CN106892098B - Fence type object carrying unmanned aerial vehicle - Google Patents
Fence type object carrying unmanned aerial vehicle Download PDFInfo
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- CN106892098B CN106892098B CN201710146119.3A CN201710146119A CN106892098B CN 106892098 B CN106892098 B CN 106892098B CN 201710146119 A CN201710146119 A CN 201710146119A CN 106892098 B CN106892098 B CN 106892098B
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- folding
- guide rod
- mounting base
- clamping
- folding frame
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- 238000009434 installation Methods 0.000 claims description 21
- 230000001681 protective effect Effects 0.000 claims description 7
- 230000004888 barrier function Effects 0.000 claims description 5
- 238000007789 sealing Methods 0.000 claims description 3
- 229910003460 diamond Inorganic materials 0.000 abstract description 6
- 239000010432 diamond Substances 0.000 abstract description 6
- 238000006073 displacement reaction Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 208000035473 Communicable disease Diseases 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000003708 edge detection Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Refuge Islands, Traffic Blockers, Or Guard Fence (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The application discloses a fence type carrying unmanned aerial vehicle, wherein at least four brackets are outwards arranged around a mounting base in an extending mode, screw propellers are respectively arranged at the tail ends of the brackets, and drop frames are arranged at two sides of the bottom of the mounting base. The goods are clamped through the clamping device arranged at the bottom of the mounting base, the guide rod comprises the sleeve pipe which can stretch up and down, the two sides of the guide rod are respectively connected with the folding frame, and the folding rod of the folding frame is driven to rotate relatively when the sleeve pipe of the guide rod moves up and down relatively, so that the relative displacement of the two clamping hands is realized, and the goods are clamped or relaxed. The folding frame is provided with a plurality of groups of X-shaped folding rods which are mutually hinged, two adjacent groups of X-shaped folding rods are mutually hinged to form a diamond, and the diamond can be deformed in a rotating way. One side of the folding frame is driven to rotate by the guide rod, the other side of the folding frame is vertically connected with the clamping hand, the clamping hand is hinged with one connecting point of the folding frame, the other connecting point is in sliding connection, and the two clamping hands realize relative movement along with the deformation of the X-shaped folding rod and are suitable for clamping cargoes with different sizes.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to a fence type carrying unmanned aerial vehicle.
Background
The unmanned aerial vehicle has very wide application prospect in the very my aspect, and the unmanned aerial vehicle is utilized to solve the requirements of specific industries, so that the unmanned aerial vehicle is really just needed at present. At present, unmanned aerial vehicles are applied to various fields such as aerial photography, agriculture, plant protection, express delivery transportation, disaster relief, wild animal observation, infectious disease monitoring, mapping, news reporting, electric power inspection and the like, and particularly, the unmanned aerial vehicles for express delivery which are widely researched outside vehicles in recent years are possible to be dispatched by adopting unmanned aerial vehicles for express delivery services in remote areas along with the development of technology.
Unmanned aerial vehicle transports express delivery not only in time fast, still guarantees the express delivery safety and stability who is transported, prevents to drop when transporting in the air for the unmanned aerial vehicle who transports the express delivery, the stability of its anchor clamps is crucial. Because the size of parcel is various, present unmanned aerial vehicle only can be applicable to the parcel of specific size, and application scope is less, consequently, to the person skilled in the art, design one kind can press from both sides the thing unmanned aerial vehicle that carries of getting different size parcel, is the technical problem that needs to solve at present.
Disclosure of Invention
The application provides a fence type carrying unmanned aerial vehicle which can correspondingly clamp a plurality of packages with different sizes, and has a wider application range, and the specific scheme is as follows:
the fence type carrying unmanned aerial vehicle comprises a mounting base, wherein at least four brackets are outwards arranged on the periphery of the mounting base in an extending mode, screw propellers are respectively arranged at the tail ends of the brackets, and falling frames are arranged on two sides of the bottom of the mounting base; the bottom of installation base sets up clamping device, clamping device including connect in guide arm on the installation base, the guide arm is including the sleeve pipe that can stretch out and draw back from top to bottom, folding leg is connected respectively to the both sides of guide arm, folding leg has multiunit X type folding pole of hinging each other, one side of folding leg is driven by the guide arm and rotates, and the clamp is vertically connected to the opposite side, the clamp with one tie point of folding leg is articulated, another tie point sliding connection.
Optionally, the sleeve pipe of guide arm outside is fixed in on the installation base, the innermost sleeve pipe by the cylinder that sets up in the installation base drives reciprocates.
