CN110001950A - A kind of quadrotor drone keeping flight stability in beam wind - Google Patents
A kind of quadrotor drone keeping flight stability in beam wind Download PDFInfo
- Publication number
- CN110001950A CN110001950A CN201910273599.9A CN201910273599A CN110001950A CN 110001950 A CN110001950 A CN 110001950A CN 201910273599 A CN201910273599 A CN 201910273599A CN 110001950 A CN110001950 A CN 110001950A
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- China
- Prior art keywords
- rotor
- unmanned plane
- connecting rod
- beam wind
- bracket
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- 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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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- 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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Toys (AREA)
- Wind Motors (AREA)
Abstract
The present invention provides a kind of quadrotor drone that flight stability is kept in beam wind, is related to unmanned plane field.Including unmanned plane body, the rotor and driving motor that are arranged on four brackets of unmanned plane body, rotor bracket is provided on the unmanned plane body, the driving motor is set to the inside of rotor bracket, and the output end of driving motor is fixedly connected by shaft coupling with rotation trunk, the top of the rotation trunk runs through rotor bracket and extends to the top of rotor bracket to be fixedly connected with the bottom of rotor, the outer surface of the rotation trunk is arranged with hollow ring, and the inner wall surface of the hollow ring is not contacted with the outer surface of rotation trunk.In the present invention, by changing angle of the blade in rotation, to change the lift generated when blade rotation, thus it is possible to vary tilt angle of the unmanned plane in flight course, the problem of beam wind can effectively be coped with, so that the unmanned plane under beam wind environment can still keep stable flight path.
Description
Technical field
The present invention relates to air vehicle technique field, it is specially a kind of in beam wind keep flight stability quadrotor nobody
Machine.
Background technique
Quadrotor drone be one kind have conventional helicopters can rolling takeoff do not need run-up and fixed-wing flight
Fireballing advantage, therefore, it has become the main products of present unmanned plane.The main application of quadrotor drone is still made at present
For the tool of taking photo by plane carry out using.Traditional quadrotor drone when in use, is easy the interference by beam wind, leads to aircraft
There is path-keeping error during flight.In the prior art, manual hand manipulation is typically relied on, to avoid unmanned plane
In flight course, the appearance the problem of course-line deviation occurred because beam wind problem is encountered, but manual operation accuracy is too poor,
And it is more demanding to operating.
With the development of sensing technology and intelligence, existing unmanned plane can distinguish wind direction and wind by sensing technology
Speed, and intelligence control system is relied on, to guarantee that the problem of course-line deviation does not occur in unmanned plane stabilized flight, still, this technology
It is at high cost, while the requirement to the sensitivity of sensing element is very high, causes the cost of unmanned plane and price higher, very
Be not suitable for promoting the use of.
Summary of the invention
The purpose of the present invention is to provide a kind of in beam wind keeps the quadrotor drone of flight stability, can be in environment
Compare in severe beam wind weather, keep route stability flight, reduce the shaking of unmanned plane, to guarantee quality of taking photo by plane.
In order to achieve the above object, the present invention is achieved by the following technical programs: one kind keeps flight steady in beam wind
Fixed quadrotor drone, including unmanned plane body, the rotor and driving motor that are arranged on four brackets of unmanned plane body,
Rotor bracket, the inside of the driving motor setting and rotor bracket, and driving motor are provided on the unmanned plane body
Output end is fixedly connected by shaft coupling with rotation trunk, and the top of the rotation trunk through rotor bracket and extends to rotor
The top of bracket is fixedly connected with the bottom of rotor.
