CN108725817A - A kind of four axis unmanned planes with stabilization function - Google Patents
A kind of four axis unmanned planes with stabilization function Download PDFInfo
- Publication number
- CN108725817A CN108725817A CN201810583111.8A CN201810583111A CN108725817A CN 108725817 A CN108725817 A CN 108725817A CN 201810583111 A CN201810583111 A CN 201810583111A CN 108725817 A CN108725817 A CN 108725817A
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- China
- Prior art keywords
- universal joint
- holder
- gravity
- center
- camera
- 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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- 230000006641 stabilisation Effects 0.000 title claims abstract description 22
- 238000011105 stabilization Methods 0.000 title claims abstract description 22
- 230000005484 gravity Effects 0.000 claims abstract description 48
- 238000013016 damping Methods 0.000 claims description 5
- 239000012530 fluid Substances 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 238000010338 mechanical breakdown Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
Classifications
-
- 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
- B64D47/08—Arrangements of cameras
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Accessories Of Cameras (AREA)
Abstract
The invention discloses a kind of four axis unmanned planes with stabilization function, including flight instruments, control device, mounting base, connecting seat and four arbors, the bottom in mounting base are installed with holder；Holder includes that holder, the first universal joint, the second universal joint and third universal joint, camera are fixedly installed on holder；The upper end of first universal joint is fixedly installed in the bottom of mounting base, and the lower end of the first universal joint is hinged by the upper end of first rotating shaft and the second universal joint, and first rotating shaft is vertical with the vertical section of holder；The lower end of second universal joint is hinged by the upper end of the second shaft and third universal joint, and the second shaft is parallel with the vertical section of holder, and first rotating shaft and the second shaft are mutually perpendicular to；The lower end of third universal joint is fixedly installed on holder；The center of gravity of camera and holder is on the axis residing for the center of gravity of the third universal joint, and having prevents camera picture from shaking, to improve the advantageous effect for the clarity for shooting picture.
Description
Technical field
The present invention relates to a kind of unmanned planes, refer in particular to a kind of four axis unmanned planes with stabilization function.
Background technology
UAV referred to as " unmanned plane ", is manipulated using radio robot and the presetting apparatus provided for oneself
Not manned aircraft.Since four axis unmanned planes have light weight, simple in structure, flying quality is superior, being capable of spot takeoff, landing
And the advantages that hovering in the air, it has a wide range of applications in working at height at present, is substantially carried out high-altitude shooting operation.
The camera of traditional four axis unmanned planes need to be installed on by holder on fuselage.But the holder of unmanned plane is logical with fuselage
All it is often using rigid connection so that during unmanned plane during flying, mechanical shaking existing for the interference of external air flow and fuselage
Camera can be passed to by the rigid structure of holder, camera picture is caused to shake, to influence to shoot the clarity of picture.
Although existing unmanned plane is also configured with Anti-shaking structure.Such as application No. is the unmanned planes of CN201710807316.5 to take the photograph
Shadow camera system and its displacement compensating mechanism, using the slight jitter of gyroscope detection mobile device, when then obtaining two
The image at quarter is compensated amount of movement by detecting the pixel difference of image at the two moment, is arranged at nobody to drive
Displacement compensating mechanism on machine achievees the purpose that stabilization.But its cradle head structure used is more complex, volume is big, mechanical breakdown
Rate is high.
Invention content
It is an object of the invention to solve the holder of existing four axis unmanned plane and fuselage usually made using rigid connection
It obtains during unmanned plane during flying, mechanical shaking existing for the interference of external air flow and fuselage can be passed by the rigid structure of holder
Pass camera, camera picture caused to shake, to influence shoot picture clarity the problem of.A kind of structure letter is provided
The four axis unmanned planes single, easy to control and flight stability with stabilization function.
Following technical scheme can be used to reach in the purpose of the present invention：
A kind of four axis unmanned planes with stabilization function, including fuselage, flight instruments and control device, the flight instruments
Four are at least set as, and flight instruments are uniformly distributed on the excircle of fuselage, the control device is installed on fuselage, described
Control device is electrically connected with the flight instruments；The fuselage includes mounting base, connecting seat and four arbors, four arbors
One end be symmetrically arranged in mounting base, and at the axis of four arbors in the same plane；The flight instruments are set as four
It is a, and flight instruments are fixedly installed in by connecting seat on the other end of four arbors respectively；The control device is installed on
It fills on seat；
The bottom of the mounting base is installed with holder；The holder includes holder, the first universal joint, the second universal joint
With third universal joint, camera is fixedly installed on the holder, and the camera is electrically connected with control device；Described first
The upper end of universal joint is fixedly installed in the bottom of mounting base, and the lower end of the first universal joint passes through first rotating shaft and the second universal joint
Upper end it is hinged, the first rotating shaft is vertical with the vertical section of holder；The lower end of second universal joint passes through the second shaft
Hinged with the upper end of third universal joint, second shaft is parallel with the vertical section of holder, the first rotating shaft and second turn
Axis is mutually perpendicular to；The lower end of the third universal joint is fixedly installed on the holder；The center of gravity of the camera and holder
On axis residing for the center of gravity of the third universal joint, and the center of gravity of camera and holder is in the weight of the third universal joint
Below the heart.