Optionally, a sleeve is arranged at a connection point above the folding frame and the guide rod, the sleeve is in interference fit with the guide rod, and the folding frame is in hinged fit with the sleeve; the connection point below is hinged with the upper pushing hand, and the innermost sleeve of the guide rod is fixedly connected with the upper pushing hand; the bottom of push-up handle is the plane that can spacing goods top.
Optionally, the bottom edge of the clamping hand is horizontally and oppositely provided with a lug for supporting goods.
Optionally, each group of the folding frame is mutually hinged with three independent folding rods in the X-shaped folding rods in a cross mode, and the two folding rods arranged in parallel are hinged with the other folding rod in a cross mode.
Optionally, the device further comprises a GPS navigator arranged on the installation base, and the control panel arranged inside the installation base controls the route according to the position signal of the GPS navigator.
Optionally, the camera system is further included, the camera system includes a fixed plate fixed to the bottom of the installation base, and the camera is connected to the fixed plate through a fixed rod.
Optionally, the camera system further includes an outer rotating platform having two rotating connection points with the fixing rod, the spherical shell-shaped outer rotating platform rotates in to set up a spherical inner rotating platform, and the camera is set up in the bottom of the inner rotating platform.
Optionally, a pressure sensor is arranged on the inner side of the clamping hand, and the control board controls the cylinder to lock according to the pressure sensor.
Optionally, the top of the installation base is provided with a protective cover in a sealing manner, the top of the protective cover is provided with a solar panel, and the battery in the installation base stores electric energy generated by the solar panel.
The application discloses a fence type carrying unmanned aerial vehicle, which comprises a mounting base, wherein at least four brackets are outwards arranged around the mounting base in an extending manner, screw propellers are respectively arranged at the tail ends of the brackets, and drop frames are arranged at two sides of the bottom of the mounting base; the propeller is used as a power component to enable the unmanned aerial vehicle to fly. The goods are clamped through the clamping device arranged at the bottom of the mounting base, the guide rod comprises the sleeve pipe which can stretch up and down, the two sides of the guide rod are respectively connected with the folding frame, and the folding rod of the folding frame is driven to rotate relatively when the sleeve pipe of the guide rod moves up and down relatively, so that the relative displacement of the two clamping hands is realized, and the goods are clamped or relaxed. The folding frame is provided with a plurality of groups of X-shaped folding rods which are mutually hinged, two adjacent groups of X-shaped folding rods are mutually hinged to form a diamond, and the diamond can be deformed in a rotating way. One side of the folding frame is driven to rotate by the guide rod, the other side of the folding frame is vertically connected with the clamping hand, the clamping hand is hinged with one connecting point of the folding frame, the other connecting point is in sliding connection, the two clamping hands realize relative movement along with the deformation of the X-shaped folding rod, the relative distance is changed, and the folding frame can adapt to clamping of cargos with different sizes.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1A is a block diagram of a barrier type cargo unmanned aerial vehicle provided by the application;
fig. 1B is an isometric view of another angle of a fence-type cargo unmanned aerial vehicle according to the present application;
FIG. 2 is a partial block diagram of the clamping device;
FIG. 3 is a block diagram of an imaging system;
fig. 4 is a top view of the drone.
The method comprises the following steps:
brushless motor 1, battery 11, control board 12, propeller 2, bracket 3, GPS navigator 4, solar panel 5, protective cover 6, mounting base 7, drop frame 8, clamping device 9, guide rod 91, sleeve 92, folding frame 93, push-up hand 94, grip 95, camera system 10, fixed plate 101, fixed rod 102, rotary joint 103, outer rotating platform 104, inner rotating platform 105, camera 106.
Detailed Description
The application has the core of providing the fence type carrying unmanned aerial vehicle which can correspondingly clamp a plurality of packages with different sizes and has wider application range.
In order to enable those skilled in the art to better understand the technical scheme of the present application, the following describes the fence type unmanned aerial vehicle according to the present application in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1A and fig. 1B, the two axial measurement structure diagrams of the fence type carrying unmanned aerial vehicle provided by the application are respectively shown, the installation base 7 is a main body structure of the whole unmanned aerial vehicle, at least four brackets 3 are outwards extended and arranged around the installation base 7, the installation brackets 3 are horizontally arranged or incline upwards by a small extent, the screw propellers 2 are arranged at the tail ends of the brackets 3, the screw propellers 2 are driven to rotate by the brushless motor 1, the tail ends of each bracket 3 are respectively provided with one brushless motor 1, and each screw propeller works independently.
