CN112810819A - Unmanned aerial vehicle air-drop air transportation device - Google Patents
Unmanned aerial vehicle air-drop air transportation device Download PDFInfo
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- CN112810819A CN112810819A CN202110180959.8A CN202110180959A CN112810819A CN 112810819 A CN112810819 A CN 112810819A CN 202110180959 A CN202110180959 A CN 202110180959A CN 112810819 A CN112810819 A CN 112810819A
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- pull rod
- driving
- parachute
- connecting plate
- unlocking
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- 230000000712 assembly Effects 0.000 claims abstract description 9
- 238000000429 assembly Methods 0.000 claims abstract description 9
- 210000001015 abdomen Anatomy 0.000 claims abstract description 8
- 239000000126 substance Substances 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
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Classifications
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- 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
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
-
- 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
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
- B64D1/12—Releasing
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention provides an unmanned aerial vehicle air-drop air-transport device, which comprises: the cargo container comprises a driving device (1), a driving pull rod (2), an unlocking pull rod assembly (3), a cargo container (5), a latch hook (6), a bracket (7), a connecting plate assembly (9) and a guide seat (10); the unmanned aerial vehicle is characterized in that a support (7) and two guide seats (10) are arranged at the bottom of the belly of the unmanned aerial vehicle, a driving pull rod (2) penetrates through the two guide seats (10), and a driving device (1) is connected with the driving pull rod (2) and drives the driving pull rod (2) to move; two ends of the driving pull rod (2) are respectively connected with two unlocking pull rod assemblies (3) through a connecting plate assembly (9), and each unlocking pull rod assembly (3) is also respectively connected with a lock hook (6) which is rotatably connected on the bracket (7); the locking hook (6) is used for locking or releasing the cargo box (5) when the driving device (1) drives the driving pull rod (2) to move. The device has simple structure, simple and convenient installation and operation, safety, reliability and low cost.
Description
Technical Field
The invention belongs to the technical field of air freight, and particularly relates to an air-drop air transportation device for an unmanned aerial vehicle.
Background
With the continuous progress of unmanned aerial vehicle technology in China, the unmanned aerial vehicle air-drop air-transport cargo has wide application prospect, has the advantages of rapidness, high efficiency, good accessibility and the like, particularly has irreplaceable advantages in the aspects of cargo delivery and the like in the express industry when supplying emergency rescue goods in emergency rescue and disaster relief. Based on above demand, unmanned aerial vehicle air-drop air transportation device extensively is used for unmanned aerial vehicle to realize the quick guarantee.
An existing unmanned aerial vehicle air-drop air-transport device refers to patent CNIO6927046A and discloses an air-drop system for an unmanned aerial vehicle, which comprises a controller and an air-drop device, wherein the air-drop device comprises a steering engine base, a steering engine and a connecting rod mechanism are mounted on the steering engine base, the steering engine is connected with the controller, the connecting rod mechanism comprises a first connecting rod and a second connecting rod which are hinged, the free end of the second connecting rod is hinged to an output steering wheel of the steering engine, a through hole with the axis in the horizontal direction is further formed in the steering engine base, the first connecting rod can horizontally move in the through hole, and the free end of the first connecting rod can extend out of one end, far away from the first connecting rod, of the through hole.
However, owing to adopt the first connecting rod that passes the perforating hole to carry the goods for all weights of goods bear at the junction of perforating hole and first connecting rod, and the junction bearing capacity is limited, leads to unmanned aerial vehicle to carry goods light in weight among the prior art, moreover, when the goods is bulky, has the difficult problem of controlling of unmanned aerial vehicle gesture.
Disclosure of Invention
The invention provides an unmanned aerial vehicle air-drop air-transport device, which solves the problems that the existing unmanned aerial vehicle air-drop air-transport device is light in weight of carried goods and difficult in control of the posture of an unmanned aerial vehicle.
