CN113148156A - Many rotor unmanned aerial vehicle with barrier function is kept away to laser intelligence - Google Patents
Many rotor unmanned aerial vehicle with barrier function is kept away to laser intelligence Download PDFInfo
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- CN113148156A CN113148156A CN202110404962.3A CN202110404962A CN113148156A CN 113148156 A CN113148156 A CN 113148156A CN 202110404962 A CN202110404962 A CN 202110404962A CN 113148156 A CN113148156 A CN 113148156A
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- unmanned aerial
- aerial vehicle
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- wire
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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
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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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
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- 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
-
- 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
Abstract
The invention relates to the technical field of multi-rotor unmanned aerial vehicles, and discloses a multi-rotor unmanned aerial vehicle with laser intelligent obstacle avoidance function, including an unmanned aerial vehicle, the unmanned aerial vehicle top is provided with a frame, the frame top is provided with a driver body, the unmanned aerial vehicle top is provided with an onboard computer unit, the unmanned aerial vehicle bottom is provided with a support, the support bottom is provided with a landing plate, the unmanned aerial vehicle bottom is provided with a positioning plate, laser radar equipment is fixedly installed on the positioning plate, the laser radar equipment bottom is provided with a RTK sensor, an IMU sensor is arranged on one side of the RTK sensor, and a double-optical pan-tilt camera is arranged on the bottom of the RTK sensor. This many rotor unmanned aerial vehicle with barrier function is kept away to laser intelligence carries on laser radar equipment on through unmanned aerial vehicle, scans out the point cloud space coordinate position of wire and line row trees through laser radar equipment, detects wire and the minimum clearance of line row trees through the algorithm at the in-process that cruises, realizes keeping away the barrier or the distance is hovered.
Description
Technical Field
The invention relates to the technical field of multi-rotor unmanned aerial vehicles, in particular to a multi-rotor unmanned aerial vehicle with a laser intelligent obstacle avoidance function.
Background
The power transmission line inspection refers to inspection of the power transmission line, the aim is to master the operation condition of the power transmission line and find the fault of the power transmission line in time, the current team-level unmanned aerial vehicle fine inspection has the following operation characteristics,
1. the defects of the lead are more hidden and difficult to discover compared with other defects;
2. in the process of wire shooting, the whole section of wire must be shot completely, and omission cannot occur, so that data acquisition needs to be carried out at equal intervals;
3. one piece of image data can be generated every several meters in the process of wire inspection, and a large amount of data can be generated in the whole operation process;
4. the lead inspection task volume is large, and the data volume is large, so the operating efficiency needs to be improved, including the efficiency of data acquisition and the efficiency of data analysis, and therefore the picture needs to be shot close to the lead in flight to obtain higher-quality image data.
The prior art has the following defects and shortcomings:
the electric power tower needs to be strideed across automatically to the in-process aircraft is patrolled and examined to the wire, and the tree obstacle or switch the phase line carry out next section wire flight, and current aircraft is not accurate enough to the detection of aircraft flight in-process tree obstacle distance, and the potential safety hazard is many, scientific analysis is few, patrol and examine inefficiency.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a multi-rotor unmanned aerial vehicle with a laser intelligent obstacle avoidance function, which can solve the problems that the existing multi-rotor unmanned aerial vehicle needs to automatically cross over an electric power tower, hinder a tree or switch a phase line and fly a next section of conducting wire, the existing aircraft has insufficient precision in detecting the distance of the tree obstacle in the flying process of the aircraft, the potential safety hazard is more, the scientific analysis is less, and the inspection efficiency is low; this device carries on laser radar equipment through unmanned aerial vehicle on, scans out the point cloud space coordinate position of wire and line row trees through laser radar equipment, detects wire and the minimum clearance of line row trees through the algorithm at the in-process that cruises, realizes keeping away barrier or distance and hover, effectively solves current aircraft and to the aircraft flight in-process barrier distance detection not accurate enough, the potential safety hazard is many, scientific analysis is few, patrol and examine the inefficiency problem. This many rotor unmanned aerial vehicle with barrier function is kept away to laser intelligence, structural design is simple compact, easily makes, low cost, and nimble convenience during the use is easily popularized and applied.
