CN111479073A - Intelligent rotor unmanned aerial vehicle for police with hot pepper water strike and control method thereof - Google Patents
Intelligent rotor unmanned aerial vehicle for police with hot pepper water strike and control method thereof Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
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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
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
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Abstract
The invention belongs to the technical field of unmanned aerial vehicles, and discloses a hot pepper water striking type police intelligent rotor unmanned aerial vehicle and a control method thereof, wherein images are collected through a rear outer camera and are sent to a mobile phone through a wireless communication device to be displayed; aiming is carried out through an infrared sighting device, and an image of an object to be recognized is obtained; after image processing is carried out through the image processing device, the image is sent to the single chip microcomputer; the mascerating machine carries out the image contrast after receiving image data, sends the instruction after will contrasting to unmanned aerial vehicle emitter, controls the transmission of hot pepper water. The emitter is arranged to emit the hot pepper water ball, so that criminals are struck and lose the resistance, and the criminals are caught conveniently; the crime can be accurately aimed by arranging the camera and the sighting device, so that the accuracy of water polo hitting is ensured; the searchlight can work at night through the arrangement.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a hot pepper water striking type police intelligent rotor unmanned aerial vehicle and a control method thereof.
Background
Currently, a drone is an unmanned flying vehicle that is operated by a radio remote control device or its own programmed control device. The earliest appeared in the 20 th century, when used as a target for training. The unmanned aerial vehicle has wide use, low cost and good cost effectiveness; no casualty risk; the life ability is strong, the maneuverability is good, the use is convenient, the device plays an extremely important role in modern war and has a wider prospect in the civil field. Now unmanned aerial vehicle has been used in the work of anti-terrorism rescue, sometimes when facing the criminal, can't be close to with its uniform, but current strike type unmanned aerial vehicle loader rifle strikes the criminal, causes comparatively serious health injury or life danger easily like this.
In the face of a force criminal, the security of the public security organization can not be guaranteed to control the criminal at a short distance. Police equipment of present control restraint criminal includes, hand-held type hot pepper water sprayer: the effective constraint distance is within 1 meter; a restraint fork: the effective constraint distance is within 1.5 m; handcuffs: close fitting constraints are required. Aiming at criminals with dangerous weapons, the safety of policemen cannot be guaranteed, the intelligent rotor unmanned aerial vehicle for the police with hot pepper water hitting type and the control method can effectively control the criminals and ensure the serious safety of the police on duty.
Through the above analysis, the problems and defects of the prior art are as follows: the existing loader gun of the hitting unmanned aerial vehicle hits criminals, so that serious physical injury and even life danger are easily caused.
The difficulty in solving the above problems and defects is: to many crime scenes, unmanned aerial vehicle carries on killer weapons such as rifle, and first easily causes unnecessary casualties, and two easily produce excessive law enforcement, three unmanned aerial vehicle carry on the rifle and handle illegal events, no matter is on duty policeman or command leader all have pressure.
The significance of solving the problems and the defects is as follows: the utility model provides a hot pepper water strikes type police and uses intelligent rotor unmanned aerial vehicle and control method, can realize controlling the restraint and break the law, avoids causing casualties again, in case produce the accidental injury, influences lessly, accords with the demand that the public security office handled the scene of crime.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a hot pepper water striking type police intelligent rotor unmanned aerial vehicle and a control method thereof.
The invention is realized in such a way, and the control method of the intelligent hot pepper water striking type rotor unmanned aerial vehicle for the police comprises the following steps:
the method comprises the steps that firstly, a thermal infrared camera arranged on an automatic stability increasing motor executing mechanism senses and outputs a first image signal and a second image signal of a target object in real time according to multiple times of rolling shutter exposure by an image sensor; wherein the first image signal is an image signal generated according to the first exposure, and the second image signal is an image signal generated according to the second exposure.
