CN107628203B - Unmanned aerial vehicle berths platform - Google Patents
Unmanned aerial vehicle berths platform Download PDFInfo
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- CN107628203B CN107628203B CN201710821902.5A CN201710821902A CN107628203B CN 107628203 B CN107628203 B CN 107628203B CN 201710821902 A CN201710821902 A CN 201710821902A CN 107628203 B CN107628203 B CN 107628203B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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Abstract
The invention relates to an unmanned aerial vehicle berthing platform, which comprises a platform body for berthing an unmanned aerial vehicle, a supporting seat and a plurality of supporting rods, wherein the supporting rods are obliquely arranged on the supporting seat and used for bearing the platform body; the support rod is movably connected with the platform body, so that the platform body can move along the support rod; also comprises a flywheel arranged in the inner cavity of the platform body, a rotating shaft for driving the flywheel to rotate at high speed and a motor for providing power for the rotating shaft, a plurality of balls are arranged between the inner wall of the platform body and the outer wall of the flywheel, a connecting shaft is arranged at the center of the flywheel, and the connecting shaft penetrates out of the bottom wall of the platform body and then is connected with the rotating shaft through a universal joint. The unmanned aerial vehicle docking platform has a simple structure convenient to use.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicle auxiliary mechanisms, and particularly relates to an unmanned aerial vehicle berthing platform.
Background
Unmanned aircraft, for short unmanned aircraft, are unmanned aircraft that are operated by radio remote control devices and self-contained programming devices, or are operated autonomously, either entirely or intermittently, by on-board computers, and are often more suited to those dangerous tasks than unmanned aircraft. Unmanned aerial vehicles can be classified into military and civilian applications.
In the military field, a large number of unmanned aerial vehicles are used by armies for carrying out tasks such as investigation and search and rescue, however, due to the fact that seaborne storms are large, the seaborne take-off and landing platform of the unmanned aerial vehicle cannot be kept horizontal, so that the unmanned aerial vehicle cannot stop and charge on the sea surface, and great limitation is brought to the use of the unmanned aerial vehicle.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle berthing platform so as to solve the problem that the existing unmanned aerial vehicle taking-off and landing platform cannot berth on the sea.
For this purpose, the technical scheme of the invention is as follows:
the unmanned aerial vehicle berthing platform comprises a platform body for berthing the unmanned aerial vehicle, a supporting seat and a plurality of supporting rods obliquely arranged on the supporting seat and used for bearing the platform body, wherein the supporting rods are movably connected with the supporting seat and used for realizing the swinging of the supporting rods along the diameter direction of the supporting seat;
the support rod is movably connected with the platform body, so that the platform body can move along the support rod;
the flywheel is arranged in the inner cavity of the platform body, the flywheel is driven to rotate at a high speed, the motor is used for providing power for the rotating shaft, a plurality of balls are arranged between the inner wall of the platform body and the outer wall of the flywheel, a connecting shaft is arranged at the center of the flywheel, and the connecting shaft penetrates out of the bottom wall of the platform body and then is connected with the rotating shaft through a universal joint.
According to the unmanned aerial vehicle stopping platform, the plurality of supporting rods are provided with the sliding grooves, the platform body is provided with the plurality of clamping blocks used for being clamped into the sliding grooves, and the clamping blocks can slide along the sliding grooves;
the support rod is hinged with the support seat, so that the support rod can swing outwards or inwards along the hinged position, and the clamping block can slide downwards or upwards in the chute. According to the unmanned aerial vehicle berthing platform, the motor is fixed at the lower end of the supporting seat, and the rotating shaft penetrates through the supporting seat and then is connected with the connecting shaft.
According to the unmanned aerial vehicle berthing platform, the joint of the connecting shaft and the rotating shaft is provided with the universal joint.
According to the unmanned aerial vehicle berthing platform, the permanent magnet is arranged on the platform body.
Foretell an unmanned aerial vehicle berths platform, be equipped with two electromagnet that supply unmanned aerial vehicle to charge on the platform body, two electromagnet charge unmanned aerial vehicle through charging system.
