CN106741875A - A kind of flight search and rescue system and method - Google Patents
A kind of flight search and rescue system and method Download PDFInfo
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- CN106741875A CN106741875A CN201611261649.4A CN201611261649A CN106741875A CN 106741875 A CN106741875 A CN 106741875A CN 201611261649 A CN201611261649 A CN 201611261649A CN 106741875 A CN106741875 A CN 106741875A
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- 238000000034 method Methods 0.000 title claims abstract description 9
- 238000004891 communication Methods 0.000 claims abstract description 30
- 239000000969 carrier Substances 0.000 claims abstract description 11
- 230000005540 biological transmission Effects 0.000 claims 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 3
- 230000001133 acceleration Effects 0.000 claims description 3
- 239000002390 adhesive tape Substances 0.000 claims description 3
- 230000035515 penetration Effects 0.000 claims description 3
- 238000013459 approach Methods 0.000 description 4
- 230000009429 distress Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 208000033748 Device issues Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000012546 transfer 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
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS 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
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
- H04M1/724—User interfaces specially adapted for cordless or mobile telephones
- H04M1/72403—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality
- H04M1/72409—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories
- H04M1/72415—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories for remote control of appliances
-
- 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
Abstract
The present invention discloses a kind of flight search and rescue system and method, including unmanned plane, the remote control of remotely pilotless machine and earth command station APP and APP carrier；The unmanned plane includes airborne rescue device and flies control N1；The airborne rescue device and the winged control N1 serial communications connection；The winged control N1 and the remote control wireless remote control are connected；The ground control APP is arranged in the APP carriers, and the APP carriers are connected with the remote control USB.The present invention can in time determine floor and region where alarm personnel, for rescuer's forcible entry inside fire attack provides foundation, it is to avoid enter from building door and sue and labour the delay time at stop.
Description
Technical field
The present invention relates to radio frequency communication, emergency management and rescue field, more particularly to a kind of flight search and rescue system and method.
Background technology
After the firefighterses inside fire attack for carrying fireman rescue device enters skyscraper, due to some dangerous reason quilts
It is tired.After alert, rescue worker has two approach to succour officers and men in danger.First approach Shi Cong buildings door
Mouthful enter and to search and rescue, the method is the dangerous possibility in road that fireman in danger passes by due to that may need route very long,
Increased the danger of rescue worker；Another paths are directly to dismantle inside fire attack, and this is accomplished by first determining building where distress personnel
Region in building where floor and distress personnel, because distress personnel is in skyscraper, so unmanned plane searches and rescues product meeting the tendency of
And give birth to.
The content of the invention
It is an object of the invention to provide a kind of flight search and rescue system and method, alarm fireman place can be in time determined
Region, assists rescuer directly to dismantle inside fire attack.
To achieve these goals, the present invention uses following scheme：
A kind of flight search and rescue system and method include unmanned plane, the remote control of remotely pilotless machine and earth command station APP
With APP carriers；The unmanned plane includes airborne rescue device and flies control N1；The airborne rescue device and the winged control N1 serial communications
Connection；The winged control N1 and the remote control wireless remote control are connected；The ground control APP is arranged in the APP carriers, institute
APP carriers are stated to be connected with the remote control USB.
The airborne rescue device includes power module, MCU, range finder module, telemetry antenna, communication module, communication antenna, gas
Pressure meter and reserved serial ports；The power module is electrically connected with the MCU, the range finder module, the communication module, the barometer
Connect, for being powered for airborne rescue device；The range finder module, the communication module, the barometer are electrically connected with the MCU respectively
Connect；The communication antenna is electrically connected with the communication module, and the telemetry antenna is electrically connected with the range finder module；The power supply
Module includes power management module, and the power management module gathers power information；The airborne rescue device is provided with reserved serial ports,
Serial communication is carried out with the winged control N1 by the reserved serial ports.
The communication module is communicated using 433MHz；The telemetry antenna carries out TOA discoveries and range finding using omnidirectional antenna,
Range frequency has two kinds of high and low frequency.
The winged control N1 uses big boundary M100 unmanned planes.
The big boundary M100 unmanned planes install the Guidance of anticollision additional；The big boundary M100 unmanned planes install the quick-fried sudden strain of a muscle of high light additional
The fluorescent retroreflective adhesive tape of lamp and fire-fighting color；The big boundary M100 unmanned planes use double cell.