The outer surface of the rotation trunk is arranged with hollow ring, inner wall surface and the rotation trunk of the hollow ring
Outer surface does not contact, and the bottom of the hollow ring and the top of elevating lever are hinged, and rotor branch is run through in the bottom end of the elevating lever
Frame and the lower section for extending to rotor bracket, and elevating lever is connect with rotor bracket bracket slide, the top of the hollow ring is logical
It crosses bearing and is movably installed with rotatable rotating ring, the top of the rotating ring is fixedly installed with pull rod, and the rotor includes rotation
Wing seat, is movably installed with rotatable blade by bearing on the rotor seat side wall, and the other end and blade of the pull rod are cut with scissors
It connects, the bottom of hollow ring is connect with the top surface bracket of rotor bracket by locating rod.
The bottom of the rotor bracket is provided with U-board, and the side of the U-board is opening-like, and in the inside of U-board
It is hinged with baffle, the bottom of the baffle and rotor bracket is arranged in 50 to 80 degree angles, is overlapped on gear at the top of the elevating lever
The other side at the top of plate, the baffle is fixed by V-arrangement elastic force bar and the bottom of rotor bracket.
Further, the V-arrangement elastic force bar includes first connecting rod and the second connecting rod, one end of the first connecting rod
Opening-like, the opening that one end of second connecting rod extends to first connecting rod is interior and hinged with first connecting rod, described
Setting has elastic component between second connecting rod and first connecting rod.
Further, the elastic element is spring, and for spring wrap on the body of rod, first connecting rod is run through in one end of the body of rod
And be slidably connected between first connecting rod, and pressing plate is provided on the other end of the body of rod, the side of the pressing plate connects with second
Extension bar contact.
Further, the every two U-board is one group of two sides for being symmetricly set on unmanned plane body, and every two is symmetrical
U-board opening be located at same perpendicular on the horizontal line of symmetry axis.
Further, articulated shaft is provided through on the baffle, the both ends of the articulated shaft pass through in bearing and U-board
The two sides active link of wall, and the arc-shaped setting of baffle.
Further, connecting column is provided on one end of the blade, the connecting column is movably arranged on rotation by bearing
On the side wall of wing seat.
Further, the top surface of the blade is in streamlined, and perpendicular planar in side of blade, in hanging down for blade
It faces bottom directly and opens up fluted, and groove is internally provided with fixed link, and the outer surface slidable adjustment of the fixed link has rotation
One end of set, rotary sleeve and pull rod is fixed.
Further, the V-arrangement elastic force bar at a distance from the junction to articulated shaft of baffle with the company of elevating lever and baffle
The distance ratio for connecing place to articulated shaft is 5:1.
Further, the bottom of the unmanned plane body is designed in V shape.
Compare the prior art, and the present invention is by being arranged baffle in unmanned plane body two sides rotor frame bottom, when there is cross
When wind, beam wind blows over that side baffle come and is subject to wind pressure to generate torsion and then rotate, when baffle is sent out
When raw rotation, baffle can jack up elevating lever, hollow ring can be made to be in heeling condition after going up and down plate stem and jacking up, from
And pull rod is made to will do it lifting when rotation, can adjust blade when pull rod lifting is rotated, when blade is turned
The blade lift of two sides can be made inconsistent when dynamic, so that side lift windward reduces, unmanned plane be made to keep inclination in this way
State can reduce the problem of beam wind bring unmanned plane during flying deviates boat association in the process in this way.
In the present invention, by being in V shape by the bottom setting of unmanned plane, when so that beam wind blows uav bottom
It can be blown over along uav bottom is inclined, reduce the influence of beam wind, guarantee the balance of unmanned plane, while being also avoided that side
Beam wind impacts the baffle work of the other side.
In the present invention, by changing angle of the blade in rotation, thus change the lift generated when blade rotation, it can
To change tilt angle of the unmanned plane in flight course, the problem of can effectively coping with beam wind, so that under beam wind environment
Unmanned plane can still keep stable flight path.
