CN112937890A - Anticollision type unmanned aerial vehicle detection device - Google Patents
Anticollision type unmanned aerial vehicle detection device Download PDFInfo
- Publication number
- CN112937890A CN112937890A CN202110405115.9A CN202110405115A CN112937890A CN 112937890 A CN112937890 A CN 112937890A CN 202110405115 A CN202110405115 A CN 202110405115A CN 112937890 A CN112937890 A CN 112937890A
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- unmanned aerial
- aerial vehicle
- collision
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- vehicle detection
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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
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
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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
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an anti-collision unmanned aerial vehicle detection device, belongs to the technical field of unmanned aerial vehicle detection, and is designed for solving the technical problems of collision prevention and falling prevention of an unmanned aerial vehicle, low working efficiency and the like. Anticollision type unmanned aerial vehicle detection device includes many rotor unmanned aerial vehicle, anticollision rack and gimbal, and many rotor unmanned aerial vehicle connect on gimbal, and anticollision rack connects on gimbal, and many rotor unmanned aerial vehicle are located anticollision rack's inside. This anticollision type unmanned aerial vehicle detection device has good anticollision and prevents weighing down the ability, can hug closely the object surface flight, closely gathers relevant data, and work efficiency is high.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle detection, in particular to an anti-collision unmanned aerial vehicle detection device.
Background
The curtain wall is as the peripheral revetment of building, need detect the potential risk that the curtain wall falls that probably causes such as drop, damage and not hard up of its potential risk such as the breakage, crack and cavity and curtain wall structure glue, the curtain detects for short. Curtain wall detection needs to be with the help of check out test set, generally adopts artifical handheld check out test set, perhaps carries check out test set on auxiliary assembly, along with unmanned aerial vehicle and the rapid development of robotechnology, carries check out test set on unmanned aerial vehicle or wall climbing robot usually.
Unmanned aerial vehicles adopted in the prior art are all of a multi-rotor type, four rotors and six rotors are the most common, but for curtain wall detection, ultra-close range flight is difficult to realize, and collision and crash are easy to occur during close range (for example, less than one meter) flight detection; the other type of wall-climbing robot with equipment can be attached to the surface of a curtain wall to perform contact measurement and ultra-close range photographing, but is low in moving speed and limited in obstacle crossing capability, so that the working efficiency is low.
Disclosure of Invention
The invention aims to provide an anti-collision unmanned aerial vehicle detection device, which has good anti-collision and anti-falling capabilities, can fly close to the surface of an object, collects related data at a short distance and has high working efficiency.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides an anticollision type unmanned aerial vehicle detection device, includes many rotor unmanned aerial vehicle, anticollision rack and gimbal, many rotor unmanned aerial vehicle connect on the gimbal, anticollision rack connects on the gimbal, just many rotor unmanned aerial vehicle are located anticollision rack's inside.
Optionally, the anti-collision net frame is of a football structure and has sixty vertexes, thirty-two faces, twelve regular pentagons and twenty regular hexagons.
Optionally, the gimbal includes a first rod and a ring carrier, the first rod is connected around horizontal axis rotation on the multi-rotor drone, the ring carrier is connected around vertical axis rotation on the first rod.
Optionally, many rotor unmanned aerial vehicle includes a plurality of rotors and quick-witted body, and is a plurality of the rotor is all connected the below of quick-witted body, and is a plurality of the rotor is even interval distribution and sets up.
Optionally, the rotor is connected on the aircraft body through second member, be equipped with the chamber that holds that is used for placing the electric wire in the second member.
Optionally, the anti-collision net rack is a carbon fiber net rack.
Optionally, the center of gravity of the multi-rotor drone coincides with the center of sphere of the anti-collision net rack.
Optionally, many rotor unmanned aerial vehicle still includes binocular camera, binocular camera is used for shooing the optics and the hot infrared photo of waiting to detect the piece.
Optionally, many rotor unmanned aerial vehicle still includes power, flight control treater and sensor, the power respectively with flight control treater with the sensor electricity is connected, the sensor is used for detecting whether many rotor unmanned aerial vehicle is in balance to with information transfer extremely in the flight control treater, thereby control many rotor unmanned aerial vehicle's direction of motion.
Optionally, the multi-rotor drone is a quad-rotor drone.
