CN110155357A - A kind of self-balancing ground monitoring system - Google Patents
A kind of self-balancing ground monitoring system Download PDFInfo
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- CN110155357A CN110155357A CN201910318252.1A CN201910318252A CN110155357A CN 110155357 A CN110155357 A CN 110155357A CN 201910318252 A CN201910318252 A CN 201910318252A CN 110155357 A CN110155357 A CN 110155357A
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- hinge bar
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- balancing
- self
- monitoring system
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims description 35
- 239000003292 glue Substances 0.000 claims description 5
- 101000911390 Homo sapiens Coagulation factor VIII Proteins 0.000 claims 1
- 102000057593 human F8 Human genes 0.000 claims 1
- 229940047431 recombinate Drugs 0.000 claims 1
- 238000012806 monitoring device Methods 0.000 description 11
- 238000005286 illumination Methods 0.000 description 8
- 238000009434 installation Methods 0.000 description 7
- 238000003384 imaging method Methods 0.000 description 6
- 230000005484 gravity Effects 0.000 description 4
- 230000013011 mating Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- VIKNJXKGJWUCNN-XGXHKTLJSA-N norethisterone Chemical compound O=C1CC[C@@H]2[C@H]3CC[C@](C)([C@](CC4)(O)C#C)[C@@H]4[C@@H]3CCC2=C1 VIKNJXKGJWUCNN-XGXHKTLJSA-N 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- 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
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Studio Devices (AREA)
Abstract
The present invention relates to a kind of self-balancing ground monitoring systems, including unmanned plane, the attachment base for being installed on unmanned plane lower part, the balancing device connecting with attachment base and the image collecting device being installed on balancing device；Balancing device includes using X-axis as the first hinge bar of shaft and using Y-axis as the second hinge bar of shaft, and X-axis and Y-axis are mutually perpendicular to each parallel to horizontal plane；One end attachment base of first hinge bar rotates connection, and the other end and the rotation of the second hinge bar connect；Image collecting device is installed in the end of the second hinge bar；Second hinge bar is equipped with the first balance weight assembly with image collecting device gravitational equilibrium；First hinge bar is equipped with the second balance weight assembly with image collecting device, the first balance weight assembly and the second hinge bar gravitational equilibrium.Compared with prior art, the present invention have many advantages, such as monitor precision it is high, it is multiple functional, be applicable to aircraft any angle flight condition in the sky.
Description
Technical field
The invention belongs to no worker monitor fields, more particularly, to a kind of self-balancing ground monitoring system.
Background technique
As unmanned plane etc. has the fast development of distant control function aircraft, it is widely used in daily production and living.
The ground image in the specific region of a city can be obtained by UAV flight's monitoring device, such as traffic information, farmland agriculture feelings
A variety of interest informations such as information, Information of Ancient Human Activity realize the real time monitoring to ground targets of interest.First technology (appoints milli bright
Patent, application number 201610874032.3,2016 applyings date September 30th, a kind of patent name " monitoring system based on unmanned plane
System and equipment ", Sun Hongyan patent, application number 201810875196.7,2018 applyings date August 3rd, a kind of patent name " tool
The flight monitoring system for thering is flight information to interactively communicate "), camera is swung with holder any angle, realizes the figure of target point
As acquisition, since the real-time swing of camera is by the quality of the acquired image of strong influence, and it not can be implemented simultaneously and monitor round the clock
The functions such as Image Acquisition, target following and target illumination.Unmanned plane in the sky fly by any angle, and monitoring device does not have in real time
Automatic flat function.