Detailed description of the invention
Fig. 1 is overlooking structure diagram of the present invention；
Fig. 2 is present invention looks up structural representation of the present invention；
Fig. 3 is the enlarged drawing in the portion A in Fig. 2 of the present invention；
Fig. 4 is the cross-sectional view of the structure of rotor bracket of the present invention；
Fig. 5 is V-arrangement elastic force bar section figure of the present invention；
Fig. 6 is the sectional view of blade of the present invention；
Fig. 7 is the cross-sectional view of the structure of U-board of the present invention；
Fig. 8 is the hollow ring state diagram of present invention wind regime side when receiving beam wind.
Wherein, 1 unmanned plane body, 2 rotors, 201 rotor seats, 202 blades, 203 connecting columns, 3 driving motors, 4 rotor branch
Frame, 5 rotation trunks, 6 hollow rings, 7 elevating levers, 8 rotating rings, 9 pull rods, 10 baffles, 11V shape elastic force bar, 111 first connections
Bar, 112 second connecting rods, 113 elastic elements, 12 bodies of rod, 13 articulated shafts, 14 pressing plates, 15 grooves, 16 fixed links, 17 rotary sleeves,
18 locating rods, 19 U-boards.
Specific embodiment
As shown in figures 1-8, the embodiment of the present invention provides a kind of quadrotor drone that flight stability is kept in beam wind, packet
The rotor 2 and driving motor 3 for including unmanned plane body 1, being arranged on 1 four brackets of unmanned plane body, the unmanned plane body 1
On be provided with rotor bracket 4, the inside of driving motor 3 setting and rotor bracket 4, and the output end of driving motor 3 passes through
Shaft coupling is fixedly connected with rotation trunk 5, and the top of the rotation trunk 5 through rotor bracket 4 and extends to rotor bracket 4
Top is fixedly connected with the bottom of rotor 2.
The outer surface of the rotation trunk 5 is arranged with hollow ring 6, and the inner wall surface of the hollow ring 6 and rotation are led
Dry 5 outer surface does not contact, and the bottom of the hollow ring 6 and the top of elevating lever 7 are hinged, and the bottom end of the elevating lever 7 is passed through
It wears rotor bracket 4 and extends to the lower section of rotor bracket 4, and elevating lever 4 is connect with 4 bracket slide of rotor bracket, hollow ring 6
Inner wall on be inlaid with bearing, the bottom of rotating ring 8 is provided with inverted round table-like protrusion, and the lug boss of rotating ring 8 extends
Inside to bearing and the fixation between the inner wall of bearing, the top of the rotating ring 8 is fixedly installed with pull rod 9, the rotor 2
Including rotor seat 201, rotatable blade 202, the pull rod 9 are movably installed with by bearing on 201 side wall of rotor seat
The other end and blade 202 it is hinged.Connecting column 203 is provided on one end of blade 202, the connecting column 203 is living by bearing
It is dynamic to be mounted on the side wall of rotor seat 201.The top surface of blade 202 is in streamlined, and the perpendicular plane in side of blade 202
Shape opens up fluted 15 in the vertical plane bottom of blade 202, and groove 15 is internally provided with fixed link 16, the fixed link
16 outer surface slidable adjustment has rotary sleeve 17, and rotary sleeve 17 and one end of pull rod 9 are fixed, the bottom of hollow ring 6 and rotor
The top surface bracket of bracket 4 is connected by locating rod 18, and one end of locating rod 18 is fixed on the top of rotor bracket 4, and locating rod
The bottom of 18 other end and hollow ring 6 is hinged.
The bottom of the rotor bracket 4 is provided with U-board 12, and the side of the U-board 12 is opening-like, and in U-board
12 inside is hinged with baffle 10, and the bottom of the baffle 10 and rotor bracket 4 is arranged in 50 to 80 degree angles, the elevating lever 4
Bottom end be overlapped on baffle 10, elevating lever 7 is located at rotation open side of the trunk 5 far from U-board 19, guarantees when there is beam wind
When, it can guarantee.The other side of the baffle 10 is fixed by V-arrangement elastic force bar 11 and the bottom of rotor bracket 4.It is passed through on baffle 10
It wears and is equipped with articulated shaft 13, the both ends of the articulated shaft 13 pass through the two sides active link of bearing and 12 inner wall of U-board, and baffle
10 arc-shaped settings.