Compared with the prior art, the invention has the beneficial effects that: the multi-rotor unmanned aerial vehicle is arranged in the anti-collision net rack through the universal support, when the multi-rotor unmanned aerial vehicle detects the curtain wall and is in a short distance, the anti-collision net can effectively protect the multi-rotor unmanned aerial vehicle, the damage of the unmanned aerial vehicle caused by collision and falling can be effectively avoided, meanwhile, the multi-rotor unmanned aerial vehicle can move freely, and the multi-rotor unmanned aerial vehicle does not need to be attached to the curtain wall to move like a wall climbing robot, so that the anti-collision unmanned aerial vehicle detection device of the embodiment not only overcomes the defect that the curtain wall cannot be detected in a short distance, and the state of the curtain wall can be detected in a short distance, such as whether the curtain wall is damaged or; in addition, the robot has the advantages of flexible action, no obstacle crossing compared with the traditional wall climbing robot and high detection efficiency. In conclusion, the anti-collision unmanned aerial vehicle detection device has the advantages of good anti-collision and anti-falling capacity, high working efficiency and wide applicability.
Drawings
Fig. 1 is a schematic structural diagram of a collision-proof type unmanned aerial vehicle detection device according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an anti-collision grid provided by an embodiment of the invention;
fig. 3 is a schematic structural diagram of a multi-rotor drone according to an embodiment of the present invention, attached to a gimbal.
Reference numerals:
1-multi-rotor unmanned aerial vehicle, 11-rotor, 12-body, 2-anti-collision net rack, 3-universal bracket, 31-first rod piece, 32-annular bracket, 4-second rod piece and 5-binocular camera.
Detailed Description
In order to make the technical problems solved, the technical solutions adopted and the technical effects achieved by the present invention clearer, the technical solutions of the present invention are further described below by way of specific embodiments with reference to the accompanying drawings.
A specific structure of the collision-preventing type unmanned aerial vehicle detection apparatus of the embodiment of the present invention is described below with reference to fig. 1 and 3.
As shown in fig. 1 and 2, this embodiment provides an anticollision type unmanned aerial vehicle detection device, including many rotor unmanned aerial vehicle 1, anticollision rack 2 and gimbal 3, many rotor unmanned aerial vehicle 1 connects on gimbal 3, and anticollision rack 2 connects on gimbal 3, and just many rotor unmanned aerial vehicle 1 is located anticollision rack 2's inside.
It should be noted that, the multi-rotor unmanned aerial vehicle 1 is arranged inside the anti-collision net rack 2 through the universal bracket 3, that is, the multi-rotor unmanned aerial vehicle 1 of fig. 2 is placed in the anti-collision net rack 2 of fig. 1, when the multi-rotor unmanned aerial vehicle 1 detects a curtain wall and is located at a short distance, the anti-collision net rack 2 can effectively protect the multi-rotor unmanned aerial vehicle 1, collision and falling of the unmanned aerial vehicle are avoided, and meanwhile, the multi-rotor unmanned aerial vehicle 1 can move freely without moving like a wall climbing robot clinging to the curtain wall, therefore, the anti-collision type unmanned aerial vehicle detection device of the embodiment not only solves the defect that the curtain wall cannot be detected in a short distance, and realizes the state of detecting the curtain wall in a short distance, such as whether the curtain wall is; still have the nimble action in addition, do not have and cross the obstacle, the higher advantage of detection efficiency to and many rotor unmanned aerial vehicle 1 need not to embed again and keeps away the barrier system, for example the barrier is kept away to the vision and the barrier is kept away to the ultrasonic wave, greatly reduced the cost. In conclusion, the anti-collision type unmanned aerial vehicle detection device has the advantages of good anti-collision and anti-falling capacity, capability of closely flying on the surface of an object, short-distance acquisition of relevant data, high working efficiency, low cost and wide applicability.
Optionally, as shown in fig. 1 and 3, the multi-rotor drone 1 further comprises a binocular camera 5, the binocular camera 5 being used to take optical and thermal infrared photographs of the piece to be detected. It can be understood that because binocular camera 5 can treat that the detected piece curtain carries out optics and thermal infrared shoots, consequently, when many rotor unmanned aerial vehicle 1 shot closely at the curtain, can observe the detailed information of curtain, for example damage conditions such as the damage of curtain, crackle and hollowing to and conditions such as ageing, degradation and inefficacy of structural adhesive, pass through the sensor with information again and transmit to the flight control treater in.
Specifically, binocular camera 5 is located the top that many rotor unmanned aerial vehicle 1 and is close to the border position, and the direction of the camera orientation of binocular camera 5 is the dead ahead of many rotor unmanned aerial vehicle 1's motion.
