CN106965924A - A kind of multi-rotor unmanned aerial vehicle - Google Patents
A kind of multi-rotor unmanned aerial vehicle Download PDFInfo
- Publication number
- CN106965924A CN106965924A CN201710185145.7A CN201710185145A CN106965924A CN 106965924 A CN106965924 A CN 106965924A CN 201710185145 A CN201710185145 A CN 201710185145A CN 106965924 A CN106965924 A CN 106965924A
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- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- rotor unmanned
- bow member
- rotor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 239000000725 suspension Substances 0.000 claims description 20
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 4
- 238000010276 construction Methods 0.000 claims description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims 2
- 229910052742 iron Inorganic materials 0.000 claims 1
- 238000012544 monitoring process Methods 0.000 abstract description 6
- 238000010521 absorption reaction Methods 0.000 description 18
- 230000000694 effects Effects 0.000 description 5
- 239000002156 adsorbate Substances 0.000 description 4
- 230000002411 adverse Effects 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 238000003915 air pollution Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 229910001172 neodymium magnet Inorganic materials 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 230000032258 transport Effects 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
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Electric Cable Installation (AREA)
Abstract
A kind of multi-rotor unmanned aerial vehicle, belong to unmanned vehicle technical field, including fuselage, horn, motor, rotor, foot stool, horn is connected on fuselage, and motor is provided with horn, rotor is connected on motor, foot stool is arranged at below fuselage, in addition, being additionally provided with bow member in multi-rotor unmanned aerial vehicle, the lower end of bow member is connected on horn, and magnet is additionally provided with bow member.When in use, multi-rotor unmanned aerial vehicle can be adsorbed on pinnacled irony object by the magnetic force of magnet above bow member, for example, adsorbs and worked on cross rod of traffic sign.Multi-rotor unmanned aerial vehicle in adsorbed state provides lift without battery power, can greatly prolong working time of the airborne working equipment during a landing.Multi-rotor unmanned aerial vehicle of the present invention can be widely applied to pinpoint the fields such as monitoring, monitoring, shooting, traffic administration, city management in the air.
Description
Technical field
The present invention relates to unmanned vehicle technical field, and in particular to a kind of multi-rotor unmanned aerial vehicle.
Background technology
Multi-rotor unmanned aerial vehicle generally has 3~9 rotors, especially most commonly seen with 4 rotors.Multi-rotor unmanned aerial vehicle possesses vertically
Landing, hovering, low-speed operations, inverted flight, side fly, 360 degree rotate etc. function, taken photo by plane in near-earth（Take pictures, take the photograph in the air
Picture）, monitoring, scout, radio signal relaying, high-voltage line, bridge, dam and road surface inspection Check, search and rescue aid transports express delivery etc.
Aspect is applied.Existing multi-rotor unmanned aerial vehicle mainly has following deficiency：By loading on machine during due to hovering in the air
Battery provides electric energy, therefore cruising time is short, and most of multi-rotor unmanned aerial vehicles worked by battery powers can only once be held
Continuous flight 10~30 minutes or so, that is to say, that typically only 10~30 minutes time that multi-rotor unmanned aerial vehicle works in the air,
People far can not be met carried out using multi-rotor unmanned aerial vehicle monitor, shoot in the air, propagandaing directed to communicate, transmitting for a long time, signal relaying,
The actual demand such as deploy troops on garrison duty, await orders.In addition, existing multi-rotor unmanned aerial vehicle is hovered in the air when the monitoring of progress fixed point, shooting, its appearance
State is influenceed larger by wind-force and position sensor signal, and stability is difficult to ensure；Multi-rotor unmanned aerial vehicle is hovered work in the air
When, flight control system needs to carry out its posture to control and adjust in real time, has both consumed the electric energy of battery, there is also no small safety is hidden
Suffer from, just in case occurring mechanical, automatically controlled failure or misoperation, just easily cause air crash accident（Aircraft bombing）, or even fall down from the air
To injure people by a crashing object.
The content of the invention
" aerial " work or the multi-rotor unmanned aerial vehicle awaited orders can be rested on for a long time it is an object of the invention to provide one kind,
To solve the deficiency that existing multi-rotor unmanned aerial vehicle airborne period is short, can not work in the air for a long time.