Summary of the invention
Present invention aim to address current monitor device not can be implemented simultaneously round the clock monitoring image acquisition, target following and
The functions such as target illumination, and the low-quality problem of acquired monitoring image, provide a kind of self-balancing ground monitoring device.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of self-balancing ground monitoring system, including unmanned plane, the attachment base that is installed on the unmanned plane lower part, with it is described
The balancing device of attachment base connection and the image collecting device being installed on the balancing device；
The balancing device includes using X-axis as the first hinge bar of shaft and using Y-axis as the second hinge bar of shaft, described
X-axis and Y-axis are mutually perpendicular to each parallel to horizontal plane；
One end of first hinge bar and attachment base rotation connect, and the other end and second hinge bar rotation connect；
Described image acquisition device is installed in the end of second hinge bar；
Second hinge bar is equipped with the first balance weight assembly with described image acquisition device gravitational equilibrium；Described first
Hinge bar is equipped with the second weight set with described image acquisition device, the first balance weight assembly and the second hinge bar gravitational equilibrium
Part.
The principle of the present invention are as follows: image collecting device is installed on the first hinge bar by the second hinge bar, and second is hinged
Bar is rotated by shaft of Y-axis, and image collecting device and the first balance weight assembly are separately mounted to the two sides of Y-axis, gravitational equilibrium, makes the
Two hinge bars are in the horizontal position in XZ plane；Simultaneously by the second hinge bar, image collecting device and the first balance weight assembly
As a whole, this whole and second balance weight assembly is respectively arranged in the two sides of the X-axis shaft of the first hinge bar, and again
Dynamic balance, then this whole and second balance weight assembly is always at horizontal position in YZ plane；To guarantee image collector
It sets and is always at horizontal position, can be adapted for unmanned plane any angle flight progress in the sky.
Since unmanned plane during flying situation is more steady, the first hinge bar will not occur 180 ° as shaft using X-axis and turn over
Turn, i.e. the first hinge bar carries out swinging up and down in ± 90 ° relative to X-axis；Similarly, the second hinge bar will not be to turn with Y-axis
180 ° of overturning occurs for axis, i.e. the second hinge bar carries out swinging up and down in ± 90 ° relative to Y-axis；It, can be even in this system
The gag lever post of 180 ° of overturnings occurs for setting the first hinge bar of limitation or the second hinge bar on joint chair and the first hinge bar.
First balance weight assembly includes the first locking nut, the first clump weight and the first clump weight mounting rod；The figure
As acquisition device and the first clump weight mounting rod are respectively arranged in the two sides of second hinge bar, first clump weight is removable
It unloads and is installed on the first clump weight mounting rod；First locking nut connect and presses with the first clump weight mounting rod spiral
Tight first clump weight；
Second balance weight assembly includes the second locking nut, the second clump weight and the second clump weight mounting rod；Described
Two hinge bars and the second clump weight mounting rod are respectively arranged in the two sides of first hinge bar, and second clump weight can
Disassembly is installed on the second clump weight mounting rod；Second locking nut is connect simultaneously with the second clump weight mounting rod spiral
Compress the second clump weight.
First clump weight and the second clump weight include several counterweight block elements.
Described image acquisition device includes tilting mirror mechanism and monitor control mechanism；The end of second hinge bar is equipped with through-hole,
Bearing is equipped in the through-hole, the tilting mirror mechanism is installed in the through-hole by bearing rotary；The monitor control mechanism is installed in
On the upper surface of the through hole of second hinge bar.
The tilting mirror mechanism includes sleeve, mirror body component, cone gear ring, bevel gear and the first stepper motor；The mirror body group
Part is packed in the middle part of sleeve, and the cone gear ring is packed in sleeve ends, and first stepper motor is packed in the second hinged bar side
Face, and the main shaft of the first stepper motor protrudes into the through-hole of the second hinge bar, and the bevel gear is installed in first stepping
On the main shaft of motor, the cone gear ring and bevel gear engagement connection.
Several tilting mirror mechanisms are coaxially provided with along the axial direction of the through-hole, the through-hole.
Liang Ge tilting mirror mechanism is coaxially provided in the through-hole, and described two tilting mirror mechanisms are symmetrical set.
