and a shooting device, wherein the shooting device is installed at the lower part of the cradle head, the cradle head comprises an upper cradle head plate, a cradle head damping ball and a lower cradle head plate, the cradle head damping ball is connected with the upper cradle head plate and the lower cradle head plate respectively, and the lower cradle head plate is connected with a rotary motor. The used unmanned aerial vehicle can better meet requirements of power line inspection and is compatible with multi-functional devices to meet requirements of long-line power line inspection, self-stabilizing multi-angle zooming shot and self protection.
Description
Technical field
The present invention relates to a kind of unmanned plane field, more particularly to a kind of unmanned plane wireless remote control of power-line patrolling, control and
Machine Design.
Background technology
UAV referred to as " unmanned plane ", is manipulated using radio robot and the presetting apparatus provided for oneself
Not manned aircraft.Unmanned plane have small volume, low lightweight, expense, flexible operation, it is safe the characteristics of, extensively application
In taking photo by plane, detect, search and rescue, the field such as resource exploration.Had been provided with using unmanned plane inspection power circuit technical feasible
Property, propulsion unmanned plane boat is patrolled Research Work of Power Transmission Line and is provided with actual realistic meaning.Unmanned plane power-line patrolling is by speed faster
The various equipment situations of the comprehensive inspection circuit of degree and electric tower, while the precision instrument for carrying can detect profound circuit event
Barrier and hidden fault, data are returned in time, and problem real-time processing, the safety and Effec-tive Function for electrical network provides important leverage.Mesh
Before, the unmanned plane course of work has problems with：
1), due to using driven by power, the material for using mostly is plastics glass-fiber-plate etc. for current most four axles, six axle aircraft,
Cause that unmanned aerial vehicle body volume is excessive, fuselage is overweight；
2) most unmanned planes carry head with airframe structure complexity, it is impossible to be fully achieved 360 ° and shoot without dead angle, or even
Partial angle is blocked by fixed landing gear, and camera protection device when lacking urgent landing；
3) unmanned plane itself awing has that shake is big, it is strong to shake, and is that quality is taken photo by plane in guarantee and protection is taken photo by plane
Equipment, need using from steady head using cooperatively the equipment of taking photo by plane；
4) most UAV flight's cameras cannot artificially manipulate focusing, and shooting image can not be entered fully according to our requirement
Row zoom, it is impossible to which satisfied monitoring image is provided；
5) unmanned plane during flying height is more on market determines according to atmospheric pressure, and inside even from weather is larger, error easily occurs,
And obstacle avoidance apparatus are seldom carried, security has much room for improvement.
Existing market exist unmanned plane mostly be take photo by plane, plant protection, mapping it is involved, it is impossible to meet application demand well.Lead
When cause is used every time, cruising ability is not enough, cumbersome, cost increases, and is not easy to long transmission line power-line patrolling, not readily portable.
For this purpose, we research and develop and devise this kind of power-line patrolling unmanned plane.
The content of the invention
To solve the above problems, the invention is intended to provide a kind of unmanned plane, power-line patrolling demand is more preferably met, while compatible
Multi-functional equipment, to meet long transmission line power-line patrolling requirement, requires, self-protection is required from steady multi-angle zoom shot.Tool
Body technique scheme is：
Capture apparatus are installed in a kind of unmanned plane, including unmanned plane during flying device, head and capture apparatus, the head bottom,
The head includes head upper plate, head shock-absorbing ball and head lower plate, and the head shock-absorbing ball connects respectively the head upper plate
With head lower plate, the head lower plate connection electric rotating machine.
Further, the head is, from steady head, to be controlled using three axles.
Further, the head also includes the first head linking arm and the second head linking arm, and first head connects
Connect arm one end to be connected with the electric rotating machine, the other end with from steady motor connection, it is described to pass through second head from steady motor
Linking arm is connected with pitching motor.
Further, the pitching motor is screwed with the second head linking arm and is connected.
Further, the capture apparatus include spherical camera protective cover, and the pitching motor passes through protective cover connecting plate
It is installed on the spherical camera protective cover.
Further, the pitching motor is connected by bearing and axostylus axostyle with the protective cover connecting plate.
Further, the unmanned plane main stand adopts carbon plate and carbon pipe as raw material；And/or the unmanned plane is utilized
Bolt column replaces metallic monolith contiguous block；And/or the unmanned motor spindle installs sonar sensor, for highly controlling；With/
Or the unmanned plane also includes collapsible undercarriage.