In order to achieve the purpose of the multi-rotor unmanned aerial vehicle with the laser intelligent obstacle avoidance function, the invention provides the following technical scheme: the utility model provides a many rotor unmanned aerial vehicle with barrier function is kept away to laser intelligence, includes unmanned aerial vehicle, the unmanned aerial vehicle top is provided with the frame, the frame top is provided with the driver body, the unmanned aerial vehicle top is provided with on-vehicle computer unit, the unmanned aerial vehicle bottom is provided with the support, the support bottom is provided with the landing plate, the unmanned aerial vehicle bottom is provided with the locating plate, fixed mounting has laser radar equipment on the locating plate, laser radar equipment bottom is provided with the RTK sensor, RTK sensor one side is provided with the IMU sensor, RTK sensor bottom is provided with two optical pan-tilt cameras, two optical pan-tilt cameras include visible light camera and infrared camera.
Preferably, the unmanned aerial vehicle is internally provided with various sensors such as a GPS, a gyroscope, a speedometer, a barometer and a magnetic compass, and the unmanned aerial vehicle is internally provided with a rechargeable power supply.
Preferably, the angle circumference such as frame distributes at the unmanned aerial vehicle top, the quantity of frame is 4 groups, the driver body passes through bolt fixed mounting on the frame top, the driver body passes through wire and airborne computer unit electric connection.
Preferably, the airborne computer unit passes through bolt fixed mounting at the unmanned aerial vehicle top, the airborne computer unit passes through wire and unmanned aerial vehicle internal power source electric connection, the airborne computer unit embeds wireless communication module, the airborne computer unit passes through wireless communication module and remote computer wireless communication data connection.
Preferably, the support symmetric distribution is in unmanned aerial vehicle bottom both sides, the landing plate passes through bolt fixed mounting in the support bottom, landing plate and support vertical distribution.
Preferably, the locating plate passes through bolt fixed mounting in unmanned aerial vehicle bottom center department, laser radar equipment passes through bolt fixed mounting on the locating plate, laser radar equipment passes through wire and airborne computer unit electric connection, laser radar equipment outside is provided with radar data receiver and shows the remote controller, laser radar equipment with radar data receiver and demonstration remote controller pass through electromagnetic signal wireless connection.
Preferably, the RTK sensor is fixedly installed on the positioning plate through a bolt, the RTK sensor is electrically connected with the onboard computer unit through a wire, the IMU sensor is fixedly installed on the positioning plate through a bolt, and the IMU sensor is electrically connected with the onboard computer unit through a wire.
Preferably, two optical pan-tilt cameras pass through bolt fixed mounting on the locating plate, visible light camera passes through wire and airborne computer unit electric connection, infrared light camera passes through wire and airborne computer unit electric connection.
Compared with the prior art, the invention provides a multi-rotor unmanned aerial vehicle with an intelligent laser obstacle avoidance function, which has the following beneficial effects:
the multi-rotor unmanned aerial vehicle with the laser intelligent obstacle avoidance function realizes wire following flight, three-dimensional modeling and tree obstacle distance real-time detection by adopting multi-sensor data of a laser radar device, an RTK sensor, an IMU sensor and a double-light pan-tilt camera, scans the point cloud space coordinate position of a wire and a line tree by the laser radar device, detects the minimum distance between the wire and the line tree by an algorithm in the cruising process, realizes obstacle avoidance or hovering, an onboard computer unit carries out wire following flight, records the square tree obstacle distance, the clearance position and the wire sag distance by adjusting an unmanned aerial vehicle driver body according to the three-dimensional space position information of the lower tree obstacle and a routing inspection wire acquired by the laser radar device, can obtain the measurement of centimeter-level positioning precision in real time by carrying the RTK sensor on the unmanned aerial vehicle, and is provided with the IMU sensor for obtaining the actual accurate tree obstacle distance, and the airborne computer unit corrects the unmanned aerial vehicle flight orbit through IMU sensor data collection, and it is big to solve present team level unmanned aerial vehicle and patrol and examine work load, inefficiency, the potential safety hazard is many, scientific analysis is few, the precision is low, the management mode is laggard the scheduling problem, realizes that unmanned aerial vehicle examines the accurate detection of tree obstacle distance, promotes and patrols efficiency and defect discovery rate to guarantee operation safety reduces operation intensity, promotes the intelligent fortune of transmission line and maintains the level.