The mirror body component includes the frame being fixedly connected by glue and mirror body.
The mirror body is the prism with the different angles of wedge, and the angle of wedge of the prism is 5~15 °.
The monitor control mechanism includes camera, pivoted arm, second stepper motor, infrared camera, mounting base, laser emitter and spy
Illuminator；The mounting base is packed in the end face of through-hole on the second hinge bar, and the second stepper motor is fixedly connected with mounting base,
The pivoted arm is fixedly connected with the main shaft of second stepper motor, and the camera, infrared camera, laser emitter and searchlight are along circle
Circumferential direction is evenly packed on pivoted arm.
Compared with prior art, the invention has the following advantages that
(1) it is combined using aircraft and monitoring device, it can be achieved that being monitored to ground large scale and high accuracy.
(2) it using installation clump weight balance monitoring device gravity, when realizing aircraft any angle flight in the sky, keeps
Monitoring device is horizontal, is conducive to imaging, tracking and illumination of the monitoring device to monitored object.
(3) it is provided with camera, infrared camera, laser emitter and searchlight in device, can be achieved at the same time to monitored object
Imaging, tracking and illumination.
(4) using the optical axis or light beam of double prism arrangement refraction monitoring device, traditional holder is substituted, camera is avoided, swashs
Angle adjustment when optical transmitting set and searchlight dynamic job, it can be achieved that the clearer imaging of monitored object, more accurately with
Track, and more good illumination.
(5) mirror body is connect with frame using glue, is realized that mirror body is fixed indirectly by compressing frame, be can avoid mirror body because of peace
Dress, which squeezes, generates surface deformation, and the tracking accuracy and image quality of device can be improved.
Detailed description of the invention
Fig. 1 is schematic view of the front view of the invention；
Fig. 2 is left view structural representation of the invention；
Fig. 3 is the structural schematic diagram of attachment base in the present invention；
Fig. 4 is the left view structural representation of the first hinge bar in the present invention；
Fig. 5 is the main view direction cross-sectional view of the second hinge bar in the present invention；
Fig. 6 is the partial enlarged view of Fig. 1；
Fig. 7 is the main view direction cross-sectional view of mirror body component；
In figure, 1 be unmanned plane, 2 be attachment base, 3 be the first hinge bar, 4 be the first locking nut, 5 be the first clump weight,
6 be the second hinge bar, 7 be bearing, 8 be tilting mirror mechanism, 9 be monitor control mechanism, 10 be the second locking nut, 11 be the second counterweight
Block, 81 be sleeve, 82 be mirror body component, 83 be cone gear ring, 84 be bevel gear, 85 be the first stepper motor, 91 be camera, 92 be
Pivoted arm, 93 be second stepper motor, 94 be infrared camera, 95 be mounting base, 96 be laser emitter, 97 be searchlight, 31 be
First hinge hole, 61 be the second hinge hole, 62 be through-hole, 821 be frame, 822 be mirror body.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
Embodiment
A kind of self-balancing ground monitoring system including unmanned plane 1, is installed on the attachment base 2 and attachment base of unmanned plane lower part
The balancing device of 2 connections and the image collecting device being installed on balancing device, wherein image collecting device includes tilting mirror
Mechanism 8 and monitor control mechanism 9, as depicted in figs. 1 and 2；Balancing device include using X-axis as the first hinge bar 3 (see Fig. 2) of shaft and
Using Y-axis as the second hinge bar 6 (see Fig. 1) of shaft, X-axis and Y-axis are mutually perpendicular to each parallel to horizontal plane, Z-direction in figure
For vertical direction；One end attachment base 2 of first hinge bar 3 rotates connection, and the other end and the rotation of the second hinge bar 6 connect；Image
Acquisition device is installed in the end of the second hinge bar 6；Second hinge bar 6 is equipped with first with image collecting device gravitational equilibrium
Balance weight assembly；First hinge bar 3 is equipped with and 6 gravitational equilibrium of image collecting device, the first balance weight assembly and the second hinge bar
Second balance weight assembly.
