CN107585299B - A unmanned aerial vehicle for forest resources investigation prevents hanging in tree - Google Patents
A unmanned aerial vehicle for forest resources investigation prevents hanging in tree Download PDFInfo
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- CN107585299B CN107585299B CN201710658480.4A CN201710658480A CN107585299B CN 107585299 B CN107585299 B CN 107585299B CN 201710658480 A CN201710658480 A CN 201710658480A CN 107585299 B CN107585299 B CN 107585299B
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Abstract
The invention relates to an unmanned aerial vehicle for forest resource investigation and preventing the unmanned aerial vehicle from being hung on a tree, which comprises a machine body, a propeller, a support, a camera and a cutting device, wherein the cutting device comprises a transverse driving mechanism, a longitudinal driving mechanism, a retracting mechanism and a cutting mechanism.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle for preventing suspension on trees, which is used for forest resource investigation.
Background
The unmanned aerial vehicle is an unmanned aerial vehicle controlled by a radio remote control device or an onboard computer program control system. The unmanned aerial vehicle has the advantages of simple structure and low use cost, not only can complete the task executed by the piloted aircraft, but also is more suitable for the task which is not suitable for being executed by the piloted aircraft.
At present, unmanned aerial vehicle is applied to the forest resource investigation work gradually, can carry out automatic measure to the forest vertical structure, has improved the efficiency of forest investigation work by a wide margin. However, because of the particularity of the forest environment, the situation that the unmanned aerial vehicle is hung on a tree due to untimely obstacle avoidance can easily occur in the flying process, once the situation is met, the unmanned aerial vehicle is difficult to take down from the tree, and if a worker obtains the situation in a tree climbing mode, the situation has great potential safety hazard.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to overcome the defects of the prior art, the unmanned aerial vehicle used for forest resource investigation and preventing the unmanned aerial vehicle from being hung on a tree is provided.
The technical scheme adopted by the invention for solving the technical problems is as follows: an unmanned aerial vehicle for forest resource investigation and preventing the unmanned aerial vehicle from being hung on a tree comprises a machine body, a propeller, a support and a camera, wherein the machine body further comprises a cutting device which is arranged in the machine body;
the cutting device comprises a transverse driving mechanism, a longitudinal driving mechanism, a retracting mechanism and a cutting mechanism, wherein the longitudinal driving mechanism is arranged between the transverse driving mechanism and the retracting mechanism, and the cutting mechanism is arranged above the retracting mechanism;
the transverse driving mechanism comprises a first motor, a driving wheel, a belt and a driven wheel, the first motor is in transmission connection with the driving wheel, the driving wheel is in transmission connection with the driven wheel through the belt, the belt is horizontally arranged, a first fixed block is arranged above the belt, and the longitudinal driving mechanism is arranged above the first fixed block;
the longitudinal driving mechanism comprises a second motor, a half gear and a driving frame, the second motor is in transmission connection with the half gear, the driving frame is horizontally arranged, first racks are arranged in the driving frame and are horizontally arranged, the number of the first racks is two, the two first racks are respectively arranged at the top and the bottom of the driving frame, the half gear is positioned between the two first racks, the half gear is respectively meshed with the two first racks, a first limiting block is arranged on the driving frame, a limiting groove is horizontally arranged on the first fixing block, the first limiting block is positioned in the limiting groove, the first limiting block is in sliding connection with the limiting groove, a second fixing block is arranged above the driving frame, and the retraction mechanism is arranged above the second fixing block;
the winding and unwinding mechanism comprises a third motor, a worm wheel, a screw rod, a sleeve and a lifting platform, the third motor is in transmission connection with the worm, the screw rod is vertically arranged, the bottom of the screw rod is connected with a second fixed block through a bearing, the top of the screw rod is positioned in the sleeve, the inner wall of the sleeve is provided with an internal thread, the screw rod is in threaded connection with the sleeve, the worm wheel is sleeved on the screw rod, the worm wheel is meshed with the worm, the outer wall of the sleeve is provided with a second limit block, a limit rod is vertically arranged on the second fixed block, the limit rod penetrates through the second limit block and is in sliding connection with the second limit block, the lifting platform is horizontally arranged above the sleeve, and the cutting mechanism is arranged above the lifting platform;
the cutting mechanism comprises a fourth motor, a first blade and second blades, the fourth motor is vertically arranged upwards, the first blade is horizontally arranged above the fourth motor, an output shaft of the fourth motor is connected with the center of the first blade, the number of the second blades is two, the two second blades are symmetrically arranged relative to the first blade, two ends of the first blade are hinged to one ends of the two second blades respectively, one ends, far away from the first blade, of the two second blades are located below the first blade, the top surface of the machine body is provided with an opening, and the first blade is located in the opening.