The unmanned aerial vehicle docking platform comprises a charging controller, a power supply circuit, a sucker control circuit and a charging control circuit, wherein the power supply circuit is electrically connected with the charging controller and is used for providing electric energy required by the working of the charging controller; the charging controller is electrically connected with the sucker control circuit and is used for controlling the working state of the electromagnetic sucker through the sucker control circuit; the charging controller is also electrically connected with the charging control circuit and used for controlling the charging state of the unmanned aerial vehicle.
In the unmanned aerial vehicle docking platform, the charging controller is a DPS digital controller, and the model of the charging controller is TMS320.
Foretell an unmanned aerial vehicle berth platform, still include with the infrared positioning module that charge controller electricity is connected, this infrared positioning module is used for controlling infrared positioning module and carries out location detection, and this infrared positioning module is used for transmitting the position benchmark to unmanned aerial vehicle.
According to the unmanned aerial vehicle docking platform, the model of the infrared positioning module is ZLM40AD850-10BD.
Foretell an unmanned aerial vehicle berth platform, sucking disc control circuit includes resistance R4, resistance R5, resistance R6, triode Q1, triode Q2, triode Q1's projecting pole is connected with power supply circuit input electricity, triode Q1's collector is sucking disc control circuit's output, triode Q1's base passes through resistance R5 and triode Q2's collecting electrode electricity is connected, triode Q2's projecting pole is connected with the ground terminal electricity, triode Q2's base passes through resistance R6 and is connected with the charge controller electricity, resistance R4 sets up between triode Q1's projecting pole and base.
The invention has the beneficial effects that:
1. according to the invention, the platform body is supported by the supporting parts which can be opened and closed and are formed by the supporting rods, when the platform body receives the information that the unmanned aerial vehicle needs to fall, the motor is started to drive the flywheel to rotate at a high speed, so that the platform body is always in a balanced state under the action of centrifugal force, after the unmanned aerial vehicle falls on the platform, the permanent magnet is used for adsorbing the unmanned aerial vehicle on the platform body, and the motor stops working. The unmanned aerial vehicle docking platform is simple in structure and convenient to use;
2. according to the invention, the supporting seat is hinged with the plurality of supporting rods, the clamping blocks arranged on the platform body slide along the sliding grooves on the supporting rods in a small range, and after the unmanned aerial vehicle falls down to the platform body, the supporting rods can support the platform body;
3. after unmanned aerial vehicle falls to the landing platform, place two electromagnet on the platform body and regard as the port that charges, with the electromagnet combined action on the unmanned aerial vehicle landing leg, charge unmanned aerial vehicle through charging system.
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Drawings
Fig. 1 is a schematic view of the overall structure of the submerged cabin.
Fig. 2 is a schematic diagram of the structure of the unmanned aerial vehicle docking platform.
Fig. 3 is a schematic diagram of a second configuration of the unmanned aerial vehicle docking platform.
Fig. 4 is a schematic diagram III of the structure of the unmanned aerial vehicle docking platform.
Fig. 5 is a schematic diagram of a chuck control circuit.
In the figure: 1. a platform body; 11. an electromagnetic chuck; 12. an infrared positioning module; 2. a support rod; 21. a chute; 3. a rotating block; fourth, the supporting seat; 5. a flywheel; sixthly, rotating the shaft; 7. a universal joint; 8. and a connecting shaft.
Detailed Description
The following detailed description, structural features and functions of the present invention are provided with reference to the accompanying drawings and examples in order to further illustrate the technical means and effects of the present invention to achieve the predetermined objects.
In the description of the present embodiment, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present embodiment and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present embodiment.
Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thereby the processing time of the product is reduced, features defining "first," "second," etc. may explicitly or implicitly include one or more such features. In the description created in this embodiment, unless otherwise indicated, the meaning of "plurality" is two or more.
The terms "mounted," "connected," "coupled," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the creation of the present embodiment can be understood by those of ordinary skill in the art in a specific case.