The earth command station APP obtains status information, image information and the airborne rescue device transparent transmission for flying to control N1 and comes
Search and rescue information, and to fly control N1 carry out flight control.
The unmanned plane status information includes GPS, height above sea level, relative ground level, signal health degree, magnetic strength machine, attitude four
Acceleration, speed under element, ground and body coordinate systems.
The APP carriers are flat board or mobile phone.
A kind of method of use flight search and rescue system, step includes：
S1：Director receives the warning message of fireman；
S2：Start unmanned plane search and rescue system, unmanned plane takes off；
S3：According to the height of alarm personnel, operation unmanned plane flies to suitable height, can manually be controlled by remote control
Take off height, it is also possible to sets search height by earth command station APP, allows unmanned plane to fly to search height automatically；
S4：Selection manual search or automatic cruising, if having selected automatic cruising, set cruise route, allow unmanned plane certainly
It is dynamic to press route flight search；Then manually control unmanned plane during flying is scanned for selection manual search completely；
S5：Airborne rescue device TOA timing search, during unmanned plane during flying, TOA ceaselessly carries out range finding discovery；
S6：Airborne rescue device TOA has found alarm personnel, and it is found range, and by data penetration transmission to APP；APP acquiescence with
Satellite map is background, APP according to alarm personnel to the distance and difference in height of unmanned plane and the gps coordinate of unmanned plane in map
Scope where showing it；
S7：APP prompting users have found alarm personnel；
S8：Choose whether to immediately begin to search positioning alarm personnel, that is, deeply search for；If you select No, unmanned plane
Continue search for, perform S4；If selection is, S9 is performed；
S9：According to newest alarm personnel Height Adjustment unmanned plane highly, then control unmanned plane is moved in a small range, root
The Position Approximate of the Distance Judgment alarm personnel measured in all directions according to airborne rescue device, then controls unmanned plane gradually to approach
Alarm personnel, until successfully being found；
S10：It was found that alarm personnel, Termination of SAR Operation；
S11：Selection continues to search and rescue still makes a return voyage, if selection continues to search and rescue, performs S4；The execution S12 if selection is maked a return voyage；
S12：Selection makes a return voyage mode either automatically or manually；
S13：Make a return voyage.
It is that rescuer's forcible entry inside fire attack is carried the beneficial effects of the invention are as follows floor and region where alarm personnel is determined in time
For foundation, it is to avoid enter from building door and sue and labour the delay time at stop.
Brief description of the drawings
Fig. 1 is search and rescue system structural representation of the present invention.
Fig. 2 is that search and rescue system of the present invention searches and rescues flow chart.
Specific embodiment
The specific embodiment of the invention is described in detail below in conjunction with the accompanying drawings.
As shown in figure 1, flight search and rescue system includes unmanned plane, the remote control of remotely pilotless machine and earth command station APP
With APP carriers.Unmanned plane includes airborne rescue device and flies control N1.
Communicated by serial ports between airborne rescue device and winged control N1, the onboard SDK provided using big boundary are carried out
Exploitation, it is two-way communication with winged control N1 that airborne rescue device will search and rescue information transmission to control N1, airborne rescue device is flown；Fly control N1 to pass through
The data transfer that the mode of transparent transmission sends airborne rescue device issues earth command station APP again to remote control, then remote control.Fly
Two-way communication is between control N1 and remote control, remote control and earth command station APP.
Airborne rescue device includes power module, MCU, range finder module, telemetry antenna, communication module, communication antenna, barometer
With reserved serial ports.Power module is electrically connected with each module, for being powered for airborne rescue device；Range finder module, communication module, air pressure
Meter is electrically connected with MCU respectively；Communication antenna is electrically connected with communication module, and telemetry antenna is electrically connected with range finder module.Airborne search and rescue
Device communication module is communicated using 433M, for receiving 433M warning messages.Airborne rescue device telemetry antenna is entered using omnidirectional antenna
Row TOA has found and finds range, and is in the horizontal direction 360 ° of homogeneous radiations on figure, and coverage is big, is easy to the search and rescue to the personnel that alarm；
When alarm personnel are not found, found than relatively low frequency using one, it is higher using one when alarm personnel are found
Frequency is found range.Airborne rescue device carries barometer collection, and the atmospheric pressure value of collection is used to calculate alarm personnel relative to reference
The height of position.Airborne rescue device is provided with power management module, and sends back APP in real time by way of transparent transmission, is easy to ground
Personnel accurately know the power informations such as the dump energy of rescue device.Airborne rescue device is provided with reserved serial ports, for entering with winged control N1
Row serial communication.