Preferably, in order to improve the cutting efficiency, an angle adjusting mechanism is arranged on the lifting platform and is in transmission connection with the cutting mechanism, the angle adjusting mechanism comprises a fifth motor, a cylindrical gear, a second rack, a driving rod, a driving wheel, a driving shaft and an adjusting rod, the fifth motor is in transmission connection with the cylindrical gear, the second rack is horizontally arranged and is in sliding connection with the lifting platform, the cylindrical gear is meshed with the second rack, the driving shaft is horizontally arranged and is connected with the lifting platform through a bearing seat, the driving wheel is sleeved on the driving shaft, one end of the driving rod is hinged with the second rack, the other end of the driving rod is hinged with the driving wheel, the hinged position of the driving rod and the driving wheel is positioned on one side of the circle center of the driving wheel, and the adjusting rod is vertically arranged above the driving wheel, the fourth motor is arranged above the adjusting rod.
Preferably, in order to improve the sliding stability of the second rack, a sliding groove is formed in the lifting platform, and the second rack is in sliding connection with the lifting platform through the sliding groove.
Preferably, in order to further improve the cutting efficiency, a plurality of third blades are arranged on the side surface of the machine body.
Preferably, in order to improve the stability of the movement of the driving frame, the limiting groove is a dovetail groove.
Preferably, in order to quickly retract and release the first blade and the second blade, the surface of the screw rod is provided with an anti-corrosion zinc coating.
Preferably, in order to ensure the moving stability of the sleeve, the surfaces of the second limiting block and the limiting rod are both provided with wear-resistant paint.
Preferably, in order to make the operating states of the respective mechanisms intelligent, the first motor, the second motor, the third motor, the fourth motor and the fifth motor are all servo motors.
Preferably, in order to realize the automatic back and forth movement of the cutting mechanism, a pressure sensor is arranged at the opening of the machine body, a PLC is further arranged in the machine body, and the pressure sensor, the first motor and the second motor are electrically connected with the PLC.
Preferably, the first, second and third blades are made of stainless steel to prolong the service life of the blades.
The unmanned aerial vehicle for forest resource investigation has the advantages that when the unmanned aerial vehicle is suspended on a tree due to untimely obstacle avoidance in the flying process, the cutting device cuts the branches wound around the unmanned aerial vehicle, so that the unmanned aerial vehicle can be taken off easily after getting rid of obstacles, and potential safety hazards caused by the fact that workers climb the tree to acquire the unmanned aerial vehicle are reduced.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle for forest resource investigation, which is used for preventing the unmanned aerial vehicle from being hung on a tree.
Fig. 2 is a schematic view of a connection structure of a transverse driving mechanism and a longitudinal driving mechanism of the unmanned aerial vehicle for forest resource investigation, which is used for preventing the unmanned aerial vehicle from being hung on a tree.
Fig. 3 is a schematic structural diagram of a longitudinal driving mechanism of the unmanned aerial vehicle for forest resource investigation, which is used for preventing the unmanned aerial vehicle from being hung on a tree.
Fig. 4 is a schematic structural diagram of a retraction mechanism of the unmanned aerial vehicle for forest resource investigation, which is used for preventing the unmanned aerial vehicle from being hung on a tree.
Fig. 5 is a schematic view of a connection structure of the lifting platform, the cutting mechanism and the angle adjusting mechanism of the unmanned aerial vehicle for forest resource investigation, which is used for preventing the unmanned aerial vehicle from being hung on a tree.