Acquiring the angle and the acceleration of the lens through a six-axis force sensor carried in an automatic stability-increasing motor executing mechanism, and performing PID (proportion integration differentiation) operation on the angle and the acceleration to acquire the jitter amount of the thermal infrared camera lens; and reversely controlling the thermal infrared camera lens through the three-axis motor according to the acquired jitter amount and through self movement.
Step three, the image signal obtained in the step one is transmitted to the signal conversion device through a spring type probe connector; and the signal conversion device converts the optical signal received by the thermal infrared lens into an electric signal by using a signal conversion program, generates an image of the target object and sends the image to the single chip microcomputer.
Step four, the target image generated in the step three is sent to a mobile phone display end through a wireless communication device to be displayed; and aiming is carried out through the infrared laser sighting device, and an image of the object to be identified is obtained and sent to the single chip microcomputer.
And fifthly, after the single chip receives the image data obtained in the third step and the fourth step, selecting the symbol strings appearing in the image data set through a data compression device, and generating symbol string codes corresponding to all positions of the symbol strings in the data set.
Step six, coding each position of the symbol string by using run length coding; repeating said selecting symbol string and said generating symbol string code for any other symbol string occurring within said data set to produce any corresponding other symbol string code; compressed data is generated by combining the symbol string codes and transmitted to an image processing apparatus on a display side.
Step seven, the image processing device receives compressed image data, wherein the compressed image data comprises coded image data representing the image; the encoded image data is decoded to generate first decoded image data having a first bit precision.
Step eight, processing the first decoded image data by an image processing apparatus to generate second decoded image data having a second bit precision higher than the first bit precision.
Ninthly, receiving reference tone mapping strength data, applying a tone mapping operation to the second decoded image data to generate first tone mapped image data having the second bit precision; the reference tone mapping intensity data represents a reference tone mapping intensity parameter used to derive an input value representing the number of spatially varying tones.
Step ten, converting the first tone mapping image data into second tone mapping image data with the first bit precision, and sending the image data after tone mapping processing to a single chip microcomputer.
Step eleven, after receiving the processed image data in the step eleven, the single chip microcomputer performs image comparison by using an image comparison program, and sends a compared instruction to the unmanned aerial vehicle transmitting device.
Step twelve, the unmanned aerial vehicle launcher controls according to the control instruction of step eleven:
the water soft bomb launching module takes the hitting area as a single point to launch the pepper water soft bomb,
the water column-shaped pepper water emitting module emits pepper water column-shaped pepper water by taking the striking area as a line;
the water mist chili water emitting module emits water mist chili water by taking the striking area as a three-dimensional surface.
Further, in step nine, the method for receiving reference tone mapping strength data further includes:
receiving further tone-mapped intensity data representing a further tone-mapped intensity parameter;
deriving the input value, the deriving the input value comprising combining the reference tone-mapped intensity data and the further tone-mapped intensity data to generate combined tone-mapped intensity data, the input value being equal to the combined tone-mapped intensity data.
Another object of the present invention is to provide a hot pepper water strikes type police and uses intelligent rotor unmanned aerial vehicle, the machine is provided with:
a housing:
four groups of rotors are arranged on two sides of the shell, and propellers are rotatably arranged on the upper parts of the rotors; a connecting shaft is integrally arranged at the lower part of the shell, and the connecting shaft is hollow and provided with internal threads; the lower part of the connecting shaft is connected with a transmitting device through threads, a water ball is placed in the transmitting device, and a camera is fixed to the lower part of the transmitting device through a bolt.
Furthermore, a groove is formed in the upper portion of the shell, and a transparent glass shell is embedded in the groove.
And a searchlight is fixed in the shell through a bolt and is positioned at the lower part of the glass shell.
The water ball is provided with a plastic film, and chili water is wrapped inside the plastic film.
The camera is a high-definition camera, and the front part of the camera is fixed with a sighting device through a bolt.