Fly communication carrier frequency between control N1 and remote control and use 2.4GHz, the information of transmission include search and rescue information, nobody
Machine status information, image, winged control information (control information that i.e. remote control sends).
By usb communication between remote control and earth command station APP, opened using the mobile SKD of big boundary system
Hair, by SDK, APP can obtain the search and rescue letter that the status information of unmanned plane, image information, and airborne equipment transparent transmission come
Breath, and flight control can be carried out to unmanned plane.(unmanned plane status information includes that GPS, height above sea level, with respect to ground level, is believed
Number health degree, magnetic strength machine, the element of attitude four, the acceleration under ground and body coordinate systems, speed etc.)
The status information and image information that director APP receives unmanned plane do display processing, and are calculated according to the information of search and rescue
With display by the position of rescue worker.
Fly control N1 and use big boundary M100 unmanned planes, the Guidance and anticollision of anticollision are mounted with the basis of M100
The necessary software and hardware of function, the unmanned plane for being has anti-collision；The fluorescence of high light flashing light and fire-fighting color is installed additional
Reflective adhesive tape, strengthens the visual recognition degree of outer bound pair unmanned plane, so as in rational scope it is observed that the flight of unmanned plane
State, understands the effect of unmanned plane fire-fighting and rescue；Fly control N1 and use double cell, persistently continuation of the journey, it is ensured that use duration.
Earth command station APP is arranged on flat board or mobile phone, and flat board or mobile phone are connected and are communicated with remote control by USB.
APP show maps and building periphery three-dimensional scenic, show unmanned plane realtime graphic, and quilt when unmanned plane is awaited orders during search and rescue
The positional information of rescue worker.The function that director APP needs are realized includes：
1. acquiescence uses satellite map as background, and the place without satellite map can also use general map；
2. display Aerial Images can be switched；
3. acquisition unmanned plane real-time status is exchanged with remote-controller data and is shown.(show unmanned plane on map according to GPS
Position, according to magnetic force machine show unmanned plane direction)；
4. specified altitude assignment is set, is allowed the key of unmanned plane one to rise and is flown to specified altitude assignment；
5. cruise route is set, unmanned plane is allowed according to route automatic cruising；
6. the warning message for receiving is shown, current All Alerts fireman is shown；
7. display measures the relative position of the alarm fireman of distance；
8. search terminates that automatic making a return voyage and key landing can be set；
9. the position maked a return voyage a little is shown.
The workflow of flight search and rescue system is as shown in Fig. 2 comprise the following steps that：
S1：Director receives the warning message of fireman；
S2：Start unmanned plane search and rescue system, unmanned plane takes off；
S3：According to the height of alarm personnel, operation unmanned plane flies to suitable height, can manually be controlled by remote control
Take off height, it is also possible to sets search height by earth command station APP, allows unmanned plane to fly to search height automatically；
S4：Selection manual search or automatic cruising, if having selected automatic cruising, set cruise route, allow unmanned plane certainly
It is dynamic to press route flight search；Then manually control unmanned plane during flying is scanned for selection manual search completely；
S5：Airborne rescue device TOA timing search, during unmanned plane during flying, TOA ceaselessly carries out range finding discovery；
S6：Airborne rescue device TOA has found alarm personnel, and it is found range, and by data penetration transmission to APP；APP acquiescence with
Satellite map is background, APP according to alarm personnel to the distance and difference in height of unmanned plane and the gps coordinate of unmanned plane in map
Scope where showing it；
S7：APP prompting users have found alarm personnel；
S8：Choose whether to immediately begin to search positioning alarm personnel, that is, deeply search for；If you select No, unmanned plane
Continue search for, perform S4；If selection is, S9 is performed；
S9：According to newest alarm personnel Height Adjustment unmanned plane highly, then control unmanned plane is moved in a small range, root
The Position Approximate of the Distance Judgment alarm personnel measured in all directions according to airborne rescue device, then controls unmanned plane gradually to approach
Alarm personnel, until successfully being found；
S10：It was found that alarm personnel, Termination of SAR Operation；
S11：Selection continues to search and rescue still makes a return voyage, if selection continues to search and rescue, performs S4；The execution S12 if selection is maked a return voyage；
S12：Selection makes a return voyage mode either automatically or manually；
S13：Make a return voyage.