Optionally, many rotor unmanned aerial vehicle 1 still includes power, flight control treater and sensor, and the power is connected with flight control treater and sensor electricity respectively, and the sensor is arranged in detecting many rotor unmanned aerial vehicle 1 and whether is in balance to with information transfer to in the flight control treater, thereby control many rotor unmanned aerial vehicle 1's direction of motion.
It can be understood that, communicate many rotor unmanned aerial vehicle 1's power, the sensor detects many rotor unmanned aerial vehicle 1 and is in balanced state to in transmitting this information to aircraft control treater, aircraft control treater can control many rotor unmanned aerial vehicle 1 operation such as rise, descend, advance, retreat, move left, move right or rotate, have the advantage of nimble action. In addition, owing to still set up anticollision rack 2, many rotor unmanned aerial vehicle 1 can press close to even adjacent curtain flight to gather required data through the sensor.
Alternatively, as shown in fig. 1 and 2, the collision avoidance net 2 is of a football configuration having sixty vertices, thirty-two faces, twelve regular pentagons, and twenty regular hexagons.
It should be noted that the football structure, i.e., the carbon 60 molecular structure, is similar to a hollow sphere, and the anti-collision net frame 2 is set to be the carbon 60 molecular structure, so that the stability is excellent. When anticollision rack 2 bumps, anticollision rack 2 can avoid taking place stress concentration with the transmission of impact dispersion effectively, has both improved the life of anticollision rack 2 self, has protected many rotor unmanned aerial vehicle 1 to avoid the damage simultaneously more importantly. In addition, anticollision rack 2 includes a plurality of regular pentagons and a plurality of regular hexagon, and the opening that regular pentagon and regular hexagon enclose to establish is great, and the vision field to binocular camera 5 shelters from lessly, the change of the power of also being convenient for.
Alternatively, as shown in fig. 1 and 3, the gimbal table 3 includes a first rod 31 and a ring-shaped bracket 32, the first rod 31 is rotatably connected to the multi-rotor drone 1 about a horizontal axis, and the ring-shaped bracket 32 is rotatably connected to the first rod 31 about a vertical axis.
It should be noted that, gimbal 3 comprises first member 31 and ring carrier 32, because first member 31 is connected on many rotor unmanned aerial vehicle 1 around the horizontal axis rotation, consequently many rotor unmanned aerial vehicle 1 can rotate 360 around the horizontal axis, can be convenient for rotate with the help of slewing mechanism, because ring carrier 32 is connected on first member 31 around vertical axis rotation, therefore, first member 31 can rotate 360 around vertical axis, and then many rotor unmanned aerial vehicle 1 also can rotate 360 around vertical axis, realized many rotor unmanned aerial vehicle 1 at three-dimensional space free rotation, the flexibility is extremely strong.
Specifically, first member 31 chooses for use carbon fiber material spare, and annular frame 32 also chooses for use carbon fiber material spare, and the lightweight degree is higher, and the quality is light promptly, and intensity is high.
Optionally, as shown in fig. 1 and 3, the multi-rotor unmanned aerial vehicle 1 includes a plurality of rotors 11 and a main body 12, the plurality of rotors 11 are all connected below the main body 12, and the plurality of rotors 11 are arranged in an even interval distribution. It should be noted that, a plurality of rotor wings 11 are evenly distributed at intervals under the main body 12, which is beneficial to force balance and has excellent stability.
Alternatively, as shown in fig. 1 and 3, the rotor 11 is connected to the body 12 through a second rod 4, and a receiving cavity for placing an electric wire is provided in the second rod 4. It can be understood that the rotor 11 is connected to the main body 12 of the multi-rotor drone 1 through the second pole 4, which improves the connection strength, and the second pole 4 facilitates the placement of the electric wires required for the electrical connection.
Optionally, the anti-collision net frame 2 is a carbon fiber net frame. Therefore, the anti-collision net rack 2 has the advantages of high strength, light weight and high light weight. Of course, in other embodiments of the present invention, the anti-collision net rack 2 is not limited to the above, and other options may be made, and the anti-collision net rack is not limited to the above embodiments, but only illustrates a preferred embodiment.
Optionally, the center of gravity of multi-rotor drone 1 coincides with the center of sphere of anti-collision net rack 2. Therefore, the peripheral anti-collision net rack 2 is free to move, and the stability and the reliability are good.