Further, the unmanned plane also includes infrared distance measuring obstacle avoidance system；And/or the unmanned plane also includes avoidance
Ultrasonic sensor.
Further, the infrared distance measuring obstacle avoidance system includes infrared camera, and the infrared camera is arranged in institute
State in the spherical camera protective cover of capture apparatus, in the spherical camera protective cover Visible Light Camera is there also is provided；And/or it is described
Avoidance ultrasonic sensor is installed on the aircraft front side.
Further, the capture apparatus include Visible Light Camera, can manually adjust zoom magnification by remote control；With/
Or the aircraft, equipped with single remote control, the head is furnished with single remote control.
Using the unmanned plane of the present invention, following technique effect can be reached：
1) can be very good the high frequency of absorption aircraft, low frequency using the head of the shock-absorbing ball with connection upper and lower plates to shake
It is dynamic, it is ensured that the stability of the definition of shooting and whole unmanned plane；
2) using the control of three axles from steady head, during unmanned plane during flying, head has from steady function, when unmanned plane is rocked,
Incline, can also keep camera to shoot during acceleration stable.Head is controlled using three axles, and 360 ° without dead angle rotation, any translation-angle.
3) using spherical camera protective cover, head linking arm is coordinated, it is rational in infrastructure and elegant in appearance, and can reach to camera
The effect protected.
4) design and produce unmanned plane main stand as raw material using carbon plate and carbon pipe.In equivalent specifications unmanned plane,
Fuselage deadweight is relatively light, and intensity is higher.In the case where ensureing fuselage intensity itself, meeting Principle of Mechanical Designing, remove many
Remaining weight, to reach aesthetic rational in infrastructure, using bolt column metallic monolith contiguous block is replaced.
5) unmanned plane height controller, sonar control.Great majority are that unmanned plane height is controlled by air pressure above market
Degree, we dispose a sonar sensor, send sound wave by sonar sensor and returned to connect again by ground return in unmanned motor spindle
Receive this signal.This device control high accuracy is of a relatively high.Unmanned plane adopts collapsible undercarriage, can be packed up with manual manipulation and be put down
Undercarriage, so as to camera shooting angle will not be blocked.
6) unmanned plane infrared distance measuring obstacle avoidance system is increased.Unmanned plane during flying can not be depended merely on and visually observed, and error is larger, be had
Visual angle blind zone, easily encounters barrier.This device can unmanned plane and obstacle spacing from reach range line when, in time hovering, keeps away
Exempt from collision.
7) by camera zoom program, by operator remote control, zoom can be manually adjusted in wide-long shot
Multiple, the photo required for so as to obtain line walking reduces idle work, lifts operating efficiency.
Description of the drawings
Fig. 1 unmanned plane overall structure diagrams of the present invention；
Fig. 2 cradle head part structural representations of the present invention；
Fig. 3 head unmanned plane motors of the present invention and capture apparatus connection diagram.
In figure, reference show：1st, aircraft；2nd, head；3rd, capture apparatus；4th, battery carrier column；5th, electric rotating
Machine；6th, from steady motor；7th, pitching motor；8th, spherical camera protective cover；9th, protective cover connecting plate；10th, ultrasonic sensor；11、
Infrared camera；12nd, Visible Light Camera；13rd, screw；2-1, head upper plate；2-2, head lower plate；2-3, head shock-absorbing ball；2-
4th, the first head linking arm；2-5, the second head linking arm.
Specific embodiment
With reference to the accompanying drawings and detailed description the present invention is described in detail.But this should not be interpreted as the present invention
The scope of above-mentioned theme is only limitted to below example, and all technologies realized based on present invention belong to the model of the present invention
Enclose.
Shooting is installed and is set in a kind of unmanned plane, including unmanned plane during flying device 1, head 2 and capture apparatus 3, the head bottom
Standby 3, the head includes head upper plate 2-1, head shock-absorbing ball 2-3 and head lower plate 2-2, the head shock-absorbing ball 2-3 difference
Connect the head upper plate 2-1 and head lower plate 2-2, head lower plate 2-2 connects electric rotating machine 5.The electric rotating machine is
360 ° of rotations
Further, the shock-absorbing ball 2-3 is for multiple, such as：6 or 8, uniform annular spread simultaneously connects with head upper and lower plates
Connect, the shock-absorbing ball is using elastomeric material or elastic-plastic material.The head upper plate 2-1 can also be used as unmanned plane battery carrier bottom
Plate, 4 battery carrier columns 4 are fixed on battery carrier base plate, on four angles of base plate.