As a preferred solution, it is logical to offer first for the lower part of first universal joint and the top of the second universal joint
Hole, the first rotating shaft are inserted into the first through hole and by the first universal joint together with the second universal joint articulated；Described
The lower part of two universal joints and the top of third universal joint offer the second through-hole, and second shaft is inserted into second through-hole
And by the second universal joint together with third universal joint articulated.
As a preferred solution, the holder is equipped with clump weight, and the first long slot bore is provided on the holder, described
Clump weight is fixedly mounted on by the first long slot bore on holder；By adjusting the installation site of clump weight, the camera, counterweight
The center of gravity of block and holder is on the axis residing for the center of gravity of the third universal joint, and the weight of camera, clump weight and holder
The heart is in below the center of gravity of the third universal joint.
As a preferred solution, the hinged place and the described 20000th of first universal joint and the second universal joint
The hinged place of section and third universal joint is provided with damping fluid.When fuselage is shaken, damping fluid is for preventing the holder
Also pendulum model is generated to swing.
As a preferred solution, the second long slot bore is provided on the holder, the third universal joint passes through the second length
Slot is fixedly installed on holder.
As a preferred solution, the clump weight includes the first clump weight and the second clump weight, first counterweight
Block is fixedly installed on holder, and second clump weight is fixedly installed in by the first long slot bore on holder.
As a preferred solution, the flight instruments include motor and propeller, and the motor is fixedly installed in company
On joint chair, propeller is fixedly installed on the output end of motor.
As a preferred solution, the first rotating shaft and the second shaft by bearing be respectively arranged in first through hole and
In second through-hole.
As a preferred solution, the control device includes microcontroller or PLC.
Implement the present invention, has the advantages that：
The present invention is in due to the center of gravity of camera and holder on the axis residing for the center of gravity of third universal joint, and holder is made to exist
Unmanned plane occurs that when low-frequency jitter an opposing stationary state can be kept, to make the camera being installed on holder keep steady
The case where determining without will produce shake.Specifically, when low-frequency jitter in the front-back direction occurs for the fuselage of unmanned plane, second is universal
The junction of section and third universal joint keeps locking state.At this time the first universal joint by first rotating shaft around with the second universal joint
Junction with fuselage swing.And the center of gravity of camera and holder is in always residing for the center of gravity of third universal joint
On axis and the center of gravity of camera and holder is in the lower section of third universal joint so that the second universal joint, third universal joint,
Holder and camera remain opposing stationary state.Likewise, when the shake of left and right directions occurs for unmanned plane, the 10000th
Locking state is kept to the junction of section and the second universal joint, the second universal joint turns around with the junction of third universal joint at this time
It is dynamic, and the center of gravity of camera and holder is on the axis residing for the center of gravity of third universal joint and camera and holder
Center of gravity is in the lower section of third universal joint always so that third universal joint, holder and camera remain opposing stationary shape
State, to ensure the clarity of shooting picture.It is modified according to your modification.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is the structural schematic diagram for the four axis unmanned planes that the present invention has stabilization function；
Fig. 2 is the structural schematic diagram of the holder for the four axis unmanned planes that the present invention has stabilization function；
Fig. 3 is the structural schematic diagram of the universal joint for the four axis unmanned planes that the present invention has stabilization function；
Fig. 4 is the structural schematic diagram of the first universal joint of the four axis unmanned planes that the present invention has stabilization function；
Fig. 5 is the structural schematic diagram of the second universal joint of the holder for the four axis unmanned planes that the present invention has stabilization function；
Fig. 6 is the structural schematic diagram of the third universal joint of the holder for the four axis unmanned planes that the present invention has stabilization function.