The technical scheme is that：A kind of multi-rotor unmanned aerial vehicle, including fuselage, horn（Propeller bracket）, motor, rotor
（Propeller）, foot stool（Leg）, one end connection fuselage of horn, motor is on horn, and rotor is arranged on the rotating shaft of motor
On（Or on speed changer）, foot stool is connected to below fuselage, in addition, bow member is additionally provided with multi-rotor unmanned aerial vehicle, under bow member
End（Or bottom）It is connected on horn, is additionally provided with magnet, or connection suspension rod on bow member in addition, and the top of suspension rod is provided with
Magnet.Multi-rotor unmanned aerial vehicle can by the magnet absorption on bow member cross rod of traffic sign, street lamp cross bar equal-height position irony
On object.After adsorbing on pinnacled irony object, the working equipment carried in multi-rotor unmanned aerial vehicle（For example camera, video camera,
Megaphone, signal trunk module, illuminating lamp, gas sensor etc.）Just can be for a long time（General reachable several hours, or even 24
More than hour）Aloft work or await orders.For the ease of the absorption of manipulation multi-rotor unmanned aerial vehicle aloft, in its fuselage in general above
A camera lens is additionally provided with towards putting video camera on body upper（Camera）.
The beneficial effects of the invention are as follows, aloft worked because multi-rotor unmanned aerial vehicle can be adsorbed, and in adsorption-like
During state, lift is provided without rotor, now drives the motor of rotor wing rotation to be stopped, battery power, battery electricity will not be consumed
It can be maked a return voyage except retaining multi-rotor unmanned aerial vehicle in addition to consumption, remaining can all supply airborne equipment work, therefore can be greatly
Extend airborne equipment in the time of " aerial " work, and under adsorbed state, the posture of multi-rotor unmanned aerial vehicle and position are all non-
It is often stable, without control in addition, influenceed also very small by wind-force.In addition, if multi-rotor unmanned aerial vehicle in use need not
Absorption aloft, before can first by bow member from pulling down, multi-rotor unmanned aerial vehicle so of the present invention just can picture commonly many rotations
Wing unmanned plane is used like that, and adverse effect is not resulted in its performance and purposes.
Brief description of the drawings
Fig. 1 is the schematic front view of multi-rotor unmanned aerial vehicle one embodiment of the present invention.
Fig. 2 is the schematic perspective view of Fig. 1 embodiment multi-rotor unmanned aerial vehicles.
Fig. 3 be Fig. 1 embodiments multi-rotor unmanned aerial vehicle absorption on cross rod of traffic sign when use state schematic diagram.
Fig. 4 is the schematic perspective view of second embodiment of multi-rotor unmanned aerial vehicle of the present invention.
Fig. 5 be Fig. 4 embodiments multi-rotor unmanned aerial vehicle absorption on cross rod of traffic sign when use state schematic diagram.
Fig. 6 is that Fig. 4 embodiment multi-rotor unmanned aerial vehicles pull down schematic perspective view after suspension rod.
During Fig. 7 is first and second embodiment, the schematic perspective view for the suspension rod being connected on bow member.
Fig. 8 is the schematic perspective view of 3rd embodiment of multi-rotor unmanned aerial vehicle of the present invention.
Fig. 9 be Fig. 8 embodiments multi-rotor unmanned aerial vehicle absorption on cross rod of traffic sign when use state schematic diagram.
In figure：1. fuselage, 2. horns, 3. motors, 4. rotors, 5. foot stools, 6. video cameras, 7. bow members, 7A. bow members connect
Head, 8. suspension rods, 8A. plunger arms, 9. magnets, 9A. magnet pedestals, 10. cross rod of traffic sign put video camera on 11..
Embodiment
Below in conjunction with the accompanying drawings, by embodiment, the invention will be further described.
Reference picture 1, Fig. 2, multi-rotor unmanned aerial vehicle of the present invention include fuselage in terms of mechanical realization（1）, horn（2）, motor
（3）, rotor（4）, foot stool（5）, horn（2）It is connected to fuselage（1）On（Can also be using the integrated structure of fuselage horn）, machine
Arm（2）On motor is installed（3）, rotor（4）It is connected to motor（3）Rotating shaft on（Or on speed changer）, foot stool（5）It is arranged at machine
Body（1）Below, fuselage（1）In be provided with battery and fly control unit, head and video camera are further typically provided with below fuselage
（6）Or other working equipments, part.In addition, in horn（2）Outer end is also associated with bow member（7）, in bow member（7）Above be provided with
Suspension rod（8）, suspension rod（8）Upper end be provided with magnet（9）.