The invention provides an unmanned aerial vehicle air-drop air-transport device, which comprises: the device comprises a driving device 1, a driving pull rod 2, an unlocking pull rod assembly 3, a cargo box 5, a latch hook 6, a bracket 7, a connecting plate assembly 9 and a guide seat 10; wherein the content of the first and second substances,
the support 7 is arranged at the bottom of the abdomen of the unmanned aerial vehicle, the two guide seats 10 are further arranged at the bottom of the abdomen of the unmanned aerial vehicle, the drive pull rod 2 penetrates through the two guide seats 10, and the drive device 1 is connected with the drive pull rod 2 and used for driving the drive pull rod 2 to move;
two ends of the driving pull rod 2 are respectively connected with the two unlocking pull rod assemblies 3 through the connecting plate assembly 9, and each unlocking pull rod assembly 3 is also respectively connected with the locking hook 6 which is rotatably connected to the bracket 7;
the locking hook 6 is used for locking or releasing the cargo box 5 when the driving device 1 drives the driving pull rod 2 to move.
Optionally, the bracket 7 is in a square frame shape, the driving pull rod 2 is located on a middle axis of the bracket 7, and the locking hooks 6 are symmetrically arranged on the bracket 7.
Optionally, the locking hook 6 is T-shaped, and the protruding end of the locking hook 6 is rotatably connected to the bracket 7;
one side arm of the locking hook 6 is connected with the first end of one unlocking pull rod assembly 3 through a bolt and a nut;
and a flange is arranged on the other side arm of the locking hook 6 and used for locking the container 5.
Optionally, the locking hook 6 and the unlocking pull rod assembly 3 are connected through a single lug and a double lug, and a first knuckle bearing 32 is arranged in a through hole of the single lug connected with the single lug and the double lug.
Optionally, the connecting plate assembly 9 includes: a connecting plate 91;
the connecting plate 91 is triangular, one corner of the connecting plate 91 is connected with one end of the driving pull rod 2 through a bolt and a nut, and the other two corners of the connecting plate 91 are respectively connected with the second end of one unlocking pull rod assembly 3 through bolts and nuts;
when the connecting plate 91 moves along with the driving pull rod 2, the unlocking pull rod assembly 3 can rotate relative to the connecting plate 91.
Optionally, the connecting plate assembly 9 further includes: a second spherical plain bearing 92;
a through hole is formed in the corner of the connecting plate 91, which is connected with the unlocking pull rod assembly 3, and the second joint bearing 92 is arranged in the through hole.
Optionally, the driving device 1 is further fixedly connected to one of the guide bases 10.
Optionally, the bracket 7 is further provided with a limiting protrusion for clamping the box body 50.
Optionally, the unmanned aerial vehicle air-drop air-transport device further includes: a mooring belt 4 and an umbrella bag 8; the container 5 comprises: a case cover 51 and a case body 52; the umbrella bag 8 comprises: parachute 81, parachute bag 82, and parachute opening cord 83;
the box cover 51 is arranged on the box body 52, and the mooring belts 4 cross and bundle the box cover 51 and the box body 52;
the parachute bag 82 is placed in a groove in the top of the box cover 51, and the parachute 81 is arranged in the parachute bag 82 and connected with the mooring belt 4;
the parachute opening pulling rope 83 is connected with the bracket 7 and the parachute bag 82, and when the cargo box 5 is airdropped, the parachute opening pulling rope 83 pulls the parachute bag 82 to separate the parachute bag 82 from the parachute 81.
Optionally, the umbrella opening pull rope 83 is further connected with the mooring belt 4, and the umbrella opening pull rope 83 is connected with the bracket 7 through an umbrella opening pull rope buckle;
when the container 5 continuously falls, the parachute opening pull rope buckle is pulled off, and the empty umbrella bag 82 is separated from the support 7.