In the present embodiment, V-arrangement elastic force bar 11 at a distance from the junction of baffle 10 to articulated shaft 13 with elevating lever 4 and gear
The distance ratio of the lap-joint of plate 10 to articulated shaft 13 is 5:1.V-arrangement elastic force bar 11 includes first connecting rod 111 and the second connecting rod
112, one end of the first connecting rod 111 is opening-like, and one end of second connecting rod 112 extends to first connecting rod
It is in 111 opening and hinged with first connecting rod 111, bullet is provided between second connecting rod 112 and first connecting rod 111
Property element 113.Elastic element 113 is spring, and for spring wrap on the body of rod 12, first connecting rod 111 is run through in one end of the body of rod 12
And be slidably connected between first connecting rod 111, and pressing plate 14 is provided on the other end of the body of rod 12, the side of the pressing plate 14
It is contacted with the second connecting rod 112.Every two U-board 12 is symmetricly set on the two sides of unmanned plane body 1, and every two pair for one group
The opening of U-board 12 of title is located at same perpendicular on the horizontal line of symmetry axis.It is designed in V shape the bottom of unmanned plane body 1.
By the way that baffle 10 is arranged to curved arc, so that, the wind-force that baffle 10 is subject to is bigger, and small beam wind is avoided to make nothing
The small course-line deviation of man-machine generation.
When unmanned plane takes off, driving motor 3 will drive rotation trunk 5 and be rotated, when rotating the rotation of trunk 5
It will drive rotor seat 201 to be rotated, so that blade 202 is rotated, due to the streamlined design in the top of blade 202,
Meeting is so that blade 202 generates lift and rises unmanned plane.During the flight of unmanned plane normal level, hollow ring 6 is in
Horizontality, the lift that can guarantee that four rotor brackets 4 of unmanned plane are subject to is identical, thus make unmanned plane flight when
It waits and keeps stablizing.During normal flight, by adjusting the revolving speed of four driving motors 3 on unmanned plane, thus to control
The heading of unmanned plane.
But during unmanned plane during flying, when encountering beam wind, the baffle 10 that beam wind is blown on that direction come exists
After encountering beam wind, a torsion is generated under the action of wind pressure and then is rotated, can will be gone up and down when baffle 10 rotates
Bar 7 lifts, and after elevating lever 7 lifts, hollow ring 6 can be in heeling condition by elevating lever 7, so that hollow ring 6 influences wind
The side in source is higher than the other side, allows for blade 202 so in the rotation, when to be moved to hollow ring 6 lower for blade 202
It keeps horizontality to be moved when the top of side, is in incline when blade 202 is moved to a 6 higher upper side of hollow ring
Ramp-like rotation, allows in this way, and the lift that blade generates in rotary course is uneven, so that blade generates one and wind direction phase
Anti- power offsets influence of the beam wind to unmanned plane during flying.
As shown in fig. 6, when rotor 2 blade 202 it is when in a horizontal state, upper surface be it is streamlined, can be improved in this way
The lift of unmanned plane, and when it is horizontality that blade 202, which is in not, the variation that the lift of generation will appear, therefore can make
The two sides of one rotor generate different lift, to change the heading of entire unmanned plane.