For the structure of attachment base 2 as shown in figure 3, the top of the attachment base 2 is connect with unmanned plane 1, lower part is the first hinge of installation
The X-direction shaft of extension bar 3.For the structure of first hinge bar 3 as shown in figure 4, for zigzag structure, middle part is equipped with the first hinge hole 31,
The X-direction shaft of 2 lower part of attachment base, that is, mating is installed in first hinge hole 31.The lower part of first hinge bar 3 is installation the
The spin axis in Y-direction of two hinge bars 6 is provided with the second hinge hole 61 in the middle part of second hinge bar 6, and one end is provided with through-hole 62, such as Fig. 5
Shown, spin axis in Y-direction, that is, mating is installed in second hinge hole 61, and tilting mirror mechanism 8 is mating to be installed in through-hole 62.
In the present embodiment, the first balance weight assembly includes the first locking nut 4, the first clump weight 5 and the installation of the first clump weight
Bar；Image collecting device and the first clump weight mounting rod are respectively arranged in the two sides of the second hinge bar 6, and the first clump weight 5 is removable
It unloads and is installed on the first clump weight mounting rod；First locking nut 4 connect with the first clump weight mounting rod spiral and compresses first
Clump weight 5；Second balance weight assembly includes the second locking nut 10, the second clump weight 11 and the second clump weight mounting rod；Second hinge
Extension bar 6 and the second clump weight mounting rod are respectively arranged in the two sides of the first hinge bar 3, and the second clump weight 11 is removably mounted to
On two clump weight mounting rods；Second locking nut 10 connect with the second clump weight mounting rod spiral and compresses the second clump weight 11；
First clump weight 11 and the second clump weight 5 may each comprise several counterweight block elements, according to specific image collecting device weight
Difference, the specific quantity or quality for designing weight element in the first balance weight assembly and the second balance weight assembly, so that the second counterweight
The overall quality of block 11 and the second locking nut 10 and locking nut 1, clump weight 1, the second hinge bar 6, bearing 7, tilting mirror
The quality of mechanism 8 and tilting mirror mechanism 8 and equal, balances its generated gravity；First clump weight 5 and the first locking nut 4
Quality and bearing 7, the quality of tilting mirror mechanism 8 and tilting mirror mechanism 8 and equal, balance its generated gravity；Since unmanned plane flies
Row situation is more steady, therefore 180 ° of overturning will not occur using X-axis as shaft for the first hinge bar 3, i.e. the first hinge bar 3 is opposite
Swinging up and down in ± 90 ° is carried out in X-axis；Similarly, 180 ° of overturning will not occur using Y-axis as shaft for the second hinge bar 6, i.e.,
Second hinge bar 6 carries out swinging up and down in ± 90 ° relative to Y-axis；It, can be hinged in attachment base 2 and first in this system
The gag lever post of 180 ° of overturnings occurs for setting the first hinge bar 3 of limitation or the second hinge bar 6 on bar 3.
Image collecting device includes tilting mirror mechanism 8 and monitor control mechanism 9, as shown in Figure 6；The end of second hinge bar 6 is equipped with
Through-hole 62, the through-hole 62 is interior to be equipped with bearing 7, and tilting mirror mechanism 8 is installed in through-hole 62 by the rotation of bearing 7；Monitor control mechanism 9 is fixedly mounted with
On upper surface at the through-hole 62 of the second hinge bar 6.