The shell is internally provided with a singlechip, an image processing device, a wireless communication device, a lithium battery and a power device; wireless communication device and user side cell-phone APP wireless connection, power device rotates with the screw and is connected.
Another object of the present invention is to provide a program storage medium storing a computer program for causing an electronic device to execute the method for controlling an intelligent warning rotorcraft for hot pepper water strike.
Another object of the present invention is to provide a computer program product stored on a computer readable medium, comprising a computer readable program for providing a user input interface to implement a method of controlling an intelligent drone for police of the pepper water strike type, when executed on an electronic device.
By combining all the technical schemes, the invention has the advantages and positive effects that: the transparent glass shell is arranged on the upper part of the shell, so that the lighting effect of the searchlight can be ensured; the searchlight that crosses the setting can make unmanned aerial vehicle work at night. The pepper water ball can be launched by the launcher, so that criminals can be struck and lose the resistance, and the device is convenient for catching the criminals. According to the invention, the crime maker can be accurately aimed by arranging the camera and the sighting device, so that the accuracy of water polo hitting is ensured. This invention can with user side cell-phone APP wireless connection through being provided with wireless communication device, make the user can control unmanned aerial vehicle through the cell-phone.
The unmanned aerial vehicle provided by the invention can select and switch three modes according to the number and effect of the criminals: (1) the pepper water soft water bomb is launched, and the hitting area is a single point; (2) emitting cylindrical chili liquid, wherein the hitting area is linear; (3) the water mist chili liquid is emitted, and the striking area is a three-dimensional surface. In order to increase the accuracy of hitting, this application still is furnished with infrared laser sighting device. In order to increase the recognition of the face of the human face, the airplane is additionally provided with the thermal infrared camera, and because the body of a human wears clothes, the temperature of the face of the human body shot by the thermal infrared sensor is higher than that of other parts, so that the hitting aiming is assisted.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a flowchart of a control method of a chili water striking police intelligent rotor unmanned aerial vehicle according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a chili water striking police intelligent rotor unmanned aerial vehicle according to an embodiment of the invention;
fig. 3 is a schematic structural diagram of a transmitting device provided in an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a camera provided in an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a water polo provided by an embodiment of the invention;
in the figure: 1. a housing; 2. a rotor; 3. a propeller; 4. a glass shell; 5. a searchlight; 6. a transmitting device; 7. a camera; 8. a connecting shaft; 9. a water ball; 10. a sight; 11. a plastic film; 12. and (4) chili liquid.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Aiming at the problems in the prior art, the invention provides an intelligent rotor unmanned aerial vehicle for a hot pepper water striking police and a control method thereof, and the invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the control method of the intelligent police rotor unmanned aerial vehicle for hot pepper water attack provided by the invention comprises the following steps:
s101, sensing and outputting a first image signal and a second image signal of a target object in real time according to multiple times of rolling shutter exposure by using an image sensor through a thermal infrared camera arranged on an automatic stability increasing motor actuating mechanism; wherein the first image signal is an image signal generated according to the first exposure, and the second image signal is an image signal generated according to the second exposure.
S102, acquiring the angle and the acceleration of the lens through a six-axis force sensor carried in an automatic stability-increasing motor executing mechanism, and performing PID (proportion integration differentiation) operation on the angle and the acceleration to acquire the jitter amount of the thermal infrared camera lens; and reversely controlling the thermal infrared camera lens through the three-axis motor according to the acquired jitter amount and through self motion.
S103, transmitting the image signal obtained in the S101 to the signal conversion device through a spring type probe connector; and the signal conversion device converts the optical signals received by the thermal infrared lens into electric signals by using a signal conversion program, generates an image of the target object and sends the image to the single chip microcomputer.
S104, sending the target image generated in the S103 to a mobile phone display end through a wireless communication device for displaying; and aiming through an infrared laser sighting device, obtaining an image of an object to be identified and sending the image to the single chip microcomputer.