In figure, 1- fuselages；11- mounting bases；12- connecting seats；13- arbors；2- flight instruments；3- control devices；5- holders；
51- holders；The first long slot bores of 511-；The second long slot bores of 512-；The first universal joints of 52-；The second universal joints of 53-；54- thirds are universal
Section；55- first rotating shafts；The second shafts of 56-；57- first through hole；The second through-holes of 58-；59- bearings；Clump weight 6；61- clump weights
1；62- clump weights 2；10- cameras.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment
Referring to figs. 1 to Fig. 6, the present embodiment is related to four axis unmanned planes, including fuselage 1, flight instruments 2 and control device 3, institute
It states flight instruments 2 and control device 3 is installed on fuselage 1, the control device 3 is electrically connected with the flight instruments 2.The control
Device 3 processed includes microcontroller or PLC.The fuselage 1 includes mounting base 11, connecting seat 12 and four arbors 13, four machines
One end of axis is symmetrically arranged in mounting base 11, and at the axis of four arbors 13 in the same plane；The flight
There are four device 2 is set, and flight instruments 2 are fixedly installed in by connecting seat 12 respectively on the other end of four arbors 13；It is described
Control device 3 is installed in mounting base 11；Four connecting seats 12 are symmetrically connected to by arbor 13 in mounting base 11 so that flight
Device 2 can be symmetrically distributed on the excircle of mounting base 11.
The bottom of the mounting base 11 is installed with holder 5；As shown in Figure 4 and Figure 5, the holder 5 include holder 51,
First universal joint 52, the second universal joint 53 and third universal joint 54, camera 10 are fixedly installed on the holder 51, and described
Camera 10 is electrically connected with control device 3；The upper end of first universal joint 52 is fixedly installed in the bottom of mounting base 11, and
The lower end of one universal joint 52 is hinged by the upper end of first rotating shaft 55 and the second universal joint 53, the first rotating shaft 55 and holder 51
Vertical section it is vertical；The lower end of second universal joint 53 is hinged by the second shaft 56 and the upper end of third universal joint 54,
Second shaft 56 is parallel with the vertical section of holder 51, and the lower end of the third universal joint 54 is fixedly installed in the holder
On 51；The center of gravity of the camera 10 and holder 51 is on the axis residing for the center of gravity of the third universal joint 54.Described
One shaft 55 and the second shaft 56 are mutually perpendicular to.The lower part of first universal joint 52 and the top of the second universal joint 53 are provided with
One through-hole 57, the first rotating shaft 55 insert into the first through hole 57 and are hinged the first universal joint 52 and the second universal joint 53
Together；The lower part of second universal joint 53 and the top of third universal joint 54 are provided with the second through-hole 58, second shaft
56 insert into second through-hole 58 and the second universal joint 53 and third universal joint 54 is hinged.More preferably, described
One shaft 55 and the second shaft 56 are respectively arranged in by bearing 59 in first through hole 57 and the second through-hole 58.
It is on the axis residing for the center of gravity of third universal joint 54 due to the center of gravity of camera 10 and holder 51, makes holder 51
An opposing stationary state can be kept when low-frequency jitter occurs for unmanned plane, to make the camera being installed on holder 51 10
The case where keeping stablizing without will produce shake.Specifically, when low-frequency jitter in the front-back direction occurs for the fuselage 1 of unmanned plane,
The junction of second universal joint 53 and third universal joint 54 keeps locking state.The first universal joint 52 passes through first rotating shaft 55 at this time
Around the junction with the second universal joint 53 with 1 swing of fuselage.And the center of gravity of camera 10 and holder 51 is located always
On axis residing for the center of gravity of third universal joint 54 and the center of gravity of camera 10 and holder 51 is in third universal joint 54
Lower section so that the second universal joint 53, third universal joint 54, holder 51 and camera 10 remain opposing stationary state.Together
Sample, when the shake of left and right directions occurs for unmanned plane, the junction of the first universal joint 52 and the second universal joint 53 keeps locked
State, the second universal joint 53 is rotated around with the junction of third universal joint 53 at this time, and the weight of camera 10 and holder 51
The heart is on the axis residing for the center of gravity of third universal joint 54 and the center of gravity of camera 10 and holder 51 is in the 30000th always
To the lower section of section 54 so that third universal joint 54, holder 51 and camera 10 remain opposing stationary state, to ensure
The clarity of shooting picture.
The holder 51 is equipped with clump weight 6, is provided with the first long slot bore 511 on the holder 51, the clump weight 6 passes through
First long slot bore 511 is fixedly mounted on holder 51；By adjusting the installation site of clump weight 6, the camera 10, clump weight
6 and the center of gravity of holder 51 be on the axis residing for the center of gravity of the third universal joint 54, and the camera 10, clump weight 6
It is in the center of gravity of holder 51 below the center of gravity of the third universal joint 54.When adjusting, by adjusting clump weight 6 in the first length
Behind position on slot 511, then clump weight 6 is fixed on holder 51, can conveniently adjust clump weight 6, camera 10 and branch
The position of centre of gravity of frame 51, make the center of gravity of three be on the axis residing for the center of gravity of third universal joint 54 and the camera 10,
The center of gravity of clump weight 6 and holder 51 is in the lower section of the third universal joint 54, has the advantages that adjust simply and facilitate.