The both sides of the bottom of installation base 7 set up and fall frame 8, play supporting role when unmanned aerial vehicle falls, and the frame 8 that falls that fig. 1 provided is frame-shaped support, is located installation base 7's two most, and the projection of gravity falls in two frames 8 that fall, and unmanned aerial vehicle parks more stably. The bottom of the mounting base 7 is provided with a clamping device 9, the clamping device 9 being located at a position between the two drop frames 8.
As shown in fig. 2, a partial construction of the clamping device 9 is shown. The clamping device 9 comprises a guide rod 91 connected to the mounting base 7, the guide rod 91 comprises a sleeve capable of extending up and down, the guide rod 91 is at least provided with two sections of sleeves, and the two sections of sleeves can slide relatively. The folding frames 93 are respectively connected to both sides of the guide bar 91, and the folding frames 93 on both sides are positioned in the same plane. The folding frame 93 has a plurality of groups of X-shaped folding bars hinged to each other, and a group of bars hinged to each other in the middle to form an X-shape, and two adjacent groups of X-shaped folding bars can be hinged to form a diamond structure, and the diamond shape is changed by rotating the hinge, so that the distance between two opposite hinge points is changed. The folding rod at the most end part of one side of the folding frame 93 is hinged with the guide rod 91, the upper connecting point and the lower connecting point are respectively hinged with the sleeve at the most outer side and the sleeve at the most inner side of the guide rod 91, the distance between the upper connecting point and the lower connecting point is changed by the up-down movement between the sleeves, and the X-shaped folding rods of each group are integrally driven to change the shape, so that the opposite side of the folding frame 93 is vertically connected with the clamping hand 95 to change the relative distance.
The grip 95 has two connection points with the folding frame 93, one of which is hinged and the other of which is slidingly connected, the upper connection point is hinged and the lower connection point is slidingly connected in the present application. The upper part of the clamping hand 95 is a rod piece with a polygonal cross section, the lower part of the clamping hand is a plate-shaped structure, the rod piece part is connected with the folding frame 93, and the plate-shaped structure is used for clamping and wrapping. The rod piece is sleeved with two connecting rings, the connecting rings connected with the upper connecting points of the folding frames 93 are fixed with the rod piece, and the connecting rings are hinged with the folding rod ends of the folding frames 93; the connecting ring and the rod piece of the lower connecting point of the folding frame 93 are in sliding connection, the distance between the two connecting points can be adjusted in a sliding mode along with the shape change of the X-shaped folding rod, the clamping hands 95 are kept in a vertical state, the two clamping hands 95 can only do horizontal opposite or reverse movement due to the fact that the upper side is fixed, the vertical direction does not displace, and therefore a track groove for limiting the rod piece above the clamping hands 95 to move can be formed in the bottom of the mounting base 7.
When the sleeve of the guide rod 91 slides relatively, the folding frame 93 is driven to deform along with the sleeve, and then the relative distance between the two clamping hands 95 is changed, when the length of the guide rod 91 is shortened, the distance between the two clamping hands 95 is increased, the length of the guide rod 91 is increased, the distance between the two clamping hands 95 is shortened, and the folding frame 93 can deform at any amplitude, so that the distance between the two clamping hands 95 can be linearly adjusted, and the folding frame is suitable for packages of different sizes and has wider universality.
On the basis of the scheme, the sleeve at the outermost side of the guide rod 91 is fixed on the mounting base 7, and the sleeve at the innermost side is driven by the cylinder arranged in the mounting base 7 to move up and down; of course, the innermost sleeve may be held stationary and may be slid up and down by the outermost sleeve. The driving device may adopt a motor or the like other than the cylinder.
Specifically, a sleeve 92 is arranged at the connection point of the folding frame 93 and the upper part of the guide rod 91, the sleeve 92 is sleeved on the sleeve on the outermost side of the guide rod 91, the sleeve 92 is in interference fit with the guide rod 91, the sleeve 92 and the guide rod 91 are relatively fixed, the sleeve 92 is rotationally connected with the folding frame 93, and two sides of the sleeve 92 are respectively provided with a rotating shaft. The connection point of the folding frame 93 and the lower part of the guide rod 91 is hinged with the upper push handle 94, the innermost sleeve of the guide rod 91 is fixedly connected with the upper push handle 94, and the bottom of the upper push handle 95 is a plane capable of limiting the top of goods. Before clamping the goods, the push-up hands 95 are abutted against the upper part of the package to position, and then the two clamping hands 95 are relatively close to each other and clamped, so that the situation that the package is biased is avoided through the push-up hands 95.