Reference picture 3, when in use, if desired its absorption is in cross rod of traffic sign for multi-rotor unmanned aerial vehicle of the present invention（10）It is contour
Work or await orders on the irony object at place, then just first control it to fly to cross rod of traffic sign（10）Lower section, then pass through arch
Frame（7）On suspension rod（8）The magnet of upper end（9）Adsorbed in cross rod of traffic sign（10）On.After absorption is good, driving rotation
The motor of wing rotation can just be stopped, and such multi-rotor unmanned aerial vehicle just can be for a long time（Even one day such as several hours）
Absorption aloft works or awaited orders, its video camera carried（6）It just can aloft monitor, image for a long time.
Bow member in reference picture 4, multi-rotor unmanned aerial vehicle of the present invention（7）The centre on top is provided with bow member joint（7A）, suspension rod（8）
It is connected to the bow member joint（7A）On, suspension rod（8）Upper end be provided with magnet（9）.In addition, on the fuselage of multi-rotor unmanned aerial vehicle
Face, be additionally provided with camera lens upward on put video camera（11）.
Reference picture 5, when being worked on the irony object for needing to be adsorbed onto multi-rotor unmanned aerial vehicle into eminence, first controls many rotors
Unmanned plane flies to the irony underbelly of eminence, and combines installed in fuselage（1）Video camera is put on above（11）Pass back
Realtime graphic makes corresponding adjustment to self-position, thus multi-rotor unmanned aerial vehicle easily can be passed through into bow member（7）Suspension rod
（8）On magnet（9）To adsorb on pinnacled irony object, for example, adsorb in cross rod of traffic sign（10）On.
Reference picture 6, multi-rotor unmanned aerial vehicle of the present invention when in use, can be by suspension rod from arch if aloft being worked without absorption
Frame（7）On pull down, that is, from bow member joint（7A）Pull down at place.It is of course also possible to by whole bow member（7）From multi-rotor unmanned aerial vehicle
On disassemble.
Suspension rod used in reference picture 7, multi-rotor unmanned aerial vehicle of the present invention（8）Upper end be equipped with magnet（9）, the magnet（9）
It is fixed in magnet pedestal（9A）In, and magnet is typically using the strong Nd-Fe-B permanent magnet of magnetic force.Suspension rod（8）Lower end to hang
Knock-off joint（8A）, the plunger arm（8A）Screw thread is provided with, suspension rod is threadedly attached to the bow member joint on bow member when using
On.Certainly, plunger arm（8A）With bow member joint（7A）Between connection can also be other connected modes, for example buckle-type connect
Connect, magnetic-adsorption connection etc..
It is used for the magnet being adsorbed onto on eminence irony object in reference picture 8, multi-rotor unmanned aerial vehicle of the present invention（9）Directly set
In bow member（7）Above.
Reference picture 9, multi-rotor unmanned aerial vehicle of the present invention when in use, can pass through bow member（7）Magnet above（9）To adsorb
On pinnacled irony object, for example, adsorb in cross rod of traffic sign（10）On.Multi-rotor unmanned aerial vehicle is set to terminate suction if desired
Attached state, departs from from adsorbate, as long as control multi-rotor unmanned aerial vehicle is constantly waved, waves rear bow member（7）Magnet above（9）
Contact area between adsorbate can diminish, and the magnetic force of absorption can also diminish, when the gravity of multi-rotor unmanned aerial vehicle is plus waving
When the centrifugal force of generation is more than the absorption affinity of magnet, multi-rotor unmanned aerial vehicle can just drop disengaging from adsorbate.It is of course also possible to
Allow magnet（9）It is retracted magnet pedestal（9A）In reduce absorption affinity, multi-rotor unmanned aerial vehicle is dropped from adsorbate disengaging.Separately
Outside, can also be in magnet pedestal（9A）In or side electromagnet is set again, allow multi-rotor unmanned aerial vehicle to utilize magnet and electromagnet
Magnetic force is adsorbed onto on the irony object of eminence.The irony object of magnet and eminence（Such as cross rod of traffic sign）Between magnetic absorption
Power is slightly less than the main screw lift of multi-rotor unmanned aerial vehicle, along with the magnetic force of electromagnet generation is with regard to that can make multi-rotor unmanned aerial vehicle stably
Absorption is on irony object（As on cross rod of traffic sign）.When needing to allow multi-rotor unmanned aerial vehicle to depart from adsorbed state, as long as making
Electromagnet is powered off.
