CN106628245B - Indoor agricultural unmanned aerial vehicle test platform - Google Patents
Indoor agricultural unmanned aerial vehicle test platform Download PDFInfo
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- CN106628245B CN106628245B CN201610956888.5A CN201610956888A CN106628245B CN 106628245 B CN106628245 B CN 106628245B CN 201610956888 A CN201610956888 A CN 201610956888A CN 106628245 B CN106628245 B CN 106628245B
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Abstract
The invention relates to an indoor agricultural unmanned aerial vehicle test platform, which comprises an unmanned aerial vehicle, a parallel four-bar linkage mechanism, a moving vehicle, a guide rail and a loading platform, wherein the unmanned aerial vehicle is arranged on the moving vehicle; the unmanned aerial vehicle of horizontal flight installs on the load platform, and the load platform is installed on parallel four-bar linkage, and parallel four-bar linkage installs on the locomotive, and the locomotive is installed on the guide rail portably. The parallel four-bar linkage mechanism comprises an upper rotating rod, a lower rotating rod, a vertically arranged fixed rod and a vertically arranged lifting rod; install on dead lever and lifter on the upper rotating rod rotary type, install on the dead lever lower rotating rod's one end rotary type, install on the lifter lower rotating rod's the other end rotary type, the dead lever install on the locomotive. The invention can reliably and accurately test an unmanned aerial vehicle, and belongs to the technical field of agricultural aviation.
Description
Technical Field
The invention relates to the technical field of agricultural aviation, in particular to an indoor agricultural unmanned aerial vehicle test platform.
Background
At present, agricultural labor is in shortage and outflow, the cost of the agricultural labor is increased, the feminization and aging characteristics of the agricultural labor are obvious, and in addition, the subsidy force of agricultural machinery is increased, so that the application and the development of the agricultural unmanned aerial vehicle are facilitated. Agricultural unmanned aerial vehicle receives extensive concern with its unique operation advantage in aspects such as agriculture and forestry plant protection spraying, wind-force pollination, farmland remote sensing, especially is fit for southern hills and is many, has cultivated land topography that is unsuitable for large-scale aeromechanical operation such as little landmass, terraced fields in a large number. The agricultural unmanned aerial vehicle has the advantages of high operation efficiency and quality, labor saving, reduction of pesticide usage and pesticide residue, and reduction of pesticide poisoning risks for operators.
The 21 st century economic research institute believes that 2016 is expected to be the first year of "break out" of plant protection unmanned aerial vehicles. According to rough measurement, the market capacity of the field is expected to exceed 1000 hundred million in the future.
Unmanned aerial vehicle plant protection operation is extensively demonstrated everywhere, but has a lot of problems: lack of suitable low volume spray, aviation spray formulations and adjuvants; lack of autonomous navigation and accurate pesticide application control system, resulting in uneven spraying and the like. In addition, 52 related plant protection countries and industry standards exist in China, wherein 7 agricultural aviation standards do not exist in the related standards of agricultural unmanned aerial vehicles. In addition, agricultural unmanned aerial vehicle enterprises reach more than 400 at present, but the quality of unmanned aerial vehicles of different enterprises is different, and some unmanned aerial vehicles even do not have unmanned aerial vehicle products, so that the quality standard of the agricultural unmanned aerial vehicle products is formulated, the detection method is designed, and the construction of a detection platform is urgent.
According to the investigation research to unmanned aerial vehicle testing platform at home and abroad, the operation that agricultural unmanned aerial vehicle goes on is different with operations such as general light-duty unmanned aerial vehicle amusement, take photo by plane, reconnaissance, general unmanned aerial vehicle testing technique and test platform are not applicable to agricultural unmanned aerial vehicle performance testing, especially the application of spraying pesticide under the effect of rotor wind field in the aspect of the agricultural, the research shows, the rotor wind field helps improving the deposit volume of pesticide at the blade back, and improve the penetrability to the crop canopy, make the pesticide more easily reach lower part in the plant. And domestic current agricultural unmanned aerial vehicle testing platform is less, and the function is single. Therefore, the systematic research of the agricultural unmanned aerial vehicle detection method and the construction of the detection platform have important significance for improving the quality of agricultural unmanned aerial vehicle products.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention aims to: the utility model provides an indoor agricultural unmanned aerial vehicle test platform can carry out reliable accurate ground test to unmanned aerial vehicle.