Optionally, multi-rotor drone 1 is a quad-rotor drone. It should be noted that, the multi-rotor unmanned aerial vehicle 1 of the present invention adopts a quad-rotor unmanned aerial vehicle, which has a good flight effect, is convenient to place in the anti-collision net rack 2, avoids collision on the inner wall of the anti-collision net rack 2, can be applied to the anti-collision net rack 2 with a small volume, and has good flexibility. Of course, in other embodiments of the present invention, the multi-rotor drone 1 may perform other numbers of rotor drones according to actual needs, such as six-rotor drones, and the like, and is not limited herein.
Supplementary explanation, the anti-collision type unmanned aerial vehicle detection device of the invention can be used for curtain wall detection, and can also be used in bridge detection, subway tunnel inspection, low comprehensive pipe gallery inspection and other situations.
In the description herein, references to the description of "some embodiments," "other embodiments," or the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Further, it is to be understood that the terms "upper", "lower", "inner", "outer", "vertical", "horizontal", and the like, as used herein, refer to an orientation or positional relationship based on that shown in the drawings, which is for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "mounted," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other suitable relationship. Those skilled in the art can understand the above specific meanings included in the present invention according to specific situations.
Furthermore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features for distinguishing between descriptive features, non-sequential, non-trivial and non-trivial. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
The above description is only a preferred embodiment of the present invention, and for those skilled in the art, the present invention should not be limited by the description of the present invention, which should be interpreted as a limitation.
Claims (10)
1. The utility model provides an anticollision type unmanned aerial vehicle detection device, its characterized in that, including many rotor unmanned aerial vehicle (1), anticollision rack (2) and gimbal (3), many rotor unmanned aerial vehicle (1) are connected on gimbal (3), anticollision rack (2) are connected on gimbal (3), just many rotor unmanned aerial vehicle (1) are located the inside of anticollision rack (2).
2. The collision-proof unmanned aerial vehicle detection device of claim 1, wherein the collision-proof net frame (2) is of a football structure having sixty vertices, thirty-two faces, twelve regular pentagons, and twenty regular hexagons.
3. The collision avoidance unmanned aerial vehicle detection apparatus of claim 1, wherein the gimbal (3) comprises a first rod (31) and a ring-shaped bracket (32), the first rod (31) is rotatably connected to the multi-rotor unmanned aerial vehicle (1) about a horizontal axis, and the ring-shaped bracket (32) is rotatably connected to the first rod (31) about a vertical axis.
4. The anti-collision unmanned aerial vehicle detection device according to claim 3, wherein the multi-rotor unmanned aerial vehicle (1) comprises a plurality of rotors (11) and a vehicle body (12), the plurality of rotors (11) are all connected below the vehicle body (12), and the plurality of rotors (11) are arranged in an evenly-spaced distribution.
5. The collision-proof type unmanned aerial vehicle detection device according to claim 4, wherein the rotor (11) is connected to the body (12) through a second rod (4), and a receiving cavity for placing an electric wire is arranged in the second rod (4).
6. The anti-collision unmanned aerial vehicle detection device of claim 1, wherein the anti-collision net rack (2) is a carbon fiber net rack.
7. The anti-collision unmanned aerial vehicle detection device of claim 1, wherein the center of gravity of the multi-rotor unmanned aerial vehicle (1) coincides with the center of sphere of the anti-collision net rack (2).
8. The collision-proof unmanned aerial vehicle detection device of claim 4, wherein the multi-rotor unmanned aerial vehicle (1) further comprises a binocular camera (5), and the binocular camera (5) is used for shooting optical and thermal infrared photographs of the piece to be detected.
9. The collision avoidance type unmanned aerial vehicle detection apparatus of claim 4, wherein the multi-rotor unmanned aerial vehicle (1) further comprises a power supply, a flight control processor, and a sensor, the power supply being electrically connected to the flight control processor and the sensor, respectively, the sensor being configured to detect whether the multi-rotor unmanned aerial vehicle (1) is in equilibrium, and to transmit information into the flight control processor, thereby controlling a direction of motion of the multi-rotor unmanned aerial vehicle (1).