And S105, after the single chip receives the image data obtained in S103 and S104, selecting the symbol string appearing in the image data set through a data compression device, and generating symbol string codes corresponding to each position of the symbol string in the data set.
S106, encoding each position of the symbol string by using run length encoding; repeating said selecting symbol string and said generating symbol string code for any other symbol string occurring within said data set to produce any corresponding other symbol string code; compressed data is generated by combining the symbol string codes and transmitted to an image processing apparatus on a display side.
S107, the image processing device receives compressed image data, wherein the compressed image data comprises coded image data representing the image; the encoded image data is decoded to generate first decoded image data having a first bit precision.
S108, processing the first decoded image data by the image processing device to generate second decoded image data with a second bit precision higher than the first bit precision.
S109, receiving reference tone-mapped intensity data, applying a tone-mapping operation to said second decoded image data to generate first tone-mapped image data having said second bit precision; the reference tone-mapped intensity data represents a reference tone-mapped intensity parameter used to derive an input value representing the number of spatially varying tones.
And S110, converting the first tone mapping image data into second tone mapping image data with the first bit precision, and sending the tone mapping processed image data to a single chip microcomputer.
And S111, after receiving the processed image data in the S110, the chip microcomputer performs image comparison by using an image comparison program, and sends a compared instruction to the unmanned aerial vehicle launching device.
S112, the unmanned aerial vehicle transmitting device controls:
the water soft bomb launching module takes the hitting area as a single point to launch the pepper water soft bomb,
the water column-shaped pepper water emitting module emits pepper water column-shaped pepper water by taking the striking area as a line;
the water mist chili water emitting module emits water mist chili water by taking the striking area as a three-dimensional surface.
In step S109 provided in the embodiment of the present invention, the method for receiving reference tone mapping intensity data further includes:
receiving further tone-mapped intensity data representing a further tone-mapped intensity parameter;
deriving the input value, the deriving the input value comprising combining the reference tone-mapped intensity data and the further tone-mapped intensity data to generate combined tone-mapped intensity data, the input value being equal to the combined tone-mapped intensity data.
As shown in fig. 2 to 5, an intelligent pepper water hitting type police rotor unmanned aerial vehicle according to an embodiment of the present invention includes: the device comprises a shell 1, a rotor 2, a propeller 3, a glass shell 4, a searchlight 5, a transmitting device 6, a camera 7, a connecting shaft 8, a water ball 9, a sighting device 10, a plastic film 11 and chili water 12.
Four groups of rotor wings 2 are arranged on two sides of the shell 1, and propellers 3 are rotatably arranged on the upper parts of the rotor wings 2; a connecting shaft 8 is integrally arranged at the lower part of the shell 1, and the connecting shaft 8 is hollow and provided with internal threads; the lower part of the connecting shaft 8 is connected with a launching device 6 through threads, a water ball 9 is placed in the launching device 6, and a camera 7 is fixed at the lower part of the launching device 6 through a bolt.
The emitter is arranged to emit the hot pepper water 12 balls 9, so that criminals are struck and lose the resistance, and the criminals are caught conveniently; the crime can be accurately aimed by arranging the camera 7 and the sighting device 10, so that the accuracy of hitting the water polo 9 is ensured; the searchlight 5 can be used at night.
Preferably, the upper part of the shell 1 is provided with a groove, and the transparent glass shell 4 is embedded in the groove.
The transparent glass shell 4 is arranged on the upper portion of the shell 1, and therefore the lighting effect of the searchlight 5 can be guaranteed.
Preferably, the searchlight 5 is fixed inside the casing by bolts, and the searchlight 5 is positioned at the lower part of the glass shell 4.
The unmanned aerial vehicle can work at night through the arranged searchlight 5.
Preferably, the water ball 9 is provided with a plastic film 11, and the plastic film 11 is wrapped with chili water 12.
The device can emit the hot pepper water 12 balls 9 by arranging the emitter so as to strike criminals and lose the resistance capability of the criminals, thereby being convenient for catching the criminals.