Drawings
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic top view of the present invention;
FIG. 3 is a schematic view of the overall structure of the present invention;
FIG. 4 is an enlarged schematic view of FIG. 1 according to the present invention.
In the figure: 1. an unmanned aerial vehicle; 2. a frame; 3. a driver body; 4. an onboard computer unit; 5. a support; 6. a landing plate; 7. positioning a plate; 8. a laser radar device; 9. an RTK sensor; 10. an IMU sensor; 11. a dual-light pan-tilt camera; 111. a visible light camera; 112. an infrared light camera.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Please refer to fig. 1-4, a many rotor unmanned aerial vehicle with barrier function is kept away to laser intelligence, including unmanned aerial vehicle 1, 1 top of unmanned aerial vehicle is provided with frame 2, 2 tops of frame are provided with driver body 3, 1 top of unmanned aerial vehicle is provided with on- vehicle computer unit 4, 1 bottom of unmanned aerial vehicle is provided with support 5, support 5 bottom is provided with landing plate 6, 1 bottom of unmanned aerial vehicle is provided with locating plate 7, fixed mounting has laser radar equipment 8 on the locating plate 7, laser radar equipment 8 bottom is provided with RTK sensor 9, RTK sensor 9 one side is provided with IMU sensor 10, RTK sensor 9 bottom is provided with two optical pan-tilt cameras 11, two optical pan-tilt cameras 11 include visible light camera 111 and infrared light camera 112.
In conclusion, the unmanned aerial vehicle 1 is internally provided with various sensors such as a GPS, a gyroscope, a speedometer, a barometer and a magnetic compass, and the unmanned aerial vehicle 1 is internally provided with a rechargeable power supply, so that the operation requirement is met, the power supply is ensured, and the transportability of the whole hardware system is ensured; the frames 2 are distributed on the top of the unmanned aerial vehicle 1 in an equiangular and circumferential manner, the number of the frames 2 is 4, the driver body 3 is fixedly mounted at the top end of the frame 2 through bolts, the driver body 3 is electrically connected with the onboard computer unit 4 through a wire, and the onboard computer unit 4 is used for realizing flight control over the unmanned aerial vehicle 1 through the driver body 3; the airborne computer unit 4 is fixedly installed at the top of the unmanned aerial vehicle 1 through bolts, the airborne computer unit 4 is electrically connected with an internal power supply of the unmanned aerial vehicle 1 through a wire, a wireless communication module is arranged in the airborne computer unit 4, the airborne computer unit 4 is in wireless communication data connection with a remote computer through the wireless communication module, and the airborne computer unit 4 is in wireless communication data connection with the remote computer through the wireless communication module to realize real-time data communication connection; the supports 5 are symmetrically distributed on two sides of the bottom of the unmanned aerial vehicle 1, the landing plates 6 are fixedly mounted at the bottom ends of the supports 5 through bolts, the landing plates 6 are vertically distributed with the supports 5, and the landing plates 6 and the supports 5 play a role in stably supporting the unmanned aerial vehicle 1; the positioning plate 7 is fixedly installed at the center of the bottom of the unmanned aerial vehicle 1 through a bolt, the laser radar device 8 is fixedly installed on the positioning plate 7 through a bolt, the laser radar device 8 is electrically connected with the onboard computer unit 4 through a wire, a radar data receiver and a display remote controller are arranged outside the laser radar device 8, the laser radar device 8 is wirelessly connected with the radar data receiver and the display remote controller through electromagnetic signals, the laser radar device 8 is used for realizing a three-dimensional modeling function, the three-dimensional modeling function realizes off-line post-resolution processing of POS data and a three-dimensional point cloud file containing a GPS timestamp, wherein the POS data contains information such as a GPS timestamp, RTK coordinate information, angular velocity and acceleration in three-axis directions, course angle