The invention provides an unmanned aerial vehicle air-drop air-transport device, which comprises: the device comprises a driving device 1, a driving pull rod 2, an unlocking pull rod assembly 3, a cargo box 5, a latch hook 6, a bracket 7, a connecting plate assembly 9 and a guide seat 10; the bracket 7 and the two guide seats 10 are arranged at the bottom of the abdomen of the unmanned aerial vehicle, the drive pull rod 2 penetrates through the two guide seats 10, and the drive device 1 is connected with the drive pull rod 2 and used for driving the drive pull rod 2 to move; two ends of the driving pull rod 2 are respectively connected with the two unlocking pull rod assemblies 3 through the connecting plate assembly 9, and each unlocking pull rod assembly 3 is also respectively connected with the locking hook 6 which is rotatably connected to the bracket 7; the locking hook 6 is used for locking or releasing the cargo box 5 when the driving device 1 drives the driving pull rod 2 to move. This device simple structure, installation easy and simple to handle, safety, reliable, with low costs are adapted to unmanned aerial vehicle air-drop air transportation emergency rescue goods and materials supply and civilian express delivery, and it provides the guarantee to reach fast for urgent goods and materials supply and civilian express delivery. The estimated profit space and market prospect are considerable, and the economic benefit is good.
Drawings
Fig. 1 is a schematic structural diagram of an aerial delivery device for an unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of an unlocking lever assembly provided by an embodiment of the present invention in a locked state;
fig. 3 is a schematic structural diagram of an unlocking lever assembly in a released state according to an embodiment of the present invention;
fig. 4 is a schematic view of an air-drop process of an air-drop air-transport device of an unmanned aerial vehicle according to an embodiment of the present invention;
description of reference numerals:
1-a drive device; 2-driving the pull rod; 3, unlocking the pull rod assembly;
4-mooring the belt; 5, a cargo box; 6, a latch hook;
7, a bracket; 8, packaging the umbrella; 9-a web assembly;
10, a guide seat; 31-unlocking the pull rod; 32-a first spherical plain bearing;
51-a box cover; 52-a box body; 71-opening umbrella pull rope hanging rings on the bracket;
72-bracket mounting holes; 81-parachute; 82-air umbrella bag;
83-opening umbrella pull rope; 91-connecting the board; 92-a second spherical plain bearing;
101, installing a driving component on a guide seat; 102-guide seat mounting hole.
Detailed Description
The technical solution provided by the present invention is explained in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle aerial delivery device provided in an embodiment of the present invention, and as shown in fig. 1, the unmanned aerial vehicle aerial delivery device provided in an embodiment of the present invention includes: the device comprises a driving device 1, a driving pull rod 2, an unlocking pull rod assembly 3, a mooring belt 4, a cargo box 5, a lock hook 6, a support 7, an umbrella bag 8, a connecting plate assembly 9, a guide seat 10 and bolts and nuts.
The support 7 and the two guide seats 10 are arranged at the bottom of the abdomen of the unmanned aerial vehicle, the driving pull rod 2 penetrates through the two guide seats 10, and the driving device 1 is connected with the driving pull rod 2 and used for driving the driving pull rod 2 to move; two ends of the driving pull rod 2 are respectively connected with two unlocking pull rod assemblies 3 through a connecting plate assembly 9, and each unlocking pull rod assembly 3 is also respectively connected with a lock hook 6 which is rotatably connected on the bracket 7; the locking hook 6 is used for locking or releasing the cargo box 5 when the driving device 1 drives the driving pull rod 2 to move.
The unmanned aerial vehicle air-drop air-transport device provided by the embodiment of the invention can realize the restraint and release of the container, thereby completing the air-drop and air-transport functions.