In the figure: 1. the cutting machine comprises a machine body, a propeller, a bracket, a camera, a cutting device, a first motor, a driving wheel, a belt, a driven wheel, a second motor, a half gear, a driving frame, a first rack, a second rack, a third motor, a worm gear, a worm wheel, a worm 17, a screw rod, a sleeve, a lifting table, a driving table, a first blade, a second blade, a driving table, a driving frame, a first rack, a second rack, a driving rod, a driving wheel, a driving shaft and a driving.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
As shown in fig. 1-5, an unmanned aerial vehicle for forest resource investigation and preventing hanging on a tree comprises a body 1, a propeller 2, a bracket 3 and a camera 4, wherein the body 1 further comprises a cutting device 5, and the cutting device 5 is arranged in the body 1;
when unmanned aerial vehicle appeared when hanging the condition on the tree untimely because of keeping away the barrier at the in-process of flight, cut its winding branch around unmanned aerial vehicle through cutting device 5 for unmanned aerial vehicle can get rid of after the barrier light by taking off, has also reduced the staff and has acquireed the potential safety hazard that unmanned aerial vehicle brought because of climbing the tree.
The cutting device 5 comprises a transverse driving mechanism, a longitudinal driving mechanism, a retracting mechanism and a cutting mechanism, wherein the longitudinal driving mechanism is arranged between the transverse driving mechanism and the retracting mechanism, and the cutting mechanism is arranged above the retracting mechanism;
the transverse driving mechanism comprises a first motor 6, a driving wheel 7, a belt 8 and a driven wheel 9, the first motor 6 is in transmission connection with the driving wheel 7, the driving wheel 7 is in transmission connection with the driven wheel 9 through the belt 8, the belt 8 is horizontally arranged, a first fixed block is arranged above the belt 8, and the longitudinal driving mechanism is arranged above the first fixed block;
the longitudinal driving mechanism comprises a second motor 10, a half gear 11 and a driving frame 12, the second motor 10 is in transmission connection with the half gear 11, the driving frame 12 is horizontally arranged, first racks 13 are arranged in the driving frame 12, the first racks 13 are horizontally arranged, the number of the first racks 13 is two, the two first racks 13 are respectively arranged at the top and the bottom of the driving frame 12, the half gear 11 is positioned between the two first racks 13, the half gear 11 is respectively meshed with the two first racks 13, a first limiting block is arranged on the driving frame 12, a limiting groove is horizontally arranged on the first fixing block, the first limiting block is positioned in the limiting groove, the first limiting block is in sliding connection with the limiting groove, a second fixing block is arranged above the driving frame 12, and the retracting mechanism is arranged above the second fixing block;
the retraction mechanism comprises a third motor 14, a worm 15, a worm wheel 16, a lead screw 17, a sleeve 18 and a lifting platform 19, the third motor 14 is in transmission connection with the worm 15, the lead screw 17 is vertically arranged, the bottom of the lead screw 17 is connected with a second fixed block through a bearing, the top of the lead screw 17 is positioned in the sleeve 18, the inner wall of the sleeve 18 is provided with internal threads, the lead screw 17 is in threaded connection with the sleeve 18, the worm wheel 16 is sleeved on the lead screw 17, the worm wheel 16 is meshed with the worm 15, the outer wall of the sleeve 18 is provided with a second limit block, a limit rod is vertically arranged on the second fixed block, penetrates through the second limit block and is in sliding connection with the second limit block, the lifting platform 19 is horizontally arranged above the sleeve 18, and the cutting mechanism is arranged above the lifting platform 19;
the cutting mechanism comprises a fourth motor 20, a first blade 21 and a second blade 22, the fourth motor 20 is vertically arranged upwards, the first blade 21 is horizontally arranged above the fourth motor 20, an output shaft of the fourth motor 20 is connected with the center of the first blade 21, the second blades 22 are two, the two second blades 22 are symmetrically arranged relative to the first blade 21, two ends of the first blade 21 are hinged with one ends of the two second blades 22 respectively, one ends, far away from the first blade 21, of the two second blades 22 are located below the first blade 21, an opening is formed in the top surface of the machine body 1, and the first blade 21 is located in the opening.