In order to solve the problems that the existing unmanned aerial vehicle taking-off and landing platform cannot be kept horizontal on the sea surface and the unmanned aerial vehicle is influenced to stop, the centrifugal force can keep balance when an object rotates according to the principle of the gyroscopic effect, and the action of gravity is negligible compared with the centrifugal force, the unmanned aerial vehicle stopping platform is provided, and as shown in fig. 1, 2, 3 and 4, the unmanned aerial vehicle taking-off and landing platform comprises a platform body 1 for stopping the unmanned aerial vehicle, a supporting seat 4 provided with a plurality of supporting rods 2, a rotating shaft 6 capable of rotating at a high speed and a motor for driving the rotating shaft 6 to rotate, the plurality of supporting rods 2 support the platform body 1 above the supporting seat 4, and the supporting rods 2 are movably connected with the platform body 1, so that the platform body 1 can move up and down along the supporting rods 2; the inner cavity of the platform body 1 is provided with a flywheel 5, a plurality of balls are arranged between the inner wall of the platform body 1 and the outer wall of the flywheel 5, a connecting shaft 8 is arranged at the center of the flywheel 5, and the connecting shaft 8 penetrates out of the bottom wall of the platform body 1 and is connected with a rotating shaft 6; the motor drives the rotating shaft 6, the connecting shaft 8 and the flywheel 5 to rotate at a high speed, and the centrifugal force of the flywheel 5 during high-speed rotation enables the platform body 1 to be in a balanced state.
It should be noted that the unmanned aerial vehicle water platform of this embodiment, because it is applied on the surface of water, especially at sea, can only land the vertical axis unmanned aerial vehicle.
It should be noted that the purpose of the ball is to facilitate the high-speed rotation of the flywheel 5, and since the platform body 1 does not rotate when the flywheel 5 rotates at high speed, the ball needs to be disposed between the platform body 1 and the flywheel 5, and the ball can also rotate when the flywheel 5 rotates at high speed to reduce the friction between the flywheel 5 and the platform body 1, and the ball can also transmit the centrifugal force generated when the flywheel rotates at high speed to the platform body 1, so that the platform body 1 is in a balanced state.
The bearing portion bearing that can open and shut is constituteed through a plurality of bracing pieces 2 to platform body 1 of this embodiment, after the information that unmanned aerial vehicle need to descend is received to platform body 1, start the motor, and the motor drives flywheel 5 high-speed rotation, makes platform body 1 be in balanced state all the time under the effect of centrifugal force, and unmanned aerial vehicle falls to the platform after, uses the permanent magnet to adsorb unmanned aerial vehicle on platform body 1, and the motor stop work. The unmanned aerial vehicle berth platform of this embodiment simple structure, convenient to use.
In order to make the flywheel 5 of the embodiment always in a balanced state when rotating at a high speed, the inner cavity of the platform body 1 of the embodiment is provided with a rotating groove for the flywheel 5 to rotate at a high speed, and the flywheel 5 is wholly or partially embedded into the rotating groove and has a slight gap with the wall of the rotating groove, so that when the flywheel 5 rotates at a high speed, a clamping block of the platform body 1 only moves along the sliding groove 21 on the supporting rod 2 in a small range to keep the balance of the platform body 1.
It should be noted that the connection between the support rod 2 and the platform body 1 in this embodiment may be any form, such as spring connection, connection between the clamping block and the sliding chute 21, and connection between the sliding block and the sliding rod, and only the platform body 1 may move up and down along the support rod 2 within a small range under the premise of meeting the supporting effect on the platform body 1. In addition, in order to make the unmanned aerial vehicle docking platform of the embodiment simple in structure and convenient to install, the support rods 2 of the embodiment are preferably three and uniformly arranged on the support seat 4 along the circumference, the diameter of a circle formed by the three support rods 2 is smaller than that of the platform body 1, and the root parts of the legs of the support rods 2 can swing flexibly; just so can make three bracing piece 2 when outwards inclining simultaneously, the fixture block drives platform body 1 downwardly moving, and the ascending effort of three bracing piece 2 can play the supporting role to unmanned aerial vehicle landing platform.