Further, the head is, from steady head, to be controlled using three axles.
Further, the head also include the first head linking arm 2-4 and the second head linking arm 2-5, described first
Head linking arm 2-4 one end is connected with the electric rotating machine 5, the other end be connected from steady motor 6, it is described to pass through from steady motor 6
The second head linking arm 2-5 is connected with pitching motor 7.
Further, the pitching motor 7 is fixedly connected with the second head linking arm 2-5 by screw 13.
Further, the capture apparatus include spherical camera protective cover 8, and the pitching motor 7 is connected by protective cover
Plate 9 is installed on the spherical camera protective cover 8.
Further, the pitching motor 7 is connected by bearing and axostylus axostyle with the protective cover connecting plate 9.
Further, the unmanned plane main stand adopts carbon plate and carbon pipe as raw material；The unmanned plane utilizes bolt
Column replaces metallic monolith contiguous block；The unmanned motor spindle installs sonar sensor, for highly controlling；The unmanned plane is also
Including collapsible undercarriage.Undercarriage can be packed up and drop with manual manipulation, so as to block camera shooting angle.
Further, the unmanned plane also includes infrared distance measuring obstacle avoidance system；The unmanned plane also includes avoidance ultrasound
Wave sensor 10.
Further, the infrared distance measuring obstacle avoidance system includes infrared camera 11, and the infrared camera 11 is arranged
In the spherical camera protective cover of the capture apparatus, in the spherical camera protective cover Visible Light Camera 12 is there also is provided；Institute
State avoidance ultrasonic sensor 10 and be installed on the aircraft front side.
Further, the capture apparatus include Visible Light Camera 12, can manually adjust zoom magnification by remote control；Institute
Aircraft is stated equipped with single remote control, the head is furnished with single remote control.
By test, the unmanned plane various aspects of performance is tested：
1. endurance：
The unmanned plane of common equivalent specifications, under 15～25 DEG C of environment, using equal model lithium polymer battery, equal
Under the conditions of, this unmanned plane substantially increases endurance because simple and reasonable, and reduces battery input cost, drop
It is low because repeatedly charging and the caused life-span is lost.
2. unmanned plane intensity：
Via test, compared with equivalent specifications unmanned plane, this unmanned plane can be declined with stall at 10m and be fallen at ground, be protected
Demonstrate,prove this unmanned plane safe falling and not damaged.
3. shooting effect：
Via test, in different distance, different angles shoot to same facility, the varifocal rear bat of this unmanned plane
To the photo of best in quality, it is ensured that operating efficiency, for power-line patrolling work the monitoring result that can be trusted is provided.
4. obstacle avoidance system：
Via test, in close barrier, reaching setting range line can hover in time this unmanned plane, be disturbed fluctuation
Less, reliability is high, can really reduce the loss risk come with barrier collision belt.
5. control system：
In order to improve the operating efficiency of power-line patrolling, power-line patrolling machine is by two winged hand cooperation manipulations, a winged hand manipulation
Six axle aircraft, are responsible for the safe flight of aircraft, and a head manipulates hand, is responsible for taking pictures for camera.(wherein six axle aircraft
Equipped with single remote control, head is manipulated respectively equipped with single remote control by two winged hand cooperations.Can also be by one
Winged hand manipulates whole line walking machine, and six axle aircraft and head are manipulated by a remote manipulator system, and such operating efficiency is compared with substrate amount
It is poor, so it is not recommended that using.)
The invention is not limited in aforesaid specific embodiment.The present invention is expanded to and any in this manual disclosed
New feature or any new combination, and the arbitrary new method that discloses or the step of process or any new combination.
Claims (10)
1. capture apparatus are installed in a kind of unmanned plane, including unmanned plane during flying device, head and capture apparatus, the head bottom, its
It is characterised by：The head includes head upper plate, head shock-absorbing ball and head lower plate, and the head shock-absorbing ball connects respectively described
Head upper plate and head lower plate, the head lower plate connects electric rotating machine.
2. unmanned plane as claimed in claim 1, it is characterised in that：The head is, from steady head, to be controlled using three axles.