The beneficial effects of the invention are as follows：Floor and region where alarm personnel are determined in time, are rescuer's forcible entry inside fire attack
There is provided foundation, it is to avoid enter from building door and sue and labour the delay time at stop.
Embodiments of the invention have been described in detail above, but the content is only presently preferred embodiments of the present invention,
It is not to be regarded as limiting practical range of the invention.All impartial change, improvement or groups made according to the present patent application scope
Close etc., all should still belong within patent covering scope of the invention.
Claims (9)
1. a kind of flight search and rescue system, it is characterised in that：Remote control and earth command station including unmanned plane, remotely pilotless machine
APP and APP carriers；The unmanned plane includes airborne rescue device and flies control N1；The airborne rescue device and the winged control N1 serial ports
Communication connection；The winged control N1 and the remote control wireless remote control are connected；The ground control APP is arranged on the APP carriers
Interior, the APP carriers are connected with the remote control USB.
2. search and rescue system according to claim 1, it is characterised in that：The airborne rescue device includes power module, MCU, survey
Away from module, telemetry antenna, communication module, communication antenna, barometer and reserved serial ports；It is the power module and the MCU, described
Range finder module, the communication module, barometer electrical connection, for being powered for airborne rescue device；It is the range finder module, described
Communication module, the barometer are electrically connected with the MCU respectively；The communication antenna is electrically connected with the communication module, described
Telemetry antenna is electrically connected with the range finder module；The power module includes power management module, and the power management module is adopted
Collection power information；The airborne rescue device is provided with reserved serial ports, and carrying out serial ports with the winged control N1 by the reserved serial ports leads to
Letter.
3. search and rescue system according to claim 2, it is characterised in that：The communication module is communicated using 433MHz；The survey
TOA discoveries and range finding are carried out using omnidirectional antenna away from antenna, range frequency has two kinds of high and low frequency.
4. search and rescue system according to claim 1, it is characterised in that：The winged control N1 uses big boundary M100 unmanned planes.
5. search and rescue system according to claim 4, it is characterised in that：The big boundary M100 unmanned planes install anticollision additional
Guidance；The big boundary M100 unmanned planes install the fluorescent retroreflective adhesive tape of high light flashing light and fire-fighting color additional；The big boundary M100
Unmanned plane uses double cell.
6. according to any search and rescue systems of claim 2-5, it is characterised in that：The earth command station APP is obtained and is flown control N1
Status information, the search and rescue information that comes of image information and airborne rescue device transparent transmission, and carry out flight control to flying control N1.
7. search and rescue system according to claim 6, it is characterised in that：The unmanned plane status information includes GPS, height above sea level, phase
To acceleration, speed under ground level, signal health degree, magnetic strength machine, the element of attitude four, ground and body coordinate systems.
8. search and rescue system according to claim 1, it is characterised in that：The APP carriers are flat board or mobile phone.