Wherein, tilting mirror mechanism 8 includes sleeve 81, mirror body component 82, cone gear ring 83, bevel gear 84 and the first stepper motor
85；Mirror body component 82 is packed in the middle part of sleeve 81, and cone gear ring 83 is packed in 81 end of sleeve, and the first stepper motor 85 is packed in the
Two hinge bars, 6 side, and the main shaft of the first stepper motor 85 protrudes into the through-hole 62 of the second hinge bar 6, and bevel gear 84 is fixedly mounted with
In on the main shaft of the first stepper motor 85, cone gear ring 83 and the engagement of bevel gear 84 are connected；Along the axial direction of through-hole 62, the through-hole
It is coaxially provided with Liang Ge tilting mirror mechanism 8 in 62 also, Liang Ge tilting mirror mechanism 8 is symmetrical set.Mirror body component 82 includes passing through glue
The frame 821 and mirror body 822 being fixedly connected, as shown in fig. 7, in the present embodiment mirror body 822 be the prism with the different angles of wedge, two
The angle of wedge of a prism is respectively 5 ° and 15 °.
Monitor control mechanism 9 includes camera 91, pivoted arm 92, second stepper motor 93, infrared camera 94, mounting base 95, laser hair
Emitter 96 and searchlight 97；Mounting base 95 is packed in the end face of through-hole 62 on the second hinge bar 6, second stepper motor 93 and installation
Seat 95 is fixedly connected, and pivoted arm 92 is fixedly connected with the main shaft of second stepper motor 93, camera 91, infrared camera 94, Laser emission
Device 96 and searchlight 97 are along the circumferential direction evenly packed on pivoted arm 92.
The system of the present embodiment is combined using aircraft and monitoring device, it can be achieved that supervising to ground large scale and high accuracy
Control；Camera, infrared camera, laser emitter and searchlight are provided in device, can be achieved at the same time imaging to monitored object, with
Track and illumination；Using installation clump weight balance monitoring device gravity, when realizing aircraft any angle flight in the sky, prison is kept
It is horizontal to control device, is conducive to imaging, tracking and illumination of the monitoring device to monitored object；It is set using double prism arrangement refraction monitoring
The standby optical axis or light beam, substitutes traditional holder, avoids angle tune when camera, laser emitter and searchlight dynamic job
It is whole, it can be achieved that the clearer imaging of monitored object, more accurate tracking, and more good illumination；Mirror body and frame use
Glue connection realizes that mirror body is fixed by compressing frame indirectly, can avoid mirror body because installation squeezes and generates surface deformation, can be improved
The tracking accuracy and image quality of device.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.
Claims (10)
1. a kind of self-balancing ground monitoring system, which is characterized in that including unmanned plane (1), be installed on the unmanned plane lower part
Attachment base (2), the balancing device being connect with the attachment base (2) and the image collector being installed on the balancing device
It sets；
The balancing device includes using X-axis as the first hinge bar (3) of shaft and using Y-axis as the second hinge bar (6) of shaft, institute
X-axis and Y-axis are stated each parallel to horizontal plane, and is mutually perpendicular to；
One end of first hinge bar (3) and attachment base (2) rotation connect, and the other end and second hinge bar (6) rotate
Connection；Described image acquisition device is installed in the end of second hinge bar (6)；
Second hinge bar (6) is equipped with the first balance weight assembly with described image acquisition device gravitational equilibrium；Described first
Hinge bar (3) is equipped with matches with the second of described image acquisition device, the first balance weight assembly and the second hinge bar (6) gravitational equilibrium
Recombinate part.
2. a kind of self-balancing ground monitoring system according to claim 1, which is characterized in that
First balance weight assembly includes the first locking nut (4), the first clump weight (5) and the first clump weight mounting rod；It is described
Image collecting device and the first clump weight mounting rod are respectively arranged in the two sides of second hinge bar (6), first counterweight
Block (5) is removably mounted on the first clump weight mounting rod；First locking nut (4) and the first clump weight mounting rod
Spiral connects and compresses the first clump weight (5)；
Second balance weight assembly includes the second locking nut (10), the second clump weight (11) and the second clump weight mounting rod；Institute
It states the second hinge bar (6) and the second clump weight mounting rod is respectively arranged in the two sides of first hinge bar (3), described
Two clump weights (11) are removably mounted on the second clump weight mounting rod；Second locking nut (10) and the second counterweight
Block mounting rod spiral connects and compresses the second clump weight (11).