In order to achieve the purpose, the invention adopts the following technical scheme:
an indoor agricultural unmanned aerial vehicle test platform comprises an unmanned aerial vehicle, a parallel four-bar linkage mechanism, a moving vehicle, a guide rail and a loading platform; the unmanned aerial vehicle of horizontal flight installs on the load platform, and the load platform is installed on parallel four-bar linkage, and parallel four-bar linkage installs on the locomotive, and the locomotive is installed on the guide rail portably. The test platform is used for testing small-sized agricultural unmanned aerial vehicles, and comprises a single-rotor unmanned helicopter and a multi-rotor unmanned aerial vehicle. The load platform is used for carrying an agricultural unmanned aerial vehicle.
Further, the method comprises the following steps: the parallel four-bar linkage mechanism comprises an upper rotating rod, a lower rotating rod, a vertically arranged fixed rod and a vertically arranged lifting rod; install on dead lever and lifter on the upper rotating rod rotary type, install on the dead lever lower rotating rod's one end rotary type, install on the lifter lower rotating rod's the other end rotary type, the dead lever install on the locomotive. The parallel four-bar linkage mechanism enables the unmanned aerial vehicle to keep a horizontal flight state and keep a flight attitude unchanged.
Further, the method comprises the following steps: the fixed rods comprise a first fixed rod and a second fixed rod which are fixed on the moving vehicle, the lifting rods comprise a first lifting rod and a second lifting rod, and the lower lifting rod comprises a first lower rotating rod and a second lower rotating rod; one end of the first lower rotating rod is rotatably arranged on the first fixing rod, the other end of the first lower rotating rod is rotatably arranged on the first lifting rod, one end of the second lower rotating rod is rotatably arranged on the second fixing rod, and the other end of the second lower rotating rod is rotatably arranged on the second lifting rod; the upper part of the first lifting rod and the upper part of the second lifting rod are respectively provided with a first connecting rod and a second connecting rod, and the first connecting rod and the second connecting rod are respectively provided with a first supporting rod and a second supporting rod; the first supporting rod, the second supporting rod, the first lifting rod and the second lifting rod support the loading platform together; the upper rotating rod is installed on the first fixing rod and the second fixing rod through the first rotating assembly, and the upper rotating rod is installed on the first connecting rod and the second connecting rod through the second rotating assembly. When the test platform is accelerated or decelerated, a large moment can be generated on the load-bearing platform due to the inertia effect of the unmanned aerial vehicle, and the unmanned aerial vehicle is fixed on the load-bearing platform in a multi-point manner, so that the stability of the test platform is better; dead lever, lifter, lower transfer pole all set up two, make on the load platform have four points and parallel four-bar linkage fixed mutually, can support unmanned aerial vehicle better, and unmanned aerial vehicle fixes the stability on the load platform better, and test platform's stability also improves greatly.
Further, the method comprises the following steps: the first rotating assembly comprises a first bearing and a first shaft, the first bearing is arranged on the first fixing rod and the first bearing is arranged on the second fixing rod, a first rotating sleeve is fixedly arranged at the lower end of the upper rotating rod, and the first rotating sleeve is sleeved on the first shaft; the second rotating assembly comprises a second bearing and a second shaft, the second bearing is arranged on the first connecting rod and the second connecting rod, the second shaft is arranged on the second bearing, the lower end of the upper rotating rod is fixedly provided with a second rotating sleeve, and the second rotating sleeve is sleeved on the second shaft. The purpose of rotating the upper rotating rod relative to the fixed rod and the lifting rod is achieved.
Further, the method comprises the following steps: the load platform on be equipped with the rope through-hole, unmanned aerial vehicle passes through the rope to be fixed on the load platform.
Further, the method comprises the following steps: the test platform is still including increaseing the pole group, increaseing the pole group and install on the locomotive with the rotary type, be equipped with a plurality of through-holes on the pole of increaseing the pole group, go up the transfer pole and install on increaseing the pole through the round pin axle. The flying height of the unmanned aerial vehicle can be adjusted. Heightening rod group is used for controlling the lift of load platform, and unmanned aerial vehicle installs on the load platform, consequently also reaches the purpose of control unmanned aerial vehicle lift for set for the height that unmanned aerial vehicle fixed-height flown when experimenting.