When the unmanned aerial vehicle is hung on a tree due to untimely obstacle avoidance in the flying process, firstly, the third motor 14 is started, the third motor 14 drives the worm 15 to rotate, the worm 15 drives the screw rod 17 to rotate through the worm wheel 16, so that the sleeve 18 rises, the cutting mechanism moves to the upper part of the machine body 1, at the moment, the fourth motor 20 is started, the fourth motor 20 drives the first blade 21 to rotate, the second blade 22 rotates along the first blade 21 under the action of centrifugal force until being parallel to the first blade 21, the first blade 21 and the second blade 22 form a cutting surface to cut branches, meanwhile, the first motor 6 is started, the first motor 6 drives the driving wheel 7 to rotate, the driving wheel 7 drives the driven wheel 9 to rotate through the belt 8, so that the belt 8 moves horizontally, the cutting mechanism moves transversely, and at the same time, the second motor 10 is started, second motor 10 drive half gear 11 rotates, half gear 11 passes through rack drive frame 12 horizontal migration, thereby make cutting mechanism longitudinal movement, consequently, first blade 21 and second blade 22 can be in the limit rotary cutting limit horizontal or longitudinal movement, have enlarged the cutting scope, can cut its winding branch around the unmanned aerial vehicle, make unmanned aerial vehicle can break away from light being taken off after the obstacle, also reduced the staff and acquireed the potential safety hazard that unmanned aerial vehicle brought because of climbing the tree.
Preferably, in order to improve the cutting efficiency, an angle adjusting mechanism is arranged on the lifting platform 19, the angle adjusting mechanism is in transmission connection with the cutting mechanism, the angle adjusting mechanism comprises a fifth motor 23, a cylindrical gear 24, a second rack 25, a driving rod 26, a driving wheel 27, a driving shaft 28 and an adjusting rod 29, the fifth motor 23 is in transmission connection with the cylindrical gear 24, the second rack 25 is horizontally arranged, the second rack 25 is in sliding connection with the lifting platform 19, the cylindrical gear 24 is meshed with the second rack 25, the driving shaft 28 is horizontally arranged, the driving shaft 28 is connected with the lifting platform 19 through a bearing seat, the driving wheel 27 is sleeved on the driving shaft 28, one end of the driving rod 26 is hinged with the second rack 25, the other end of the driving rod 26 is hinged with the driving wheel 27, the hinged position of the driving rod 26 and the driving wheel 27 is located on one side of the center of the driving wheel 27, the adjusting rod 29 is vertically arranged above the driving wheel 27, the fourth motor 20 is arranged above the adjusting rod 29, the fifth motor 23 is started, the fifth motor 23 drives the second rack 25 to horizontally move through the cylindrical gear 24, the second rack 25 drives the driving wheel 27 to rotate through the driving rod 26, the adjusting rod 29 drives the cutting mechanism to rotate, and therefore the first blade 21 and the second blade 22 can cut on the horizontal plane and can change the cutting angle, the cutting range is expanded, and the cutting efficiency is improved.
Preferably, in order to improve the sliding stability of the second rack 25, the lifting platform 19 is provided with a sliding groove, the second rack 25 is slidably connected with the lifting platform 19 through the sliding groove, and the sliding groove can limit the second rack 25 while the second rack slides, so that the sliding stability of the second rack 25 is improved.
Preferably, in order to further improve the cutting efficiency, a plurality of third blades are arranged on the side surface of the machine body 1, and the third blades can cut the branches on the side surface of the machine body 1, so that the cutting efficiency is further improved.
Preferably, in order to improve the stability of the movement of the driving frame 12, the limiting groove is a dovetail groove, so that the driving frame 12 and the first fixing block can be connected more closely, thereby improving the stability of the movement of the driving frame 12.
Preferably, in order to quickly retract and release the first blade 21 and the second blade 22, the surface of the screw rod 17 is provided with an anti-corrosion zinc coating, and a zinc corrosion product has a good protection effect on zinc, so that the corrosion speed is very slow, the service life of the screw rod is l 5-30 times that of non-galvanized zinc, the screw rod 17 can be prevented from being corroded, the lifting speed of the sleeve 18 is prevented from being influenced, and the first blade 21 and the second blade 22 are quickly retracted and released.
Preferably, in order to guarantee the stability that sleeve 18 removed, the surface of second stopper and gag lever post all is equipped with wear-resistant coating, and wear-resistant coating can reduce the wearing and tearing between second stopper and the gag lever post, makes both laminate closely all the time to avoid sleeve 18 to rock, guarantee the stability that sleeve 18 removed.
Preferably, in order to make the operating states of the respective mechanisms intelligent, the first motor 6, the second motor 10, the third motor 14, the fourth motor 20 and the fifth motor 23 are all servo motors, and since the servo motors can make the control speed and the position accuracy very accurate, and can convert the voltage signals into the torque and the rotating speed to drive the controlled object, an intelligent control system can be formed, so that the respective mechanisms can operate better.