Fig. 2 is a schematic structural view of an unlocking lever assembly provided by an embodiment of the present invention in a locked state, and fig. 3 is a schematic structural view of an unlocking lever assembly provided by an embodiment of the present invention in a released state, as shown in fig. 2 and 3, a locking hook 6 is T-shaped and has three connecting ends, and the protruding end of the locking hook 6 is rotatably connected to a bracket 7; one side arm of the locking hook 6 is connected with the first end of an unlocking pull rod assembly 3 through a bolt and a nut; and a flange is arranged on the other side arm of the latch hook 6 and used for locking the container 5.
The unlocking pull rod assembly 3 is composed of an unlocking pull rod 31 and a first joint bearing 32.
Optionally, the locking hook 6 and the unlocking pull rod assembly 3 are connected through a single lug and a double lug, and a first joint bearing 32 is arranged in a through hole of the single lug connected through the single lug and the double lug.
Optionally, the connection plate assembly 9 includes: a connecting plate 91;
the connecting plate 91 is in a triangular shape, one corner of the connecting plate 91 is connected with one end of the driving pull rod 2 through a bolt and a nut, and the other two corners of the connecting plate 91 are respectively connected with the second end of one unlocking pull rod assembly 3 through a bolt and a nut;
when the connecting plate 91 moves along with the driving pull rod 2, the unlocking pull rod assembly 3 can rotate relative to the connecting plate 91.
Optionally, the connecting plate assembly 9 further includes: a second spherical plain bearing 92;
a through hole is formed in the corner of the connecting plate 91 connected with the unlocking pull rod assembly 3, and a second joint bearing 92 is arranged in the through hole.
Illustratively, the cargo box 5 is composed of a box cover 51 and a box body 52; the connecting plate assembly 9 consists of a connecting plate 91 and a second knuckle bearing 92; the umbrella bag 8 consists of a parachute 81, an empty umbrella bag 82 and a parachute opening pull rope 83; the bracket 7 is provided with an umbrella opening pull rope hanging ring 71 for fixing an umbrella opening pull rope and a bracket mounting hole 72 connected with the unmanned aerial vehicle; the guide base 10 is provided with a mounting hole 101 for fixing the driving component and a mounting hole 102 for connecting with the unmanned aerial vehicle.
Illustratively, two connecting plate assemblies 9 are respectively connected with 4 unlocking pull rod assemblies 3 through bolts and nuts, and a second joint bearing 92 is arranged at the joint of the connecting plate assembly 9 and the unlocking pull rod assembly 3;
the 4 unlocking pull rod assemblies 3 are respectively connected with the 4 lock hooks 6 through bolts and nuts, and first joint bearings 32 are arranged at the joints of the unlocking pull rod assemblies 3 and the lock hooks 6.
The latch hook 6 is connected with the bracket 7 through a bolt and a nut;
the guide seat 10 is connected with the driving pull rod 1 and plays a role in guiding the driving pull rod 2;
the driving component 1 is respectively connected with the driving pull rod 2 and the guide seat 10 through bolts and nuts;
the umbrella bag 8 is placed in a recess in the top of the cargo box 5.
The bracket mounting hole 72 in the bracket 7 and the guide seat mounting hole 102 in the two guide seats 10 are respectively connected with the abdomen mounting interface of the unmanned aerial vehicle through bolts and nuts.
The driving pull rod 2, the unlocking pull rod 3, the connecting plate 9 and the lock hook 6 jointly form a connecting rod mechanism which is connected with each other through a bolt.
The tie down straps 4 are cross-tied to provide connection of the lid 51 and the box 52 in the cargo box 5.
Illustratively, the usage process of the unmanned aerial vehicle air-drop air-transport device provided by the embodiment of the invention is as follows:
the air transportation process comprises the following steps:
a) preparation for air transportation
1) The box cover 51 and the box body 52 in the cargo box 5 are connected by the mooring belts 4;
2) the driving device 1 is controlled to drive the driving pull rod 2, the connecting plate assembly 9, the unlocking pull rod assembly 3 and the lock hook 6 to be locked in a linkage mode, and the lock hook 6 and the side wall baffle of the bracket realize the hanging and limiting of the container 5.
b) Air transportation
1) When the unmanned aerial vehicle flies to a designated place, the driving device 1 is controlled to drive the driving pull rod 2, the connecting plate assembly 9, the unlocking pull rod assembly 3 and the lock hook 6 to be in linkage unlocking, and the cargo box 5 is separated from the lock hook 6 and the support 7;
2) the person removes the container 5 and completes the air transport.