Claims (9)
1. a kind of quadrotor drone that flight stability is kept in beam wind, including unmanned plane body (1), setting are in unmanned plane machine
Rotor (2) and driving motor (3) on (1) four bracket of body, it is characterised in that: be provided on the unmanned plane body (1)
Rotor bracket (4), the driving motor (3) is set to the inside of rotor bracket (4), and the output end of driving motor (3) passes through
Shaft coupling is fixedly connected with rotation trunk (5), and the top of rotation trunk (5) through rotor bracket (4) and extends to rotor
The top of bracket (4) is fixedly connected with the bottom of rotor (2)；
The outer surface of rotation trunk (5) is arranged with hollow ring (6), the inner wall surface and rotation of the hollow ring (6)
The outer surface of trunk (5) does not contact, and the bottom of the hollow ring (6) and the top of elevating lever (7) are hinged, the elevating lever
(7) bottom end runs through rotor bracket (4) and extends to the lower section of rotor bracket (4), and elevating lever (4) and rotor bracket (4) are propped up
Frame is slidably connected, and the top of the hollow ring (6) is movably installed with rotatable rotating ring (8), the rotation by bearing
The top of ring (8) is fixedly installed with pull rod (9), and the rotor (2) includes rotor seat (201), on rotor seat (201) side wall
Be movably installed with rotatable blade (202) by bearing, the other end of the pull rod (9) and blade (202) hingedly, the sky
The bottom of heart annulus (6) is connect with the top surface bracket of rotor bracket (4) by locating rod (18)；
The bottom of the rotor bracket (4) is provided with U-board (19), and the side of the U-board (19) is opening-like, and in U-shaped
It is hinged on the inside of plate (19) baffle (10), the bottom of the baffle (10) and rotor bracket (4) is in 50 to 80 degree angle settings, institute
The bottom end for stating elevating lever (7) is overlapped on the top of baffle (10), the other side of the baffle (10) by V-arrangement elastic force bar (11) with
The bottom of rotor bracket (4) is fixed.
2. a kind of quadrotor drone for keeping flight stability in beam wind according to claim 1, it is characterised in that: institute
Stating V-arrangement elastic force bar (11) includes first connecting rod (111) and the second connecting rod (112), one end of the first connecting rod (111)
Opening-like, one end of second connecting rod (112) extends in the opening of first connecting rod (111) and and first connecting rod
(111) hingedly, have elastic component (113) are set between second connecting rod (112) and first connecting rod (111).
3. a kind of quadrotor drone for keeping flight stability in beam wind according to claim 2, it is characterised in that: institute
Stating elastic element (113) is spring, and for spring wrap on the body of rod (12), first connecting rod (111) are run through in one end of the body of rod (12)
And it is slidably connected between first connecting rod (111), and pressing plate (14), the pressing plate are provided on the other end of the body of rod (12)
(14) side is contacted with the second connecting rod (112).
4. a kind of quadrotor drone for keeping flight stability in beam wind according to claim 1, it is characterised in that: every
Two U-boards (19) are one group of two sides for being symmetricly set on unmanned plane body (1), and the symmetrical U-board of every two (19) is open
On horizontal line of the same perpendicular to symmetry axis.
5. a kind of quadrotor drone for keeping flight stability in beam wind according to claim 1, it is characterised in that: institute
It states and is provided through on baffle (10) articulated shaft (13), the both ends of the articulated shaft (13) pass through bearing and U-board (19) inner wall
Two sides active link, and baffle (10) arc-shaped setting.
6. a kind of quadrotor drone for keeping flight stability in beam wind according to claim 1, it is characterised in that: institute
It states and is provided on one end of blade (202) connecting column (203), the connecting column (203) is movably arranged on rotor seat by bearing
(201) on side wall.
7. a kind of quadrotor drone for keeping flight stability in beam wind according to claim 6, it is characterised in that: institute
The top surface of blade (202) is stated in streamlined, and perpendicular planar, the vertical plane in blade (202) in side of blade (202)
Bottom opens up fluted (15), and groove (15) is internally provided with fixed link (16), and the outer surface of the fixed link (16) is sliding
Dynamic adjusting has rotary sleeve (17), and rotary sleeve (17) and one end of pull rod (9) are fixed.