The second long slot bore 512 is provided on the holder 51, the third universal joint is fixedly installed in by the second long slot bore
On holder.By being fixed on holder 51 after adjusting position of the third universal joint 54 on the second long slot bore 512, tune can be facilitated
Third universal joint 54 is saved in the position of holder 51, makes the center of gravity and clump weight 6, camera 10 and holder 51 3 of third universal joint 54
On the same axis, and the center of gravity of third universal joint is in 51 three's of clump weight 6, camera 10 and holder to the position of centre of gravity of person
The top of center of gravity.
The clump weight 6 includes the first clump weight 61 and the second clump weight 62, and first clump weight 61 is fixedly installed in
On holder 51, second clump weight 62 is fixedly installed in by the first long slot bore 511 on holder 51.By adjusting the second counterweight
Block 62 is fixed on behind the position on the first long slot bore 511 on holder 51, can conveniently adjust the first clump weight 61, the second counterweight
The position of centre of gravity of block 62, camera 10 and holder 51 makes the center of gravity of three be in the axis residing for the center of gravity of third universal joint 54
On, it adjusts simply and conveniently.
The hinged place of first universal joint, 52 and second universal joint 53 and second universal joint 53 and third are universal
The hinged place of section 54 is provided with damping fluid.When fuselage 1 is shaken, damping fluid is for preventing the holder 51 from generating pendulum model
It swings.
The flight instruments 2 include motor 21 and propeller 22, and the motor 21 is fixedly installed on connecting seat 12, spiral
Paddle 22 is fixedly installed on the output end of motor 21.Control device 3 controls motor 21 and works, and motor 21 drives propeller 22 to revolve
Then generate lift.The lift pulls fuselage 1 to rise and/or move horizontally.
It is above disclosed to be only a preferred embodiment of the present invention, the power of the present invention cannot be limited with this certainly
Sharp range, therefore equivalent changes made in accordance with the claims of the present invention, are still within the scope of the present invention.
Claims (9)
1. a kind of four axis unmanned planes with stabilization function, it is characterised in that：Including fuselage, flight instruments and control device, institute
It states flight instruments and is at least set as four, and flight instruments are uniformly distributed on the excircle of fuselage, the control device is installed on
On fuselage, the control device is electrically connected with the flight instruments；The fuselage includes mounting base, connecting seat and four arbors,
One end of four arbors is symmetrically arranged in mounting base, and at the axis of four arbors in the same plane；It is described to fly
It is four that luggage, which installs, and flight instruments are fixedly installed in by connecting seat on the other end of four arbors respectively；The control
Device is installed in mounting base；
Bottom in the mounting base is installed with holder；The holder include holder, the first universal joint, the second universal joint and
Third universal joint, camera are fixedly installed on the holder, and the camera is electrically connected with control device；Described 10000th
The bottom of mounting base is fixedly installed in the upper end of section, and the lower end of the first universal joint passes through first rotating shaft and the second universal joint
Upper end is hinged, and the first rotating shaft is vertical with the vertical section of holder；The lower end of second universal joint by the second shaft with
The upper end of third universal joint is hinged, and second shaft is parallel with the vertical section of holder, the first rotating shaft and the second shaft
It is mutually perpendicular to；The lower end of the third universal joint is fixedly installed on the holder；The center of gravity of the camera and holder is in
On axis residing for the center of gravity of the third universal joint, and the center of gravity of camera and holder is in the center of gravity of the third universal joint
Lower section.
2. a kind of four axis unmanned planes with stabilization function according to claim 1, it is characterised in that：It is set on the holder
There is clump weight, the first long slot bore is provided on the holder, the clump weight is fixedly mounted on by the first long slot bore on holder；It is logical
The installation site of clump weight is overregulated, the center of gravity of the camera, clump weight and holder is in the center of gravity of the third universal joint
On residing axis, and the center of gravity of camera, clump weight and holder is in below the center of gravity of the third universal joint.
3. a kind of four axis unmanned planes with stabilization function according to claim 1 or 2, it is characterised in that：The holder
On be provided with the second long slot bore, the third universal joint is fixedly installed in by the second long slot bore on holder.