As an optimization, the three support rods 2 of the embodiment are all provided with a chute 21, the platform body 1 is provided with a plurality of clamping blocks for clamping into the chute 21, and the clamping blocks can slide along the chute 21; the support rod 2 is hinged with the support seat 4, so that the support rod 2 can swing along the hinged position towards the diameter direction of the support seat 4, and the clamping block can slide down or move up in the chute 21.
In this embodiment, the lower end of the support rod 2 is preferably fixedly provided with a rotating block 3, the support seat 4 is provided with a groove for the rotating block 3 to swing inwards or outwards, and the rotating block 3 is partially embedded in the groove and hinged with the support seat 4 by adopting a hinge pin. Because the diameter of the circle at the joint of the lower ends of the three support rods 2 and the rotating block 3 is smaller than the diameter of the platform body 1, when the rotating block 3 swings outwards, the support rods 2 incline outwards, so that the platform body 1 is driven to move downwards by a clamping block; when the rotating block 3 swings inwards, the supporting rod 2 tilts inwards, and the shell realizes that the clamping block drives the platform body 1 to move upwards.
In order to keep the platform body 1 of the embodiment balanced at the moment of unmanned aerial vehicle landing or when the wind and waves on the sea surface are large, the joint of the connecting shaft 8 and the rotating shaft 6 of the embodiment is provided with a universal joint 7. The purpose of the present embodiment to provide the universal joint 7 is: no matter how the wind and the wave on the sea surface change, even if the motor and the supporting seat 4 incline under the action of the wind and the wave, the platform body 1 can always keep balance under the action of centrifugal force as long as the motor drives the flywheel 5 to rotate at a high speed.
It should be noted that the motor of this embodiment may be fixed on the upper end surface of the support base 4, or may be fixed on the lower end surface of the support base 4, and when the motor is fixed on the lower end of the support base 4, the rotating shaft 6 passes through the support base 4 and then is coupled with the connecting shaft 8.
As shown in fig. 1, a floating cabin can be arranged at the lower end of the platform body 1 in this embodiment, so that the floating cabin can be placed on the sea surface for the unmanned aerial vehicle to stop. The buoyancy chambers are preferably annular buoyancy chambers which are fixedly connected to the support seats 4 by means of support frames placed on the inner ring of the annular buoyancy chambers. The platform body 1 floats on the surface of water through floating the cabin at the during operation, because float the cabin and be connected with supporting seat 4 through braced frame, when there is the stormy waves on the sea, float the cabin and can rock along with the stormy waves, at this moment, link with the rotation axis 6 of placing in on the supporting seat 4 through the universal joint 7 of placing in platform body 1 below to guarantee that the platform body 1 that braced frame top set up keeps being parallel with the horizontal plane. In short, the rotation shaft 6 is connected with the platform body 1 through the universal joint 7 to maintain the levelness of the platform body 1.
When platform body 1 and showy cabin fixed connection, this embodiment sets up the effect of gyroscope 5 still includes at the inside platform body 1: through gyroscope 5 rotation, keep the levelness of platform body 1, through the effect of universal joint 7 moreover, platform body 1 can not follow braced frame and incline together, can guarantee like this that when having the stormy waves, platform body 1 still can keep the level, is favorable to unmanned aerial vehicle to stop.
The purpose of the permanent magnet arranged on the platform body 1 in this embodiment is: further ensure through magnetic force that unmanned aerial vehicle can not lead to unmanned aerial vehicle to fall in water because of the stormy waves when stopping on platform body 1.
The important points to be described are: the platform body 1 of this embodiment further has a function of charging an unmanned aerial vehicle, and the specific structure is:
be equipped with two electromagnet 11 that supply unmanned aerial vehicle to charge on the platform body 1, two electromagnet 11 charge unmanned aerial vehicle through charging system. The charging system comprises a charging controller, a power supply circuit, a sucker control circuit and a charging control circuit, wherein the power supply circuit is electrically connected with the charging controller and is used for providing electric energy required by the working of the charging controller; the charging controller is electrically connected with the sucker control circuit and is used for controlling the working state of the electromagnetic sucker 11 through the sucker control circuit; the charging controller is also electrically connected with the charging control circuit and used for controlling the charging state of the unmanned aerial vehicle.