3. unmanned plane as claimed in claim 2, it is characterised in that：The head also includes the first head linking arm and the second cloud
Platform linking arm, described first head linking arm one end is connected with the electric rotating machine, the other end with from steady motor connection, it is described from
Steady motor is connected by the second head linking arm with pitching motor.
4. unmanned plane as claimed in claim 3, it is characterised in that：The pitching motor passes through with the second head linking arm
Screw is fixedly connected.
5. unmanned plane as claimed in claim 3, it is characterised in that：The capture apparatus include spherical camera protective cover, described
Pitching motor is installed on the spherical camera protective cover by protective cover connecting plate.
6. unmanned plane as claimed in claim 5, it is characterised in that：The pitching motor is by bearing and axostylus axostyle and the protection
Cover connecting plate connects.
7. unmanned plane as claimed in claim 1, it is characterised in that：The unmanned plane main stand is using carbon plate and carbon pipe conduct
Raw material；And/or the unmanned plane replaces metallic monolith contiguous block using bolt column；And/or the unmanned motor spindle installation sound
Sensor is received, for highly controlling；And/or the unmanned plane also includes collapsible undercarriage.
8. unmanned plane as claimed in claim 1, it is characterised in that：The unmanned plane also includes infrared distance measuring obstacle avoidance system；
And/or the unmanned plane also includes avoidance ultrasonic sensor.
9. unmanned plane as claimed in claim 8, it is characterised in that：The infrared distance measuring obstacle avoidance system includes infrared ray phase
Machine, the infrared camera is arranged in the spherical camera protective cover of the capture apparatus, in the spherical camera protective cover also
It is disposed with Visible Light Camera；And/or the avoidance ultrasonic sensor is installed on the aircraft front side.
10. unmanned plane as claimed in claim 1, it is characterised in that：The capture apparatus include Visible Light Camera, can pass through distant
Control device adjusts manually zoom magnification；And/or the aircraft, equipped with single remote control, the head is furnished with single remote control
Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610959728.6A CN106586009A (en) | 2016-10-27 | 2016-10-27 | Unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610959728.6A CN106586009A (en) | 2016-10-27 | 2016-10-27 | Unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106586009A true CN106586009A (en) | 2017-04-26 |
Family
ID=58590553
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610959728.6A Pending CN106586009A (en) | 2016-10-27 | 2016-10-27 | Unmanned aerial vehicle |
Country Status (1)
| Country | Link |
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| CN (1) | CN106586009A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107176305A (en) * | 2017-06-16 | 2017-09-19 | 上海未来伙伴机器人有限公司 | A kind of aircraft head damping unit and flying robot |
| CN108045577A (en) * | 2017-12-05 | 2018-05-18 | 长沙展朔轩兴信息科技有限公司 | High-altitude is removed obstacles unmanned plane |
| CN108438244A (en) * | 2018-04-27 | 2018-08-24 | 南京拓威航空科技有限公司 | A kind of airborne aerial device and the unmanned plane containing it |
| CN108521801A (en) * | 2017-05-23 | 2018-09-11 | 深圳市大疆创新科技有限公司 | A kind of control method, device, equipment and aircraft |
| CN108698703A (en) * | 2017-11-13 | 2018-10-23 | 深圳市大疆创新科技有限公司 | Motion-sensing device assembly and unmanned plane |
| CN109094803A (en) * | 2018-09-14 | 2018-12-28 | 南京禾谱航空科技有限公司 | A kind of multi-load kenel conversion holder |
| WO2019227347A1 (en) * | 2018-05-30 | 2019-12-05 | 深圳市大疆创新科技有限公司 | Gimbal control method, gimbal, photography device, and readable storage medium |
| CN112001277A (en) * | 2020-08-11 | 2020-11-27 | 中国地质科学院矿产资源研究所 | Unmanned aerial vehicle map filling method, map filling device and map filling system |
| CN113867377A (en) * | 2021-09-29 | 2021-12-31 | 重庆大学 | ROS-based vision quad-rotor unmanned aerial vehicle and development system thereof |
| WO2022032942A1 (en) * | 2020-08-11 | 2022-02-17 | 中国地质科学院矿产资源研究所 | Unmanned aerial vehicle mapping method, apparatus and system |
| CN115585790A (en) * | 2022-12-05 | 2023-01-10 | 中国科学院长春光学精密机械与物理研究所 | Surveying and mapping device, surveying and mapping method and computer equipment |
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