Preferably, in order to realize the automatic back and forth movement of the cutting mechanism, a pressure sensor is arranged at an opening of the machine body 1, a PLC is further arranged in the machine body 1, the pressure sensor, the first motor 6 and the second motor 10 are electrically connected with the PLC, the cutting mechanism moves transversely or longitudinally to cut, when the cutting mechanism touches the machine body 1, a pressure signal sensed by the pressure sensor is transmitted to the PLC, the PLC controls the first motor 6 or the second motor 10 to work, an output shaft of the motor rotates reversely, and therefore the automatic back and forth movement of the cutting mechanism is realized.
Preferably, the first, second and third blades 21, 22 and the third blade are made of stainless steel, which is not easily corroded, so that the service life of the blades can be prolonged.
Compared with the prior art, this an unmanned aerial vehicle that hangs in tree for preventing of forest resources investigation, when unmanned aerial vehicle appears because of keeping away the barrier untimely when hanging the condition on the tree at the in-process of flight, cut its winding branch around to unmanned aerial vehicle through cutting device 5 for unmanned aerial vehicle can get rid of after the barrier easily and be taken off, has also reduced the staff and has acquireed the potential safety hazard that unmanned aerial vehicle brought because of climbing the tree.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (10)
1. The unmanned aerial vehicle is used for forest resource investigation and is prevented from being hung on a tree, and is characterized by comprising a machine body (1), a propeller (2), a support (3) and a camera (4), wherein the machine body (1) further comprises a cutting device (5), and the cutting device (5) is arranged in the machine body (1);
the cutting device (5) comprises a transverse driving mechanism, a longitudinal driving mechanism, a retracting mechanism and a cutting mechanism, wherein the longitudinal driving mechanism is arranged between the transverse driving mechanism and the retracting mechanism, and the cutting mechanism is arranged above the retracting mechanism;
the transverse driving mechanism comprises a first motor (6), a driving wheel (7), a belt (8) and a driven wheel (9), the first motor (6) is in transmission connection with the driving wheel (7), the driving wheel (7) is in transmission connection with the driven wheel (9) through the belt (8), the belt (8) is horizontally arranged, a first fixed block is arranged above the belt (8), and the longitudinal driving mechanism is arranged above the first fixed block;
the longitudinal driving mechanism comprises a second motor (10), a half gear (11) and a driving frame (12), the second motor (10) is in transmission connection with the half gear (11), the driving frame (12) is horizontally arranged, first racks (13) are arranged in the driving frame (12), the first racks (13) are horizontally arranged, the number of the first racks (13) is two, the two first racks (13) are respectively arranged at the top and the bottom of the driving frame (12), the half gear (11) is positioned between the two first racks (13), the half gear (11) is respectively meshed with the two first racks (13), a first limit block is arranged on the driving frame (12), a limit groove is horizontally arranged on the first fixed block, the first limit block is positioned in the limit groove, the first limit block is in sliding connection with the limit groove, a second fixed block is arranged above the driving frame (12), the retraction mechanism is arranged above the second fixed block;
the folding and unfolding mechanism comprises a third motor (14), a worm (15), a worm wheel (16), a lead screw (17), a sleeve (18) and a lifting platform (19), the third motor (14) is in transmission connection with the worm (15), the lead screw (17) is vertically arranged, the bottom of the lead screw (17) is connected with a second fixed block through a bearing, the top of the lead screw (17) is positioned in the sleeve (18), the inner wall of the sleeve (18) is provided with internal threads, the lead screw (17) is in threaded connection with the sleeve (18), the worm wheel (16) is sleeved on the lead screw (17), the worm wheel (16) is meshed with the worm (15), the outer wall of the sleeve (18) is provided with a second limited block, a limit rod is vertically arranged on the second fixed block, the limit rod penetrates through the second limited block and is in sliding connection with the second limited block, the lifting platform (19) is horizontally arranged above the sleeve (18), the cutting mechanism is arranged above the lifting platform (19);
cutting mechanism includes fourth motor (20), first blade (21) and second blade (22), fourth motor (20) is vertical to be set up, first blade (21) level sets up the top at fourth motor (20), the output shaft of fourth motor (20) is connected with the center department of first blade (21), second blade (22) have two, and two second blades (22) set up about first blade (21) symmetry, the both ends of first blade (21) are articulated with the one end of two second blades (22) respectively, and the one end of keeping away from first blade (21) of two second blades (22) all is located the below of first blade (21), the top surface of fuselage (1) is equipped with the opening, first blade (21) are located the opening.