Further, the method comprises the following steps: the number of the height-adjusting rod groups is multiple and the height-adjusting rod groups are arranged at different positions of the mobile vehicle. According to the lever principle, the height of the unmanned aerial vehicle can be adjusted by one group of height adjusting rod groups, so that the height of the unmanned aerial vehicle can be adjusted by very large force if the same group of height adjusting rod groups is used when the unmanned aerial vehicle is at a certain height; if use another group height-regulating pole group this moment, then be equivalent to the direction of the effect that changes the effect of last dwang to can adjust unmanned aerial vehicle's height with less power.
Further, the method comprises the following steps: the lower end face of the moving vehicle is provided with a linear sliding block, and the linear sliding block is installed on the guide rail in a rolling mode. The locomotive needs to bear all mechanism weight such as whole test platform and unmanned aerial vehicle, still needs to bear the torsional moment that produces, and the locomotive of general band pulley can turn on one's side under the lever moment effect. The matched guide rail and linear sliding block are selected for use, the moving vehicle is connected with the linear sliding block, the square linear sliding block with the balls moves on the two guide rails fixed on the ground, the balls can ensure that the friction coefficient of the linear sliding block is smaller when the linear sliding block moves along the guide rails, and the linear sliding block is embedded on the guide rails and can prevent the moving vehicle from generating side turning under the action of lever moment.
Further, the method comprises the following steps: the lower terminal surface of locomotive is equipped with the gyro wheel, is equipped with the motor that is used for driving the gyro wheel on the locomotive.
Further, the method comprises the following steps: the lower extreme of going up the rotation pole be equipped with the balancing weight, dead lever, lifter arrange along going up the rotation pole in proper order. The balancing weight is used for balancing unmanned aerial vehicle's weight, makes things convenient for artifical adjustment control unmanned aerial vehicle experiment height.
In summary, the present invention has the following advantages:
1. the indoor test platform can effectively isolate interference of various outdoor complex factors such as wind, temperature and humidity, ground vegetation, barriers and the like on flight parameters such as flight height, speed, attitude, linear motion precision and the like.
2. The invention can better simulate the operation flight state of the light agricultural unmanned aerial vehicle in an ideal state and can adjust and lock the height precision of the fixed-height flight of the agricultural unmanned aerial vehicle.
3. The motor is used for driving the whole test platform to move, and the movement speed of the agricultural unmanned aerial vehicle can be accurately controlled.
4. The invention has strong universality and is suitable for multi-machine small-sized agricultural single-rotor unmanned helicopters and multi-rotor unmanned planes.
5. The test platform plays a role in protecting and limiting the unmanned aerial vehicle, and the protection role means that accidents such as collision, rollover and falling of the unmanned aerial vehicle can be prevented; limiting effect means that unmanned aerial vehicle can only remove along the guide rail direction at appointed height, and all the other degrees of freedom receive the platform restriction, can guarantee linear motion orbit's high accuracy.
Drawings
Fig. 1 is a perspective view of the present invention.
Fig. 2 is a schematic view of a first direction of assembly of the parallelogram linkage with the drone.
Fig. 3 is a structural schematic diagram of the parallel four-bar linkage mechanism and the unmanned aerial vehicle in the second direction of assembly.
Fig. 4 is a schematic structural view of a third direction of assembling the parallelogram linkage mechanism with the unmanned aerial vehicle.
Fig. 5 is a structural view of the assembly of the parallelogram linkage and the height-adjusting lever group in the first direction.
Fig. 6 is a structural view of the parallel four-bar linkage mechanism in a second direction of assembly with the height-adjusting lever group.
Fig. 7 is a schematic view of the structure at the mobile vehicle.
Wherein, 1 is unmanned aerial vehicle, 2 is the load platform, 3 is parallel four-bar linkage, 4 is heightening pole group, 5 is the locomotive, 6 is the guide rail, 7 is the motor, 8 is first lifter, 9 is the head rod, 10 is first bracing piece, 11 is the second lifter, 12 is the second connecting rod, 13 is the second bracing piece, 14 is first dwang, 15 is second dwang, 16 is last dwang, 17 is the second and rotates the cover, 18 is the second axle, 19 is the second bearing, 20 is first dead lever, 21 is the second dead lever, 22 is first rotation cover, 23 is the primary shaft, 24 is the primary shaft, 25 is heightening pole, 26 is the balancing weight, 27 is linear slider, 28 is the gyro wheel.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and detailed description.