3. a kind of self-balancing ground monitoring system according to claim 2, which is characterized in that first clump weight (5)
It include several counterweight block elements with the second clump weight (11).
4. a kind of self-balancing ground monitoring system according to claim 1, which is characterized in that described image acquisition device packet
Include tilting mirror mechanism (8) and monitor control mechanism (9)；The end of second hinge bar (6) is equipped with through-hole (62), sets in the through-hole (62)
Have bearing (7), the tilting mirror mechanism (8) is installed in the through-hole (62) by bearing (7) rotation；The monitor control mechanism (9)
It is installed on the upper surface at the second hinge bar (6) through-hole (62).
5. a kind of self-balancing ground monitoring system according to claim 4, which is characterized in that tilting mirror mechanism (8) packet
Include sleeve (81), mirror body component (82), cone gear ring (83), bevel gear (84) and the first stepper motor (85)；The mirror body component
(82) it is packed in the middle part of sleeve (81), the cone gear ring (83) is packed in sleeve (81) end, first stepper motor (85)
It is packed in the second hinge bar (6) side, and the main shaft of the first stepper motor (85) protrudes into the through-hole (62) of the second hinge bar (6)
In, the bevel gear (84) is installed on the main shaft of first stepper motor (85), the cone gear ring (83) and bevel gear
(84) engagement connection.
6. a kind of self-balancing ground monitoring system according to claim 5, which is characterized in that the axis along the through-hole (62)
To direction, several tilting mirror mechanisms (8) are coaxially provided in the through-hole (62).
7. a kind of self-balancing ground monitoring system according to claim 6, which is characterized in that coaxial in the through-hole (62)
If there are two tilting mirror mechanism (8), and described two tilting mirror mechanisms are symmetrical set.
8. a kind of self-balancing ground monitoring system according to claim 4, which is characterized in that mirror body component (8) packet
Include the frame (821) being fixedly connected by glue and mirror body (822).
9. a kind of self-balancing ground monitoring system according to claim 8, which is characterized in that the mirror body (822) is tool
There is the prism of the different angles of wedge, the angle of wedge of the prism is 5~15 °.
10. a kind of self-balancing ground monitoring system according to claim 4, which is characterized in that monitor control mechanism (9) packet
Include camera (91), pivoted arm (92), second stepper motor (93), infrared camera (94), mounting base (95), laser emitter (96) and
Searchlight (97)；The mounting base (95) is packed in the end face of through-hole (62) on the second hinge bar (6), the second stepper motor
(93) it is fixedly connected with mounting base (95), the pivoted arm (92) is fixedly connected with the main shaft of second stepper motor (93), the phase
Machine (91), infrared camera (94), laser emitter (96) and searchlight (97) are along the circumferential direction evenly packed on pivoted arm (92).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910318252.1A CN110155357B (en) | 2019-04-19 | 2019-04-19 | Self-balancing ground monitoring system |
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|---|---|---|---|
| CN201910318252.1A CN110155357B (en) | 2019-04-19 | 2019-04-19 | Self-balancing ground monitoring system |
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| CN110155357A true CN110155357A (en) | 2019-08-23 |
| CN110155357B CN110155357B (en) | 2022-09-20 |
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| CN201910318252.1A Active CN110155357B (en) | 2019-04-19 | 2019-04-19 | Self-balancing ground monitoring system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112866565A (en) * | 2020-12-31 | 2021-05-28 | 泉州黑石科技有限公司 | Device and method for acquiring 360-degree rotation display effect diagram of stone block |
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| Publication number | Publication date |
|---|---|
| CN110155357B (en) | 2022-09-20 |
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