10. Anti-collision drone detecting device according to claim 1, characterised in that the multi-rotor drone (1) is a quad-rotor drone.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110405115.9A CN112937890A (en) | 2021-04-15 | 2021-04-15 | Anticollision type unmanned aerial vehicle detection device |
| PCT/CN2021/139586 WO2022217961A1 (en) | 2021-04-15 | 2021-12-20 | Anti-collision unmanned aerial vehicle detection apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110405115.9A CN112937890A (en) | 2021-04-15 | 2021-04-15 | Anticollision type unmanned aerial vehicle detection device |
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| Publication Number | Publication Date |
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| CN112937890A true CN112937890A (en) | 2021-06-11 |
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| CN202110405115.9A Pending CN112937890A (en) | 2021-04-15 | 2021-04-15 | Anticollision type unmanned aerial vehicle detection device |
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| CN (1) | CN112937890A (en) |
| WO (1) | WO2022217961A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113715036A (en) * | 2021-08-27 | 2021-11-30 | 山东雷纳新材料工程有限公司 | Spherical robot for cable tunnel |
| CN113928561A (en) * | 2021-11-12 | 2022-01-14 | 浙江大学杭州国际科创中心 | Automatic unmanned aerial vehicle that patrols and examines of steel case roof beam with crashproof ability |
| WO2022217961A1 (en) * | 2021-04-15 | 2022-10-20 | 中冶建筑研究总院（深圳）有限公司 | Anti-collision unmanned aerial vehicle detection apparatus |
| CN117885829A (en) * | 2024-03-15 | 2024-04-16 | 中冶建筑研究总院（深圳）有限公司 | Wall climbing unmanned aerial vehicle and control method thereof |
| CN117885829B (en) * | 2024-03-15 | 2024-05-10 | 中冶建筑研究总院（深圳）有限公司 | Wall climbing unmanned aerial vehicle and control method thereof |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN204355271U (en) * | 2014-11-20 | 2015-05-27 | 河南送变电工程公司 | A kind of many rotors with anti-collision cover patrol and examine aircraft |
| CN105882985B (en) * | 2014-12-26 | 2018-06-19 | 郑州中电新能源汽车有限公司 | A kind of electronic unmanned fog machine of DCB Specimen close coupled type anticollision |
| CN204399482U (en) * | 2014-12-26 | 2015-06-17 | 郑州中电新能源汽车有限公司 | The electronic unmanned fog machine of a kind of DCB Specimen close coupled type anticollision |
| JP2019036269A (en) * | 2017-08-10 | 2019-03-07 | ミスギ工業株式会社 | Flight control method of pilotless small flying object, and inspection method of condition of internal space and condition of wall surface thereof |
| CN108706095B (en) * | 2018-04-16 | 2020-09-18 | 国网浙江省电力有限公司 | Be suitable for miniature many rotor unmanned aerial vehicle that has buffer stop that channel patrolled and examined |
| CN211196610U (en) * | 2019-10-17 | 2020-08-07 | 江斌 | Anticollision unmanned aerial vehicle suitable for open-air is surveyed |
| CN111003191A (en) * | 2019-12-03 | 2020-04-14 | 西安航空学院 | Unmanned aerial vehicle anti-collision protection cage and design method thereof |
| CN112937890A (en) * | 2021-04-15 | 2021-06-11 | 中冶建筑研究总院（深圳）有限公司 | Anticollision type unmanned aerial vehicle detection device |
-
2021
- 2021-04-15 CN CN202110405115.9A patent/CN112937890A/en active Pending
- 2021-12-20 WO PCT/CN2021/139586 patent/WO2022217961A1/en unknown
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022217961A1 (en) * | 2021-04-15 | 2022-10-20 | 中冶建筑研究总院（深圳）有限公司 | Anti-collision unmanned aerial vehicle detection apparatus |
| CN113715036A (en) * | 2021-08-27 | 2021-11-30 | 山东雷纳新材料工程有限公司 | Spherical robot for cable tunnel |
| CN113928561A (en) * | 2021-11-12 | 2022-01-14 | 浙江大学杭州国际科创中心 | Automatic unmanned aerial vehicle that patrols and examines of steel case roof beam with crashproof ability |
| CN113928561B (en) * | 2021-11-12 | 2023-08-25 | 浙江大学杭州国际科创中心 | Automatic unmanned aerial vehicle that patrols and examines of steel case roof beam with anticollision ability |
| CN117885829A (en) * | 2024-03-15 | 2024-04-16 | 中冶建筑研究总院（深圳）有限公司 | Wall climbing unmanned aerial vehicle and control method thereof |
| CN117885829B (en) * | 2024-03-15 | 2024-05-10 | 中冶建筑研究总院（深圳）有限公司 | Wall climbing unmanned aerial vehicle and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2022217961A1 (en) | 2022-10-20 |
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