Preferably, the charge controller is a DPS digital controller, model number TMS320. The controller of this model has a high-speed processing capability of 150MHz, a 32-bit floating point processing unit, 6 DMA channels supporting ADC, mcBSP and EMIF, up to 18 PWM outputs, 6 of which are higher precision PWM outputs (HRPWM) specific to TI, and a 12-bit 16-channel ADC. Thanks to the floating point arithmetic unit, a user can quickly write a control algorithm without spending excessive time and energy on processing decimal operations, the average performance is improved by 50% compared with that of the prior generation DSP, and the floating point arithmetic unit is compatible with fixed point C28x controller software, so that the software development is simplified, the development period is shortened, and the development cost is reduced.
As shown in fig. 5, the sucker control circuit includes a resistor R4, a resistor R5, a resistor R6, a triode Q1, a triode Q2, wherein an emitter of the triode Q1 is electrically connected with an input end of the power supply circuit, a collector of the triode Q1 is an output end of the sucker control circuit, a base of the triode Q1 is electrically connected with a collector of the triode Q2 through the resistor R5, an emitter of the triode Q2 is electrically connected with a grounding end, a base of the triode Q2 is electrically connected with the charging controller through the resistor R6, and the resistor R4 is arranged between the emitter and the base of the triode Q1.
The charging control circuit is the same as the sucker control circuit, and has the main function of controlling the on-off of a circuit for charging the unmanned aerial vehicle.
In order to enable the unmanned aerial vehicle to quickly and conveniently search for the unmanned aerial vehicle docking platform, the platform body 1 of the embodiment is also provided with an infrared positioning module 12, the infrared positioning module 12 is electrically connected with the charging controller, the infrared positioning module 12 is used for controlling the infrared positioning module 12 to perform positioning detection, and the infrared positioning module 12 is used for transmitting a position reference to the unmanned aerial vehicle.
The infrared positioning module 12 is preferably model ZLM40AD850-10BD. The infrared positioning module 12 of the model has the characteristics of small volume, low power and long service life, is well waterproof, is applied to the underwater charging control system, and has low cost, obvious effect and good auxiliary positioning effect, and ensures accurate positioning of the charging head and the electronic equipment.
The foregoing is a further detailed description of the invention in connection with the preferred embodiments, and it is not intended that the invention be limited to the specific embodiments described. It will be apparent to those skilled in the art that several simple deductions or substitutions may be made without departing from the spirit of the invention, and these should be considered to be within the scope of the invention.
Claims (6)
1. The unmanned aerial vehicle berthing platform is characterized by comprising a platform body (1) for berthing the unmanned aerial vehicle, a supporting seat (4) and a plurality of supporting rods (2) obliquely arranged on the supporting seat (4) and used for supporting the platform body (1), wherein the supporting rods (2) are movably connected with the supporting seat (4) and are used for realizing the swinging of the supporting rods (2) along the diameter direction of the supporting seat (4);
the support rod (2) is movably connected with the platform body (1) so that the platform body (1) can move along the support rod (2);
the novel high-speed flywheel comprises a platform body (1), a flywheel (5) arranged in the inner cavity of the platform body (1), a rotating shaft (6) for driving the flywheel (5) to rotate at a high speed and a motor for providing power for the rotating shaft (6), wherein a plurality of balls are arranged between the inner wall of the platform body (1) and the outer wall of the flywheel (5), a connecting shaft (8) is arranged at the center of the flywheel (5), and the connecting shaft (8) penetrates out of the bottom wall of the platform body (1) and then is connected with the rotating shaft (6) through a universal joint (7);
the support rods (2) are provided with sliding grooves (21), the platform body (1) is provided with a plurality of clamping blocks used for being clamped into the sliding grooves (21), and the clamping blocks can slide along the sliding grooves (21);
the support rod (2) is hinged with the support seat (4), so that the support rod (2) can swing outwards or inwards along the hinged position, and the clamping block can slide downwards or upwards in the sliding groove (21);
the motor is fixed at the upper end part of the supporting seat (4);
a permanent magnet is arranged on the platform body (1);
two electromagnetic chucks (11) for charging the unmanned aerial vehicle are arranged on the platform body (1), and the two electromagnetic chucks (11) charge the unmanned aerial vehicle through a charging system.