9. a kind of method using search and rescue system as claimed in claim 1, step includes：
S1：Director receives the warning message of fireman；
S2：Start unmanned plane search and rescue system, unmanned plane takes off；
S3：According to the height of alarm personnel, operation unmanned plane flies to suitable height, can manually control to take off by remote control
Highly, it is also possible to which by earth command station APP, search height is set, unmanned plane is allowed to fly to search height automatically；
S4：Selection manual search or automatic cruising, if having selected automatic cruising, set cruise route, make unmanned plane automatic by
Route flight search；Then manually control unmanned plane during flying is scanned for selection manual search completely；
S5：Airborne rescue device TOA timing search, during unmanned plane during flying, TOA ceaselessly carries out range finding discovery；
S6：Airborne rescue device TOA has found alarm personnel, and it is found range, and by data penetration transmission to APP；APP is given tacit consent to satellite
Map is background, and APP shows to the distance and difference in height of unmanned plane and the gps coordinate of unmanned plane according to alarm personnel in map
Scope where going out it；
S7：APP prompting users have found alarm personnel；
S8：Choose whether to immediately begin to search positioning alarm personnel, that is, deeply search for；If you select No, unmanned plane continues
Search, performs S4；If selection is, S9 is performed；
S9：According to newest alarm personnel Height Adjustment unmanned plane highly, then control unmanned plane is moved in a small range, according to machine
The Position Approximate of the Distance Judgment alarm personnel that rescue device is measured in all directions is carried, unmanned plane gradually approach-alarm is then controlled
Personnel, until successfully being found；
S10：It was found that alarm personnel, Termination of SAR Operation；
S11：Selection continues to search and rescue still makes a return voyage, if selection continues to search and rescue, performs S4；The execution S12 if selection is maked a return voyage；
S12：Selection makes a return voyage mode either automatically or manually；
S13：Make a return voyage.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611261649.4A CN106741875A (en) | 2016-12-30 | 2016-12-30 | A kind of flight search and rescue system and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611261649.4A CN106741875A (en) | 2016-12-30 | 2016-12-30 | A kind of flight search and rescue system and method |
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Cited By (6)
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| CN109063532A (en) * | 2018-04-26 | 2018-12-21 | 中国计量大学 | A kind of field lost contact personnel's method for searching based on unmanned plane |
| CN109229378A (en) * | 2018-07-31 | 2019-01-18 | 哈尔滨工程大学 | A kind of mine disaster search and rescue based on avoidance unmanned plane and toxic and harmful gas monitoring system and its working method |
| CN109464766A (en) * | 2018-09-14 | 2019-03-15 | 广州市华科尔科技股份有限公司 | A kind of fire-fighting method of fire-fighting unmanned plane |
| CN109799841A (en) * | 2019-01-04 | 2019-05-24 | 哈瓦国际航空技术（深圳）有限公司 | A kind of unmanned aerial vehicle ground control system, equipment and storage medium |
| CN109960275A (en) * | 2018-08-30 | 2019-07-02 | 中宇航通（北京）科技有限公司 | A kind of unmanned plane search and rescue system and method |
| CN109981730A (en) * | 2019-01-04 | 2019-07-05 | 哈瓦国际航空技术（深圳）有限公司 | Method, apparatus, equipment and the storage medium of ground station control unmanned plane carry |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109063532A (en) * | 2018-04-26 | 2018-12-21 | 中国计量大学 | A kind of field lost contact personnel's method for searching based on unmanned plane |
| CN109063532B (en) * | 2018-04-26 | 2021-12-07 | 中国计量大学 | Unmanned aerial vehicle-based method for searching field offline personnel |
| CN109229378A (en) * | 2018-07-31 | 2019-01-18 | 哈尔滨工程大学 | A kind of mine disaster search and rescue based on avoidance unmanned plane and toxic and harmful gas monitoring system and its working method |
| CN109229378B (en) * | 2018-07-31 | 2022-04-05 | 哈尔滨工程大学 | Mine disaster search and rescue and toxic and harmful gas monitoring system based on obstacle avoidance unmanned aerial vehicle and working method thereof |
| CN109960275A (en) * | 2018-08-30 | 2019-07-02 | 中宇航通（北京）科技有限公司 | A kind of unmanned plane search and rescue system and method |
| CN109464766A (en) * | 2018-09-14 | 2019-03-15 | 广州市华科尔科技股份有限公司 | A kind of fire-fighting method of fire-fighting unmanned plane |
| CN109799841A (en) * | 2019-01-04 | 2019-05-24 | 哈瓦国际航空技术（深圳）有限公司 | A kind of unmanned aerial vehicle ground control system, equipment and storage medium |
| CN109981730A (en) * | 2019-01-04 | 2019-07-05 | 哈瓦国际航空技术（深圳）有限公司 | Method, apparatus, equipment and the storage medium of ground station control unmanned plane carry |
| CN109981730B (en) * | 2019-01-04 | 2022-04-29 | 哈瓦国际航空技术（深圳）有限公司 | Method, device, equipment and storage medium for controlling mounting of unmanned aerial vehicle by ground station |
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