Referring to fig. 1, an indoor agricultural unmanned aerial vehicle test platform comprises an unmanned aerial vehicle, a parallel four-bar linkage mechanism, a moving vehicle, a guide rail and a load-carrying platform; horizontal flight's unmanned aerial vehicle installs on the load platform, and the load platform mounting is on parallel four-bar linkage, and parallel four-bar linkage installs on the locomotive, and the locomotive is installed on the guide rail portably.
Referring to fig. 2 to 4, the parallel four-bar linkage includes an upper rotating rod, a lower rotating rod, a vertically disposed fixing rod, and a vertically disposed lifting rod. Install on dead lever and lifter on the last rotation pole rotary type, the lifter sets up the front end at last rotation pole, and the dead lever sets up the well rear portion at last rotation pole, installs on the dead lever down the one end rotary type of rotation pole, installs on the lifter down the other end rotary type of rotation pole, and lower rotation pole and lifter can adopt articulated mode to connect, and lower rotation pole and dead lever also can adopt articulated mode to connect, the dead lever install on the locomotive. The one end that the lifter is located is the front end of going up the rotor rod, and the one end that the pole group of increaseing is the rear end of going up the rotor rod.
As shown in fig. 2 to 6, the fixing rods include a first fixing rod and a second fixing rod fixed on the moving cart, and both the first fixing rod and the second fixing rod are vertically disposed; the lifting rod comprises a first lifting rod and a second lifting rod which are vertically arranged; the lower rotating rod comprises a first lower rotating rod and a second lower rotating rod which are parallel to each other. The one end rotary type of first dwang is installed on first dead lever, and the other end rotary type of first dwang is installed on first lifter, and the one end rotary type of second dwang is installed on the second dead lever, and the other end rotary type of second dwang is installed on the second lifter. The upper part of the first lifting rod and the upper part of the second lifting rod are respectively provided with a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are respectively provided with a first supporting rod and a second supporting rod, namely the first connecting rod is connected with the first supporting rod and the first lifting rod, and the second connecting rod is connected with the second supporting rod and the second lifting rod; the upper ends of the first supporting rod, the second supporting rod, the first lifting rod and the second lifting rod are parallel and level, the load platform is supported together and fixed together with the load platform through screws, and the first supporting rod, the second supporting rod, the first lifting rod and the second lifting rod which are parallel to each other form edges of a cube and are located on the periphery of the load platform. The upper rotating rod is arranged on the first fixing rod and the second fixing rod through a first rotating assembly, namely the first rotating assembly is arranged on the first fixing rod and the second fixing rod, and the upper rotating rod is arranged on the first rotating assembly; go up the pivot pole and install on head rod and second connecting rod through second rotating assembly, second rotating assembly installs on head rod and second connecting rod promptly, goes up the pivot pole and installs on second rotating assembly.
The first rotating assembly comprises a first bearing and a first shaft, the first bearing is arranged on the first fixing rod and the first bearing is arranged on the second fixing rod, a first rotating sleeve is fixedly arranged at the lower end of the upper rotating rod, and the first rotating sleeve is sleeved on the first shaft; the second rotating assembly comprises a second bearing and a second shaft, the second bearing is arranged on the first connecting rod and the second connecting rod, the second shaft is arranged on the second bearing, the lower end of the upper rotating rod is fixedly provided with a second rotating sleeve, and the second rotating sleeve is sleeved on the second shaft.
The load platform on be equipped with the rope through-hole, unmanned aerial vehicle passes through the rope to be fixed on the load platform. The rope passes through the rope through hole, so that the unmanned aerial vehicle is fixed on the load-carrying platform.