Bow member in multi-rotor unmanned aerial vehicle of the present invention（7）It is connected to horn（2）Outer end, its benefit is bow member（7）Can be with
Protective action is played to rotor, it is to avoid the rotor rotated at a high speed in multi-rotor unmanned aerial vehicle is encountered foreign object and damaged.
Bow member in multi-rotor unmanned aerial vehicle of the present invention（7）And suspension rod（8）It is general using the high material of carbon fiber equal strength come
Make, and typically use hollow-core construction.Due to lightweight, therefore adverse effect will not be brought to the landing of multi-rotor unmanned aerial vehicle,
Thus the consumption of increased battery electric quantity can also ignore.
When being worked on multi-rotor unmanned aerial vehicle need not be adsorbed to pinnacled irony object, by bow member before can using
（7）Disassemble, or without by bow member（7）It is installed in multi-rotor unmanned aerial vehicle.Bow member is pulled down（7）Multi-rotor unmanned aerial vehicle can
To be used as existing same type unmanned plane, adverse effect will not be brought to its function, performance, it seems in appearance
Also distinguished less with existing same type unmanned plane.
Fuselage and horn in multi-rotor unmanned aerial vehicle of the present invention can also use integral structure（Such structure is also referred to as
Frame or support）, such structure is it will be also be appreciated that be equal to above-mentioned fuselage（2）And horn（3）.
Multi-rotor unmanned aerial vehicle of the present invention can be used as existing multi-rotor unmanned aerial vehicle（After bow member is disassembled, see
Get up and be not much different with existing same type unmanned plane）, can be adsorbed aloft when required by the magnet on bow member again
Irony object on.When being in adsorbed state due to multi-rotor unmanned aerial vehicle, lift is provided without battery power so that entrained by it
Working equipment（Such as video camera）Or part（Gas sensor for example for detecting air pollution）Available power significantly
Increase, continuously working even more than 24 hours several hours at " aerial " will be no longer difficult, the use space of multi-rotor unmanned aerial vehicle
Therefore will greatly it be extended.For example, municipal administration can lead to by multi-rotor unmanned aerial vehicle absorption on light pole, cross rod of traffic sign
The random pendulum crossed on Airborne camera monitoring street disorderly sells, disorderly stop to leave about, littering, the behavior such as spit everywhere, in addition can also
From the picture of on-site law-enforcing is taken in the air, if clashing, lower video evidence can not only be recorded, can also prevent other people from grabbing to take the photograph very well
As equipment destroys video recording；When reporter interviews at the scene, multi-rotor unmanned aerial vehicle absorption can be allowed aloft to image, so if it happens
Hit reporter, grab the event of apparatus for making a video recording, adsorb pinnacled multi-rotor unmanned aerial vehicle with regard to evidence can be taken；Running into burst thing
During part（Such as street rally, demonstration, traffic accident, large-scale activity）, multi rack multi-rotor unmanned aerial vehicle can be adsorbed in the police exist
On light pole, cross rod of traffic sign at incident, field conditions are carried out to monitor in real time, recorded a video；It is close in personnel such as exhibition scenes
Collect place, multi-rotor unmanned aerial vehicle can be adsorbed on suspension bracket indoors, the personnel of lower section are monitored by security side；Scene is chased after
When looking into runaway convict, multi-rotor unmanned aerial vehicle absorption aloft and can be opened face identification system, just can be under multi-rotor unmanned aerial vehicle
The personnel that side passes by carry out Real time identification, if any target person by can identify at once.Particularly in highway
In traffic administration, law enforcement, traffic police can adsorb multi-rotor unmanned aerial vehicle of the present invention light pole, traffic sign horizontal stroke in highway
On bar, to random lane change, stop, take urgent track, the illegal activities such as drive over the speed limit carry out shooting evidence obtaining, accident section is entered
Row monitoring in real time, solves and the deficiencies such as complicated, airborne period short, easy generation air crash is manipulated when existing multi-rotor unmanned aerial vehicle is used,
The good assistant of traffic police will be turned into.