2. The unmanned aerial vehicle for forest resource investigation, which is used for preventing the unmanned aerial vehicle from being hung on a tree, is characterized in that an angle adjusting mechanism is arranged on the lifting platform (19), the angle adjusting mechanism is in transmission connection with the cutting mechanism, the angle adjusting mechanism comprises a fifth motor (23), a cylindrical gear (24), a second rack (25), a driving rod (26), a driving wheel (27), a driving shaft (28) and an adjusting rod (29), the fifth motor (23) is in transmission connection with the cylindrical gear (24), the second rack (25) is horizontally arranged, the second rack (25) is in sliding connection with the lifting platform (19), the cylindrical gear (24) is meshed with the second rack (25), the driving shaft (28) is horizontally arranged, the driving shaft (28) is connected with the lifting platform (19) through a bearing seat, and the driving wheel (27) is sleeved on the driving shaft (28), one end of driving lever (26) is articulated with second rack (25), the other end of driving lever (26) is articulated with drive wheel (27), the articulated department of driving lever (26) and drive wheel (27) is located one side of the centre of a circle of drive wheel (27), adjust the vertical setting in the top of drive wheel (27) of pole (29), fourth motor (20) set up in the top of adjusting pole (29).
3. The unmanned aerial vehicle for forest resource survey as claimed in claim 2, wherein the elevating platform (19) is provided with a sliding groove, and the second rack (25) is slidably connected with the elevating platform (19) through the sliding groove.
4. Unmanned aerial vehicle for forest resource investigation, which unmanned aerial vehicle is against hanging from a tree, as claimed in claim 1, characterized in that the side of the fuselage (1) is provided with a number of third blades.
5. An unmanned aerial vehicle for forest resource investigation to prevent hanging from a tree as claimed in claim 1, wherein the limiting groove is a dovetail groove.
6. The unmanned aerial vehicle for forest resource survey that hangs from trees of claim 1 wherein the surface of the lead screw (17) is provided with an anti-corrosion zinc coating.
7. The unmanned aerial vehicle for forest resource investigation of claim 1, wherein the surfaces of the second limiting block and the limiting rod are both provided with wear-resistant paint.
8. An unmanned aerial vehicle for forest resource investigation preventing suspension from a tree as claimed in claim 2, wherein the first motor (6), the second motor (10), the third motor (14), the fourth motor (20) and the fifth motor (23) are all servo motors.
9. The unmanned aerial vehicle for forest resource investigation, which is used for preventing the unmanned aerial vehicle from being hung on a tree, as claimed in claim 1, wherein a pressure sensor is arranged at the opening of the machine body (1), a PLC is further arranged in the machine body (1), and the pressure sensor, the first motor (6) and the second motor (10) are electrically connected with the PLC.
10. Unmanned aerial vehicle for forest resource investigation suspended from a tree as claimed in claim 4, wherein the first blade (21), the second blade (22) and the third blade are made of stainless steel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710658480.4A CN107585299B (en) | 2017-08-04 | 2017-08-04 | A unmanned aerial vehicle for forest resources investigation prevents hanging in tree |
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| CN201710658480.4A CN107585299B (en) | 2017-08-04 | 2017-08-04 | A unmanned aerial vehicle for forest resources investigation prevents hanging in tree |
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| CN107585299A CN107585299A (en) | 2018-01-16 |
| CN107585299B true CN107585299B (en) | 2020-06-09 |
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| CN201710658480.4A Expired - Fee Related CN107585299B (en) | 2017-08-04 | 2017-08-04 | A unmanned aerial vehicle for forest resources investigation prevents hanging in tree |
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| CN109250115B (en) * | 2018-11-12 | 2023-09-29 | 云南电网有限责任公司红河供电局 | Multi-rotor unmanned aerial vehicle power grid aerial work safety rope hanging method |
| CN112896535B (en) * | 2021-03-09 | 2022-05-31 | 上海澄派信息科技有限公司 | Prevent that branch shelves unmanned aerial vehicle of saving oneself |
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