The air-drop process comprises the following steps:
a) preparation for air drop
1) The box cover 51 and the box body 52 in the cargo box 5 are connected by the mooring belts 4;
2) placing the umbrella bag 8 in a groove at the top of the container 5, and connecting a parachute 81 in the umbrella bag 8 with an interface at the position of the tying belt 4;
3) the umbrella opening pull rope 84 on the umbrella bag 8 is connected with the umbrella opening pull rope hanging ring 71 through an umbrella opening pull rope buckle, and the other end of the umbrella opening pull rope is connected with the mooring belt 4;
4) the driving device 1 is controlled to drive the driving pull rod 2, the connecting plate assembly 9, the unlocking pull rod assembly 3 and the lock hook 6 to be locked in a linkage mode, and the lock hook 6 and the side wall baffle of the bracket realize the hanging and limiting of the container 5.
b) Air-drop
1) After the unmanned aerial vehicle takes off, the unmanned aerial vehicle arrives at an airdrop place, the driving device 1 is controlled to drive the driving pull rod 2, the connecting plate assembly 9, the unlocking pull rod assembly 3 and the lock hook 6 to be in linkage unlocking, and the container 5 is separated from the lock hook 6 and the support 7;
2) when the container 5 falls to a certain height, the parachute opening pull rope 83 pulls the parachute bag 82 to separate from the parachute 81, and the parachute 81 is inflated and opened;
3) the cargo box 5 continuously falls, the parachute opening pull rope buckle is pulled off, and the parachute opening pull rope hanging ring 71 is separated together with the empty parachute bag 82 under the pulling force of the cargo box 5;
4) the container 5 safely lands under the action of the parachute 81 to finish air drop.
Claims (10)
1. An unmanned aerial vehicle air-drop air-transport device, which is characterized by comprising: the cargo container comprises a driving device (1), a driving pull rod (2), an unlocking pull rod assembly (3), a cargo container (5), a latch hook (6), a bracket (7), a connecting plate assembly (9) and a guide seat (10); wherein the content of the first and second substances,
the support (7) is arranged at the bottom of the abdomen of the unmanned aerial vehicle, the bottom of the abdomen of the unmanned aerial vehicle is also provided with two guide seats (10), the driving pull rod (2) penetrates through the two guide seats (10), and the driving device (1) is connected with the driving pull rod (2) and used for driving the driving pull rod (2) to move;
two ends of the driving pull rod (2) are respectively connected with the two unlocking pull rod assemblies (3) through the connecting plate assembly (9), and each unlocking pull rod assembly (3) is also respectively connected with the locking hook (6) which is rotatably connected to the support (7);
the locking hook (6) is used for locking or releasing the cargo box (5) when the driving device (1) drives the driving pull rod (2) to move.
2. The device according to claim 1, characterized in that the bracket (7) is in the shape of a square frame, the drive rod (2) is located on the middle axis of the bracket (7), and the locking hooks (6) are symmetrically arranged on the bracket (7).
3. The device according to claim 1, characterized in that said locking hook (6) is T-shaped, the protruding end of said locking hook (6) being pivotally connected to said bracket (7);
one side arm of the locking hook (6) is connected with the first end of one unlocking pull rod assembly (3) through a bolt and a nut;
and a flange is arranged on the other side arm of the lock hook (6) and used for locking the container (5).
4. The device according to claim 3, characterized in that the locking hook (6) and the unlocking tie rod assembly (3) are connected by a single lug and a double lug, and a first knuckle bearing (32) is arranged in a through hole of the single lug and the double lug.