Preferably, the camera 7 is a high-definition camera 7, and the sighting device 10 is fixed to the front portion of the camera 7 through a bolt.
According to the invention, the crime prevention device can accurately aim criminals by arranging the camera 7 and the sighting device 10, so that the accuracy of hitting the water polo 9 is ensured.
Preferably, a single chip microcomputer, an image processing device, a wireless communication device, a lithium battery and a power device are arranged in the shell 1; wireless communication device and user side cell-phone APP wireless connection, power device rotates with screw 3 to be connected.
The invention can be wirelessly connected with the user side mobile phone APP through the wireless communication device, so that the user can control the unmanned aerial vehicle through the mobile phone.
The working principle of the invention is as follows: the invention is wirelessly connected with a user mobile phone APP through a wireless communication device, a user controls the unmanned aerial vehicle through the mobile phone, a power device drives a propeller 3 to take off, a camera 7 collects images in real time and sends the images to the user mobile phone through the wireless communication device for displaying, and a launching device 6 can be controlled to launch a water polo 9 to strike after aiming through an aiming device 10; when working at night, the searchlight 5 can be turned on for illumination.
The computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, e.g., from one website site, computer, server, or data center to another website site, computer, server, or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DS L), or wireless (e.g., infrared, wireless, microwave, etc.) manner).
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any modification, equivalent replacement, and improvement made by those skilled in the art within the technical scope of the present invention disclosed in the present invention should be covered within the scope of the present invention.
Claims (10)
1. A control method of a hot pepper water striking type police intelligent rotor unmanned aerial vehicle is characterized by comprising the following steps:
the method comprises the steps that firstly, a thermal infrared camera arranged on an automatic stability increasing motor executing mechanism senses and outputs a first image signal and a second image signal of a target object in real time according to multiple times of rolling shutter exposure by an image sensor; wherein the first image signal is an image signal generated according to the first exposure, and the second image signal is an image signal generated according to the second exposure;
acquiring the angle and the acceleration of the lens through a six-axis force sensor carried in an automatic stability-increasing motor executing mechanism, and performing PID (proportion integration differentiation) operation on the angle and the acceleration to acquire the jitter amount of the thermal infrared camera lens; reversely controlling the thermal infrared camera lens through the three-axis motor according to the acquired jitter amount and through self movement;
step three, the image signal obtained in the step one is transmitted to the signal conversion device through a spring type probe connector; the signal conversion device converts the optical signal received by the thermal infrared lens into an electric signal by using a signal conversion program, generates an image of the target object and sends the image to the single chip microcomputer;
step four, the target image generated in the step three is sent to a mobile phone display end through a wireless communication device to be displayed; aiming is carried out through an infrared laser sighting device, and an image of an object to be identified is obtained and sent to a single chip microcomputer;
after receiving the image data obtained in the third step and the fourth step, the single chip microcomputer selects symbol strings appearing in the image data set through a data compression device to generate symbol string codes corresponding to all positions of the symbol strings in the data set;
step six, coding each position of the symbol string by using run length coding; repeating said selecting symbol string and said generating symbol string code for any other symbol string occurring within said data set to produce any corresponding other symbol string code; generating compressed data by combining the symbol string codes, and transmitting the compressed data to an image processing device at a display end;
step seven, the image processing device receives compressed image data, the compressed image data comprises coded image data representing the image; decoding the encoded image data to generate first decoded image data having a first bit precision;
processing the first decoded image data by an image processing apparatus to generate second decoded image data having a second bit precision higher than the first bit precision;
ninthly, receiving reference tone mapping strength data, applying a tone mapping operation to the second decoded image data to generate first tone mapped image data having the second bit precision; the reference tone-mapped intensity data represents a reference tone-mapped intensity parameter used to derive an input value representing a number of spatially varying tones;
step ten, converting the first tone mapping image data into second tone mapping image data with the first bit precision, and sending the image data after tone mapping processing to a single chip microcomputer;
step eleven, after receiving the processed image data in the step eleven, the single chip microcomputer performs image comparison by using an image comparison program, and sends a compared instruction to an unmanned aerial vehicle transmitting device;
step twelve, the unmanned aerial vehicle launcher controls according to the control instruction of step eleven:
the water soft bomb launching module takes the hitting area as a single point to launch the pepper water soft bomb,
the water column-shaped pepper water emitting module emits pepper water column-shaped pepper water by taking the striking area as a line;
the water mist chili water emitting module emits water mist chili water by taking the striking area as a three-dimensional surface.