Interest field of the present invention is applicable not only to multi-rotor unmanned aerial vehicle, can equally be well applied to the model plane rotor flying with remote control
Device.
Claims (5)
1. a kind of multi-rotor unmanned aerial vehicle, including fuselage, horn, motor, rotor, foot stool, horn are connected on fuselage, motor is installed
On horn, rotor is connected on motor, and foot stool is arranged at below fuselage, it is characterized in that：Also set up in multi-rotor unmanned aerial vehicle
There is bow member, the lower end of bow member is connected on horn, be additionally provided with magnet on bow member in addition, or connection suspension rod, and suspension rod
Top is provided with magnet.
2. multi-rotor unmanned aerial vehicle according to claim 1, it is characterized in that：Bow member and suspension rod are hollow-core construction.
3. multi-rotor unmanned aerial vehicle according to claim 1, it is characterized in that：The plunger arm of downrod lower end is provided with screw thread, hangs
Bar is threadedly attached on the bow member joint on bow member.
4. multi-rotor unmanned aerial vehicle according to claim 1, it is characterized in that：In magnet pedestal or side is additionally provided with electromagnetism
Iron, multi-rotor unmanned aerial vehicle is adsorbed onto by the magnetic force of magnet and electromagnet on the irony object of eminence.
5. multi-rotor unmanned aerial vehicle according to claim 1, it is characterized in that：Provided with camera lens upward upper on fuselage
Put video camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710185145.7A CN106965924A (en) | 2017-03-25 | 2017-03-25 | A kind of multi-rotor unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710185145.7A CN106965924A (en) | 2017-03-25 | 2017-03-25 | A kind of multi-rotor unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106965924A true CN106965924A (en) | 2017-07-21 |
Family
ID=59330098
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710185145.7A Pending CN106965924A (en) | 2017-03-25 | 2017-03-25 | A kind of multi-rotor unmanned aerial vehicle |
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| Country | Link |
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| CN (1) | CN106965924A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107600443A (en) * | 2017-08-11 | 2018-01-19 | 无锡科技职业学院 | A kind of system of taking photo by plane for being used to produce foreign language teaching resource |
| CN108082478A (en) * | 2017-12-16 | 2018-05-29 | 佛山市神风航空科技有限公司 | A kind of early warning type unmanned plane monitors Reconnaissance system |
| CN108116672A (en) * | 2017-12-19 | 2018-06-05 | 重庆大学 | A kind of DCB Specimen Electrostatic Absorption unmanned plane |
| CN115230976A (en) * | 2022-07-05 | 2022-10-25 | 港珠澳大桥管理局 | Unmanned aerial vehicle load quick assembly disassembly device |
| WO2024178116A1 (en) * | 2023-02-24 | 2024-08-29 | Saudi Arabian Oil Company | Magnetic drone |
-
2017
- 2017-03-25 CN CN201710185145.7A patent/CN106965924A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107600443A (en) * | 2017-08-11 | 2018-01-19 | 无锡科技职业学院 | A kind of system of taking photo by plane for being used to produce foreign language teaching resource |
| CN107600443B (en) * | 2017-08-11 | 2020-10-16 | 无锡科技职业学院 | Aerial photography system for shooting foreign language teaching resources |
| CN108082478A (en) * | 2017-12-16 | 2018-05-29 | 佛山市神风航空科技有限公司 | A kind of early warning type unmanned plane monitors Reconnaissance system |
| CN108082478B (en) * | 2017-12-16 | 2021-11-16 | 深圳市翼飞鸿天无人机科技有限公司 | Early warning type unmanned aerial vehicle monitoring and investigation system |
| CN108116672A (en) * | 2017-12-19 | 2018-06-05 | 重庆大学 | A kind of DCB Specimen Electrostatic Absorption unmanned plane |
| CN115230976A (en) * | 2022-07-05 | 2022-10-25 | 港珠澳大桥管理局 | Unmanned aerial vehicle load quick assembly disassembly device |
| WO2024178116A1 (en) * | 2023-02-24 | 2024-08-29 | Saudi Arabian Oil Company | Magnetic drone |
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| PB01 | Publication | ||
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Application publication date: 20170721 |