Combine fig. 5 and fig. 6 to show, test platform still includes heightening pole group, heightening pole group install on the locomotive with the rotary type, a set of heightening pole group includes two heightening poles, heightening pole installs on the locomotive through articulated mode, heightening pole group's heightening pole is last to be equipped with a plurality of through-holes, upward heightening pole installs on heightening pole through the round pin axle, the round pin axle is inserted on heightening pole co-altitude's through-hole, can adjust unmanned aerial vehicle flight's height, heightening pole group is located the rear portion of upward heightening pole. The height adjusting rod sets are arranged at different positions of the moving vehicle, the number of the height adjusting rod sets is two, the lever principle shows that the height of the unmanned aerial vehicle can be adjusted by one height adjusting rod set, and when the unmanned aerial vehicle is at a certain height, if the same height adjusting rod set is used, the height of the unmanned aerial vehicle can be adjusted by very large force; if use another group height-regulating pole group this moment, then be equivalent to the direction of the effect that changes the effect of last dwang to can adjust unmanned aerial vehicle's height with less power. The lower extreme of going up the rotation pole be equipped with the balancing weight, dead lever, lifter are arranged along going up the rotation pole in proper order, the balancing weight sets up the well rear portion at last dwang, balancing weight accessible rope or couple are fixed on last dwang. Go up the relative dead lever rotation of rotation pole, the dead lever constitutes the fulcrum of rotation pole, utilizes lever principle on being equipped with the balancing weight, can control the height that unmanned aerial vehicle flies more easily.
As shown in fig. 7, the lower end surface of the moving vehicle is provided with a linear slider, and the linear slider is mounted on the guide rail in a rolling manner. The linear sliding block is provided with a ball, so that the friction between the linear sliding block and the guide rail is rolling friction. The locomotive needs to bear the weight of all mechanisms such as the whole test platform and the unmanned aerial vehicle, and also needs to bear the generated torsion moment, and the common locomotive with the wheels can roll over under the action of lever moment. The matched guide rail and linear sliding block are selected, the moving vehicle is connected with the linear sliding block, the square linear sliding block with the balls moves on the two guide rails fixed on the ground, the balls can ensure that the friction coefficient of the linear sliding block is smaller when the linear sliding block moves along the guide rails, and the linear sliding block is embedded on the guide rails, so that the moving vehicle can be prevented from generating side turning under the action of lever moment.
The lower terminal surface of locomotive is equipped with the gyro wheel, is equipped with the motor that is used for driving the gyro wheel on the locomotive. The gyro wheel is installed in the bottom of locomotive to with ground contact, motor speed is controlled by controller (not drawn in the picture) for the drive gyro wheel rotates, finally drives whole platform and makes linear motion along the guide rail, uses the drive mode of motor to guarantee the high accuracy of constant velocity flight.
When using this indoor agricultural unmanned aerial vehicle test platform, the guide rail is fixed at indoor subaerial, fix unmanned aerial vehicle on the load platform with the rope, adjust unmanned aerial vehicle's flying height through heightening the pole group, plane four-bar linkage makes unmanned aerial vehicle keep horizontal flight's state, then make motor work, motor drive gyro wheel is subaerial to the drive locomotive rolls along the guide rail, start unmanned aerial vehicle, utilize unmanned aerial vehicle to carry out relevant indoor experiment simultaneously, record relevant test data, after the completion flight, the data that the arrangement analysis was gathered, it is experimental to accomplish. The test platform is used for testing small-sized agricultural unmanned aerial vehicles, and comprises a single-rotor unmanned helicopter and a multi-rotor unmanned aerial vehicle.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (6)
1. The utility model provides an indoor agricultural unmanned aerial vehicle test platform which characterized in that: the device comprises an unmanned aerial vehicle, a parallel four-bar linkage mechanism, a moving vehicle, a guide rail and a loading platform; the unmanned aerial vehicle for horizontal flight is installed on a load-carrying platform, the load-carrying platform is installed on a parallel four-bar linkage mechanism, the parallel four-bar linkage mechanism is installed on a moving vehicle, and the moving vehicle is movably installed on a guide rail; the parallel four-bar linkage mechanism comprises an upper rotating rod, a lower rotating rod, a vertically arranged fixed rod and a vertically arranged lifting rod; the upper rotating rod is rotatably arranged on the fixed rod and the