8. a kind of quadrotor drone for keeping flight stability in beam wind according to claim 1, it is characterised in that: institute
State V-arrangement elastic force bar (11) at a distance from the junction of baffle (10) to articulated shaft (13) with the company of elevating lever (4) and baffle (10)
The distance ratio for connecing place to articulated shaft (13) is 5:1.
9. a kind of quadrotor drone for keeping flight stability in beam wind according to claim 1, it is characterised in that: institute
It is designed in V shape the bottom for stating unmanned plane body (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910273599.9A CN110001950B (en) | 2019-04-06 | 2019-04-06 | Keep four rotor unmanned aerial vehicle of stable flight in crosswind |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910273599.9A CN110001950B (en) | 2019-04-06 | 2019-04-06 | Keep four rotor unmanned aerial vehicle of stable flight in crosswind |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110001950A true CN110001950A (en) | 2019-07-12 |
| CN110001950B CN110001950B (en) | 2022-05-20 |
Family
ID=67170146
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910273599.9A Active CN110001950B (en) | 2019-04-06 | 2019-04-06 | Keep four rotor unmanned aerial vehicle of stable flight in crosswind |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110001950B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115320838A (en) * | 2022-10-13 | 2022-11-11 | 中国地震应急搜救中心 | Earthquake rescue high altitude monitoring unmanned aerial vehicle |
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|---|---|---|---|---|
| GB551156A (en) * | 1940-04-06 | 1943-02-10 | United Aircraft Corp | Improvements in or relating to aircraft |
| JP2007290646A (en) * | 2006-04-27 | 2007-11-08 | Yamaha Motor Co Ltd | Unmanned helicopter |
| CN104648667A (en) * | 2015-02-17 | 2015-05-27 | 何春旺 | Aircraft |
| CN105292454A (en) * | 2015-11-06 | 2016-02-03 | 极翼机器人(上海)有限公司 | Multi-rotor-wing unmanned plane |
| CN106882364A (en) * | 2017-03-15 | 2017-06-23 | 深圳市雷凌广通技术研发有限公司 | Accurate intelligent four rotor wing unmanned aerial vehicle of one kind control |
| CN107303948A (en) * | 2016-04-23 | 2017-10-31 | 刘凤华 | A kind of short tail goes straight up to gyroplane |
-
2019
- 2019-04-06 CN CN201910273599.9A patent/CN110001950B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB551156A (en) * | 1940-04-06 | 1943-02-10 | United Aircraft Corp | Improvements in or relating to aircraft |
| JP2007290646A (en) * | 2006-04-27 | 2007-11-08 | Yamaha Motor Co Ltd | Unmanned helicopter |
| CN104648667A (en) * | 2015-02-17 | 2015-05-27 | 何春旺 | Aircraft |
| CN105292454A (en) * | 2015-11-06 | 2016-02-03 | 极翼机器人(上海)有限公司 | Multi-rotor-wing unmanned plane |
| CN107303948A (en) * | 2016-04-23 | 2017-10-31 | 刘凤华 | A kind of short tail goes straight up to gyroplane |
| CN106882364A (en) * | 2017-03-15 | 2017-06-23 | 深圳市雷凌广通技术研发有限公司 | Accurate intelligent four rotor wing unmanned aerial vehicle of one kind control |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115320838A (en) * | 2022-10-13 | 2022-11-11 | 中国地震应急搜救中心 | Earthquake rescue high altitude monitoring unmanned aerial vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110001950B (en) | 2022-05-20 |
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Effective date of registration: 20220425 Address after: 518000 floor 12, block a, Kelu building, Baoshen Road, songpingshan community, Xili street, Nanshan District, Shenzhen, Guangdong Applicant after: SHENZHEN FUNSNAP TECHNOLOGY CO.,LTD. Address before: 111000 Group 15, Laodong street, Baita District, Liaoyang City, Liaoning Province Applicant before: Hu Yongxing |
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