2. A control method for a chili water strike police intelligent rotor wing drone according to claim 1, wherein in step nine, the method of receiving reference tone mapping strength data further comprises:
receiving further tone-mapped intensity data representing a further tone-mapped intensity parameter;
deriving the input value, the deriving the input value comprising combining the reference tone-mapped intensity data and the further tone-mapped intensity data to generate combined tone-mapped intensity data, the input value being equal to the combined tone-mapped intensity data.
3. The intelligent hot pepper water hitting police rotor unmanned aerial vehicle applying the control method of the intelligent hot pepper water hitting police rotor unmanned aerial vehicle according to any one of claims 1 to 2, wherein the intelligent hot pepper water hitting police rotor unmanned aerial vehicle is provided with:
a housing:
four groups of rotors are arranged on two sides of the shell, and propellers are rotatably arranged on the upper parts of the rotors; a connecting shaft is integrally arranged at the lower part of the shell, and the connecting shaft is hollow and provided with internal threads; the lower part of the connecting shaft is connected with a transmitting device through threads, a water ball is placed in the transmitting device, and a camera is fixed to the lower part of the transmitting device through a bolt.
4. A chili water striking type police intelligent rotor wing unmanned aerial vehicle as claimed in claim 3, wherein a groove is formed in the upper portion of the shell, and a transparent glass shell is embedded in the groove.
5. An intelligent unmanned rotorcraft for police of hot pepper water attack class as claimed in claim 3, wherein a searchlight is fixed inside the casing through a bolt, and the searchlight is located at the lower part of the glass shell.
6. A chili water striking type police intelligent rotor wing unmanned aerial vehicle as claimed in claim 3, wherein the water ball is provided with a plastic film, and chili water is wrapped inside the plastic film.
7. A chili water striking type police intelligent rotor wing unmanned aerial vehicle as claimed in claim 3, wherein the camera is a high-definition camera, and a sighting device is fixed to the front portion of the camera through bolts.
8. A chili water striking type police intelligent rotor wing unmanned aerial vehicle as claimed in claim 3, wherein a single chip microcomputer, an image processing device, a wireless communication device, a lithium battery and a power device are arranged inside the shell; the wireless communication device is wirelessly connected with a user side mobile phone APP, and the power device is rotatably connected with the propeller.
9. A program storage medium that receives a user input, the stored computer program causing an electronic device to execute the method of controlling a chili water strike police intelligent rotary-wing drone according to any one of claims 1 to 2.
10. A computer program product stored on a computer readable medium, comprising a computer readable program for providing a user input interface for implementing the method of controlling a chili water strike police intelligent rotary-wing drone according to any one of claims 1 to 2 when executed on an electronic device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010400150.7A CN111479073A (en) | 2020-05-13 | 2020-05-13 | Intelligent rotor unmanned aerial vehicle for police with hot pepper water strike and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010400150.7A CN111479073A (en) | 2020-05-13 | 2020-05-13 | Intelligent rotor unmanned aerial vehicle for police with hot pepper water strike and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112034892A (en) * | 2020-09-09 | 2020-12-04 | 南京森林警察学院 | Intelligent rotor unmanned aerial vehicle for anesthesia type attack police and control method and system thereof |
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