In order to prevent the goods from falling down during clamping, the bottom edges of the clamping hands 95 are horizontally and oppositely provided with the lugs for supporting the goods, and if the wrapping clamping is not tight, the goods fall down is prevented by the lug support arranged at the bottom.
Each group of the folding frames 93 is mutually crossed and hinged with three independent folding rods, and two parallel folding rods are mutually crossed and hinged with the other folding rod, so that the strength of the folding frames 93 is ensured, and enough clamping force can be generated.
On the basis of any one of the above technical schemes and the mutual combination thereof, the unmanned aerial vehicle of the application further comprises a GPS navigator 4 arranged on the installation base 7, the GPS navigator 4 communicates with a control board 12 arranged inside the installation base 7, and the route can be controlled according to the position signal of the GPS navigator 4. The GPS navigator 4 can realize the positioning of the unmanned aerial vehicle in an error range of 1-2 m and perform rough positioning. As shown in fig. 4, which is a plan view of the unmanned aerial vehicle, the control board 12 and the battery 11 disposed therein can be seen.
Still further, the unmanned aerial vehicle further comprises a camera system 10, as shown in fig. 3, which is a structural diagram of the camera system, the camera system 10 comprises a fixing plate 101 fixed at the bottom of the mounting base 7, a fixing rod 102 is fixedly arranged under the fixing plate 101, and the camera 106 is connected and positioned by the fixing rod 102.
The camera system 10 further comprises an outer rotating platform 104 which is Y-shaped with the fixed rod 102 and provided with two rotating connection points, the outer rotating platform 104 is provided with two connection points, the two connection points are respectively provided with a rotating joint 103, the outer rotating platform 104 is in a spherical shell shape, an opening is arranged at the bottom to expose a camera, the outer rotating platform 104 is rotationally provided with a spherical inner rotating platform 105, a camera 106 is arranged at the bottom of the inner rotating platform 105, the inner rotating platform 105 circumferentially rotates on the inner wall of the outer rotating platform 104, the inner rotating platform 105 and the outer rotating platform 104 can rotate in two degrees of freedom of a direction angle and a pitch angle, and the rotation of the inner rotating platform 105 and the rotation of the outer rotating platform 104 are mutually combined, so that a wider range can be shot. After the camera collects images, the collected images are processed through the control panel 12, such as graying, filtering, edge detection, characteristic value extraction and matching and the like, pose calculation is finally carried out, and then positioning parameters are output, so that accurate positioning of the unmanned aerial vehicle is realized. The unmanned aerial vehicle flies to the approximate azimuth through the GPS navigator 4, and then the images are shot by the camera to carry out analysis and calculation, so that an accurate landing point is obtained.
The pressure sensor is arranged on the inner side of the clamping hand 95, and the control board 12 controls the locking of the cylinder according to the pressure sensor. When the goods are clamped to reach the set pressure value, the power source is locked, and the clamping reliability is ensured.
The top of the installation base 7 is provided with the protective cover 6 in a sealing way, and the parts inside the installation base 7 are sealed by the protective cover 6, so that the purpose of protection is achieved. The top of the protection cover 6 is provided with a solar panel 5, and the solar power generation is utilized to charge the battery in the installation base 7, so that unmanned endurance mileage is improved.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. The fence type carrying unmanned aerial vehicle is characterized by comprising a mounting base (7), wherein at least four brackets (3) are outwards arranged around the mounting base (7) in an extending mode, the tail ends of the brackets (3) are respectively provided with a propeller (2), and two sides of the bottom of the mounting base (7) are provided with drop frames (8); the bottom of the installation base (7) is provided with a clamping device (9), the clamping device (9) comprises a guide rod (91) connected to the installation base (7), the guide rod (91) comprises a sleeve capable of extending up and down, two sides of the guide rod (91) are respectively connected with a folding frame (93), the folding frames (93) are provided with a plurality of groups of X-shaped folding rods hinged with each other, one side of each folding frame (93) is driven by the guide rod (91) to rotate, the other side of each folding frame is vertically connected with a clamping hand (95), and the clamping hand (95) is hinged with one connecting point of each folding frame (93) and is in sliding connection with the other connecting point;
a sleeve (92) is arranged at a connecting point of the folding frame (93) and the upper part of the guide rod (91), the sleeve (92) is in interference fit with the guide rod (91), and the folding frame (93) is in hinged fit with the sleeve (92); the connection point at the lower part is hinged with an upward pushing hand (94), and the innermost sleeve of the guide rod (91) is fixedly connected with the upward pushing hand (94); the bottom of the push-up hand (94) is a plane capable of limiting the top of the goods;
the inner side of the clamping hand (95) is provided with a pressure sensor, and the control board (12) controls the locking of the cylinder according to the pressure sensor;
the sleeve on the outermost side of the guide rod (91) is fixed on the mounting base (7), and the sleeve on the innermost side is driven by an air cylinder arranged in the mounting base (7) to move up and down.