4. a kind of four axis unmanned planes with stabilization function according to claim 2, it is characterised in that：Described first is universal
The lower part of section and the top of the second universal joint offer first through hole, and the first rotating shaft inserts into the first through hole and by
One universal joint is together with the second universal joint articulated；The lower part of second universal joint and the top of third universal joint offer
Two through-holes, second shaft are inserted into second through-hole and by the second universal joint together with third universal joint articulated.
5. a kind of four axis unmanned planes with stabilization function according to claim 2, it is characterised in that：The clump weight packet
The first clump weight and the second clump weight are included, first clump weight is fixedly installed on holder, and second clump weight passes through
One long slot bore is fixedly installed on holder.
6. a kind of four axis unmanned planes with stabilization function according to claim 1 or 4, it is characterised in that：Described first
The hinged place and second universal joint of universal joint and the second universal joint are equipped with damping fluid with the hinged place of third universal joint.
7. a kind of four axis unmanned planes with stabilization function according to claim 1, it is characterised in that：The flight instruments
Including motor and propeller, the motor is fixedly installed on connecting seat, and propeller is fixedly installed on the output end of motor.
8. a kind of four axis unmanned planes with stabilization function according to claim 1, it is characterised in that：The first rotating shaft
It is respectively arranged in first through hole and the second through-hole by bearing with the second shaft.
9. a kind of four axis unmanned planes with stabilization function according to claim 1, it is characterised in that：The control device
Including microcontroller or PLC.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810583111.8A CN108725817A (en) | 2018-06-05 | 2018-06-05 | A kind of four axis unmanned planes with stabilization function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810583111.8A CN108725817A (en) | 2018-06-05 | 2018-06-05 | A kind of four axis unmanned planes with stabilization function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108725817A true CN108725817A (en) | 2018-11-02 |
Family
ID=63932389
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810583111.8A Pending CN108725817A (en) | 2018-06-05 | 2018-06-05 | A kind of four axis unmanned planes with stabilization function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108725817A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110155357A (en) * | 2019-04-19 | 2019-08-23 | 同济大学 | A kind of self-balancing ground monitoring system |
| CN113071693A (en) * | 2021-04-25 | 2021-07-06 | 河南城建学院 | Remote sensing image acquisition device for land resource management |
| CN114476104A (en) * | 2021-12-27 | 2022-05-13 | 北京卓翼智能科技有限公司 | Carry on nanopi system unmanned aerial vehicle |
| CN114730191A (en) * | 2020-11-27 | 2022-07-08 | 深圳市大疆创新科技有限公司 | Cloud platform control method and device, cloud platform and movable platform |
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| US3776494A (en) * | 1971-04-14 | 1973-12-04 | Tele Pictures Ets | Antivibration support for viewing gear |
| CN2710018Y (en) * | 2004-05-10 | 2005-07-13 | 罗渊 | Combined vibration-absorbing mount of camera |
| CN103126362A (en) * | 2012-11-30 | 2013-06-05 | 大连理工计算机控制工程有限公司 | Electric dynamic seat |
| CN204534065U (en) * | 2015-03-18 | 2015-08-05 | 零度智控（北京）智能科技有限公司 | A kind of airborne hand-held rapid translating The Cloud Terrace |
| CN104859857A (en) * | 2015-06-02 | 2015-08-26 | 宋南 | Single-lens panoramic unmanned aerial vehicle system |
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| CN206087287U (en) * | 2016-08-31 | 2017-04-12 | 马彦亭 | Express delivery unmanned aerial vehicle |
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| US3776494A (en) * | 1971-04-14 | 1973-12-04 | Tele Pictures Ets | Antivibration support for viewing gear |
| CN2710018Y (en) * | 2004-05-10 | 2005-07-13 | 罗渊 | Combined vibration-absorbing mount of camera |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110155357A (en) * | 2019-04-19 | 2019-08-23 | 同济大学 | A kind of self-balancing ground monitoring system |
| CN110155357B (en) * | 2019-04-19 | 2022-09-20 | 同济大学 | Self-balancing ground monitoring system |
| CN114730191A (en) * | 2020-11-27 | 2022-07-08 | 深圳市大疆创新科技有限公司 | Cloud platform control method and device, cloud platform and movable platform |
| CN113071693A (en) * | 2021-04-25 | 2021-07-06 | 河南城建学院 | Remote sensing image acquisition device for land resource management |
| CN114476104A (en) * | 2021-12-27 | 2022-05-13 | 北京卓翼智能科技有限公司 | Carry on nanopi system unmanned aerial vehicle |
| CN114476104B (en) * | 2021-12-27 | 2023-11-24 | 北京卓翼智能科技有限公司 | Carry on nano system unmanned aerial vehicle |
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Application publication date: 20181102 |
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