2. The unmanned aerial vehicle docking platform according to claim 1, wherein the motor is fixed at the lower end of the support base (4), and the rotating shaft (6) is coupled with the connecting shaft (8) after passing through the support base (4).
3. The unmanned aerial vehicle dock of claim 1, wherein the charging system comprises a charging controller, a power circuit, a suction cup control circuit, and a charging control circuit, the power circuit being electrically connected to the charging controller for providing electrical energy required for operation of the charging controller; the charging controller is electrically connected with the sucker control circuit and is used for controlling the working state of the electromagnetic sucker (11) through the sucker control circuit; the charging controller is also electrically connected with the charging control circuit and used for controlling the charging state of the unmanned aerial vehicle.
4. The unmanned aerial vehicle dock of claim 3, wherein the charge controller is a DPS digital controller model TMS320.
5. The unmanned aerial vehicle dock of claim 3 or 4, further comprising an infrared positioning module (12) electrically connected to the charge controller, the infrared positioning module (12) configured to control the infrared positioning module (12) to perform positioning detection, the infrared positioning module (12) configured to transmit a position reference to the unmanned aerial vehicle.
6. The unmanned aerial vehicle dock of claim 3 or 4, wherein the chuck control circuit comprises a resistor R4, a resistor R5, a resistor R6, a triode Q1, and a triode Q2, wherein an emitter of the triode Q1 is electrically connected with an input end of the power supply circuit, a collector of the triode Q1 is an output end of the chuck control circuit, a base of the triode Q1 is electrically connected with a collector of the triode Q2 through the resistor R5, an emitter of the triode Q2 is electrically connected with a ground terminal, a base of the triode Q2 is electrically connected with the charge controller through the resistor R6, and the resistor R4 is arranged between the emitter and the base of the triode Q1.
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| CN201710821902.5A CN107628203B (en) | 2017-09-13 | 2017-09-13 | Unmanned aerial vehicle berths platform |
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| CN201710821902.5A CN107628203B (en) | 2017-09-13 | 2017-09-13 | Unmanned aerial vehicle berths platform |
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| CN108528721A (en) * | 2018-05-10 | 2018-09-14 | 贵州商学院 | A kind of unmanned plane wireless charging device design |
| CN108466701A (en) * | 2018-05-25 | 2018-08-31 | 芜湖万户航空航天科技有限公司 | Unmanned plane landing adjusts platform |
| CN108791930A (en) * | 2018-05-25 | 2018-11-13 | 芜湖万户航空航天科技有限公司 | Safe unmanned plane landing platform |
| CN108797399A (en) * | 2018-05-25 | 2018-11-13 | 芜湖万户航空航天科技有限公司 | Ight unmanned plane landing adjusts platform |
| CN108674683A (en) * | 2018-05-25 | 2018-10-19 | 芜湖万户航空航天科技有限公司 | Unmanned vehicle landing adjusts platform |
| CN108791931B (en) * | 2018-05-25 | 2020-04-21 | 芜湖万户航空航天科技有限公司 | Novel unmanned aerial vehicle take-off and landing platform |
| CN109436229B (en) * | 2018-11-16 | 2021-06-04 | 淮阴工学院 | Unmanned aerial vehicle air park on water |
| CN113104166B (en) * | 2021-05-13 | 2021-12-10 | 赵薛强 | Relay station of ocean mapping unmanned aerial vehicle |
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| CN107628203A (en) | 2018-01-26 |
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