5. The device according to claim 4, characterized in that the connection plate assembly (9) comprises: a connecting plate (91);
the connecting plate (91) is triangular, one corner of the connecting plate (91) is connected with one end of the driving pull rod (2) through a bolt and a nut, and the other two corners of the connecting plate (91) are respectively connected with the second end of one unlocking pull rod assembly (3) through a bolt and a nut;
when the connecting plate (91) moves along with the driving pull rod (2), the unlocking pull rod assembly (3) can rotate relative to the connecting plate (91).
6. The device according to claim 5, characterized in that the connection plate assembly (9) further comprises: a second spherical plain bearing (92);
and a through hole is formed in the corner of the connecting plate (91) connected with the unlocking pull rod assembly (3), and the second joint bearing (92) is arranged in the through hole.
7. Device according to claim 1, characterized in that the drive means (1) are also fixedly connected to one of the guide shoes (10).
8. The device according to claim 2, characterized in that the bracket (7) is further provided with a limiting projection for clamping the box body (50).
9. The apparatus of claim 1, further comprising: a mooring belt (4) and an umbrella bag (8); the container (5) comprises: a case cover (51) and a case body (52); the umbrella bag (8) comprises: a parachute (81), an parachute bag (82) and a parachute opening pull rope (83);
the box cover (51) is arranged on the box body (52), and the mooring belts (4) cross and bundle the box cover (51) and the box body (52);
the parachute bag (82) is placed in a groove in the top of the box cover (51), and the parachute (81) is arranged in the parachute bag (82) and connected with the mooring belt (4);
the parachute opening pull rope (83) is connected with the support (7) and the parachute bag (82), when the cargo box (5) is airdropped, the parachute opening pull rope (83) pulls the parachute bag (82), and the parachute bag (82) is separated from the parachute (81).
10. The device according to claim 9, characterized in that the parachute opening pull cord (83) is further connected with the mooring belt (4), and the parachute opening pull cord (83) is connected with the bracket (7) through a parachute opening pull cord buckle;
when the container (5) continuously falls, the parachute opening pull rope buckle is pulled off, and the empty umbrella bag (82) is separated from the support (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110180959.8A CN112810819A (en) | 2021-02-09 | 2021-02-09 | Unmanned aerial vehicle air-drop air transportation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110180959.8A CN112810819A (en) | 2021-02-09 | 2021-02-09 | Unmanned aerial vehicle air-drop air transportation device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112810819A true CN112810819A (en) | 2021-05-18 |
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ID=75864899
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110180959.8A Pending CN112810819A (en) | 2021-02-09 | 2021-02-09 | Unmanned aerial vehicle air-drop air transportation device |
Country Status (1)
| Country | Link |
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| CN (1) | CN112810819A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU218367U1 (en) * | 2021-12-10 | 2023-05-23 | Федеральное государственное бюджетное учреждение науки Институт проблем управления им. В.А. Трапезникова Российской академии наук | DISCHARGE MECHANISM FROM THE DRONE OF POOL AND SOLID OBJECTS |
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| CN104495132A (en) * | 2014-12-16 | 2015-04-08 | 重庆耐德新明和工业有限公司 | Locking mechanism for door of garbage container |
| CN204369090U (en) * | 2014-12-22 | 2015-06-03 | 重庆元创汽车整线集成有限公司 | A kind of self-locking grasping mechanism |
| CN106256684A (en) * | 2016-08-22 | 2016-12-28 | 南京理工大学 | A kind of grasping mechanism being equipped on unmanned plane |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| RU218367U1 (en) * | 2021-12-10 | 2023-05-23 | Федеральное государственное бюджетное учреждение науки Институт проблем управления им. В.А. Трапезникова Российской академии наук | DISCHARGE MECHANISM FROM THE DRONE OF POOL AND SOLID OBJECTS |
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