2. The fence type cargo carrying unmanned aerial vehicle according to claim 1, wherein the bottom edges of the clamping hands (95) are horizontally and oppositely provided with lugs for supporting cargoes.
3. The fence type unmanned aerial vehicle according to claim 2, wherein each group of the folding frames (93) is provided with three independent folding rods in the X-shaped folding rods which are mutually hinged in a crossing manner, and two folding rods which are arranged in parallel are hinged with the other folding rod in a crossing manner.
4. A barrier cargo drone according to any one of claims 1 to 3, further comprising a GPS navigator (4) provided on the mounting base (7), a control board (12) provided inside the mounting base (7) controlling the course according to the position signal of the GPS navigator (4).
5. The barrier cargo drone of claim 4, further comprising a camera system (10), the camera system (10) comprising a fixed plate (101) fixed to the bottom of the mounting base (7), the camera (106) being connected to the fixed plate (101) by a fixed rod (102).
6. The barrier cargo vehicle of claim 5, wherein the camera system (10) further comprises an outer rotating platform (104) having two rotating connection points with the fixed rod (102), the spherical shell-shaped outer rotating platform (104) rotates to provide a spherical inner rotating platform (105), and the camera (106) is provided at the bottom of the inner rotating platform (105).
7. The barrier cargo unmanned aerial vehicle according to claim 4, wherein the top of the mounting base (7) is provided with a protective cover (6) in a sealing manner, the top of the protective cover (6) is provided with a solar panel (5), and the battery in the mounting base (7) stores electric energy generated by the solar panel (5).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710146119.3A CN106892098B (en) | 2017-03-13 | 2017-03-13 | Fence type object carrying unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710146119.3A CN106892098B (en) | 2017-03-13 | 2017-03-13 | Fence type object carrying unmanned aerial vehicle |
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| CN106892098A CN106892098A (en) | 2017-06-27 |
| CN106892098B true CN106892098B (en) | 2023-10-31 |
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| CN107651180A (en) * | 2017-09-29 | 2018-02-02 | 广州地理研究所 | A kind of unmanned plane precisely drops a bomb fire extinguishing system |
| CN107972495B (en) * | 2017-11-27 | 2020-11-06 | 天津智辰电子科技有限公司 | Unmanned aerial vehicle based on solar cell panel, charging control system and control method |
| CN109987227A (en) * | 2017-12-30 | 2019-07-09 | 广州刀锋智能科技有限公司 | A kind of goods and materials jettison system based on unmanned plane |
| CN108313276B (en) * | 2018-03-30 | 2021-06-08 | 广东知识城运营服务有限公司 | Unmanned aerial vehicle |
| CN108725767A (en) * | 2018-05-29 | 2018-11-02 | 钦州学院 | A kind of unmanned plane for express transportation |
| CN108791925A (en) * | 2018-06-15 | 2018-11-13 | 南通嗨森无人机科技有限公司 | A kind of civilian express delivery load-carrying unmanned plane |
| CN108657438B (en) * | 2018-07-17 | 2023-09-01 | 吉林大学 | Quick carrying and clamping device for wrapping load of semi-enclosed L-shaped unmanned aerial vehicle |
| CN109204820B (en) * | 2018-09-20 | 2020-10-09 | 六安联众工业自动化技术有限公司 | Fire-extinguishing rescue method |
| CN113056418B (en) * | 2018-11-16 | 2022-06-07 | 渥美不动产有限公司 | Flight body and flight body control system |
| CN110398983A (en) * | 2019-07-15 | 2019-11-01 | 北京三快在线科技有限公司 | A kind of logistics transportation system, unmanned plane, landing platform and its control method |
| CN110844080A (en) * | 2019-10-29 | 2020-02-28 | 浙江百世技术有限公司 | Unmanned aerial vehicle for cargo transportation |
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| CN106892098A (en) | 2017-06-27 |
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