lifting rod, one end of the lower rotating rod is rotatably arranged on the fixed rod, the other end of the lower rotating rod is rotatably arranged on the lifting rod, and the fixed rod is arranged on the trolley; the fixed rods comprise a first fixed rod and a second fixed rod which are fixed on the moving vehicle, the lifting rods comprise a first lifting rod and a second lifting rod, and the lower lifting rod comprises a first lower rotating rod and a second lower rotating rod; one end of the first lower rotating rod is rotatably arranged on the first fixed rod, the other end of the first lower rotating rod is rotatably arranged on the first lifting rod, one end of the second lower rotating rod is rotatably arranged on the second fixed rod, and the other end of the second lower rotating rod is rotatably arranged on the second lifting rod; the upper part of the first lifting rod and the upper part of the second lifting rod are respectively provided with a first connecting rod and a second connecting rod, and the first connecting rod and the second connecting rod are respectively provided with a first supporting rod and a second supporting rod; the first supporting rod, the second supporting rod, the first lifting rod and the second lifting rod support the loading platform together; the upper rotating rod is arranged on the first fixed rod and the second fixed rod through the first rotating assembly, and the upper rotating rod is arranged on the first connecting rod and the second connecting rod through the second rotating assembly; the first rotating assembly comprises a first bearing and a first shaft, the first bearing is arranged on the first fixing rod and the first bearing is arranged on the second fixing rod, a first rotating sleeve is fixedly arranged at the lower end of the upper rotating rod, and the first rotating sleeve is sleeved on the first shaft; the second rotating assembly comprises a second bearing and a second shaft, the first connecting rod and the second connecting rod are both provided with the second bearing, the second shaft is arranged on the second bearing, the lower end of the upper rotating rod is fixedly provided with a second rotating sleeve, and the second rotating sleeve is sleeved on the second shaft; the load platform on be equipped with the rope through-hole, unmanned aerial vehicle passes through the rope to be fixed on the load platform.
2. An indoor agricultural unmanned aerial vehicle test platform according to claim 1, characterized in that: the test platform is still including heightening the pole group, heightening the pole group and install on the locomotive with the rotary type, heightening being equipped with a plurality of through-holes on the pole of heightening of pole group, upward move the pole and install on heightening the pole through the round pin axle.
3. An indoor agricultural unmanned aerial vehicle test platform according to claim 2, characterized in that: the number of the height-adjusting rod groups is multiple and the height-adjusting rod groups are arranged at different positions of the mobile vehicle.
4. An indoor agricultural unmanned aerial vehicle test platform according to claim 1, characterized in that: the lower end face of the moving vehicle is provided with a linear sliding block, and the linear sliding block is installed on the guide rail in a rolling mode.
5. An indoor agricultural unmanned aerial vehicle test platform according to claim 1, characterized in that: the lower terminal surface of locomotive is equipped with the gyro wheel, is equipped with the motor that is used for driving the gyro wheel on the locomotive.
6. An indoor agricultural unmanned aerial vehicle test platform according to claim 2, characterized in that: the lower extreme of going up the rotation pole be equipped with the balancing weight, dead lever, lifter arrange along going up the rotation pole in proper order.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106976570B (en) * | 2017-05-19 | 2023-03-03 | 深圳市科比特航空科技有限公司 | Automatic test system of unmanned aerial vehicle power |
| CN107264834B (en) * | 2017-06-07 | 2019-07-09 | 华南农业大学 | A kind of agricultural unmanned plane indoor test platform and test method |
| CN108981789B (en) * | 2018-09-26 | 2024-10-18 | 武汉科技大学 | Unmanned aerial vehicle spraying down-wash-field measuring device and method based on PIV system |
| CN109573097B (en) * | 2018-11-13 | 2021-02-09 | 中国航天空气动力技术研究院 | Vehicle-mounted test method and system for aerodynamic parameters of low-speed aircraft |
| CN110450974B (en) * | 2019-07-15 | 2024-09-17 | 中国农业大学 | Indoor inspection system and method for pesticide application performance of multi-rotor plant protection unmanned aerial vehicle |
| CN113358337B (en) * | 2021-05-27 | 2022-05-10 | 燕山大学 | Loading method and loading device for aircraft wing static strength experiment |
| CN114701660A (en) * | 2022-04-14 | 2022-07-05 | 昆山小莫智能科技有限公司 | Multi-rotor unmanned aerial vehicle debugging device and debugging method thereof |
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| ES2233750T3 (en) * | 2002-07-05 | 2005-06-16 | HYDRO-GERATEBAU GMBH & CO. KG HEBEZEUGE | DEVICE TO TRANSPORT AND POSITION STRUCTURAL PARTS OF GRANTAMAÑO. |
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