and the like, and the laser radar device 8 is used for collecting three-dimensional space position information of a lower tree barrier and a routing inspection wire in the flight process of the unmanned aerial vehicle, real-time detection of the tree spatial distance based on the laser guide is realized through the laser radar device 8; the RTK sensor 9 is fixedly installed on the positioning plate 7 through bolts, the RTK sensor 9 is electrically connected with the onboard computer unit 4 through a wire, the IMU sensor 10 is fixedly installed on the positioning plate 7 through bolts, the IMU sensor 10 is electrically connected with the onboard computer unit 4 through a wire, the RTK sensor 9 adopts a carrier phase dynamic real-time difference method, centimeter-level positioning accuracy measurement can be obtained in real time, the carrying anti-interference capability is strong, the positioning is accurate, the IMU sensor 10 is used for measuring linear motion of the unmanned aerial vehicle in each axial direction in the flying process, the unmanned aerial vehicle 1 is used for correcting through real-time IMU data, and the actual accurate tree barrier distance is obtained; the double-optical pan-tilt camera 11 is fixedly installed on the positioning plate 7 through bolts, the visible light camera 111 is electrically connected with the onboard computer unit 4 through a wire, the infrared light camera 112 is electrically connected with the onboard computer unit 4 through a wire, and the visible light camera 111 and the infrared light camera 112 are used for achieving automatic line-tracing inspection and synchronous acquisition of image data.
The working and using process and the installation method of the invention are that when the multi-rotor unmanned aerial vehicle with the laser intelligent obstacle avoidance function is used, the following flight of a lead, three-dimensional modeling and real-time detection of the distance of the tree obstacle are realized by adopting multi-sensor data of a laser radar device 8, an RTK sensor 9, an IMU sensor 10 and a double-light visible light and infrared light double-light holder camera 11, the point cloud space coordinate position of the lead and a linear tree is scanned by the laser radar device 8, the minimum distance between the lead and the linear tree is detected by an algorithm in the cruising process, the obstacle avoidance or hovering with a clearance distance is realized, an onboard computer unit 4 follows the lead according to the three-dimensional space position information of the lower tree obstacle and the routing inspection lead collected by the laser radar device 8, the distance, the position and the arc sag distance of the lower tree obstacle are recorded by adjusting a driver body 3 of the unmanned aerial vehicle, through carrying on RTK sensor 9 on unmanned aerial vehicle, can obtain centimeter level positioning accuracy's measurement in real time, and be equipped with IMU sensor 10 and be used for reacing the actual accurate tree barrier distance, and airborne computer unit 4 corrects unmanned aerial vehicle flight orbit through IMU sensor 10 data collection, it is big to solve present team level unmanned aerial vehicle and patrol and examine work load, inefficiency, the potential safety hazard is many, scientific analysis is few, the precision is low, the management mode is laggard scheduling problem, realize that unmanned aerial vehicle detects the accurate detection of tree barrier distance, promote to patrol and see efficiency and defect discovery rate, and ensure the operation safety, reduce operation intensity, promote the intelligent fortune dimension level of transmission line.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a many rotor unmanned aerial vehicle with barrier function is kept away to laser intelligence which characterized in that: comprises an unmanned aerial vehicle (1), a frame (2) is arranged at the top of the unmanned aerial vehicle (1), the top end of the frame (2) is provided with a driver body (3), the top of the unmanned aerial vehicle (1) is provided with an airborne computer unit (4), a bracket (5) is arranged at the bottom of the unmanned aerial vehicle (1), a landing plate (6) is arranged at the bottom of the bracket (5), a positioning plate (7) is arranged at the bottom of the unmanned aerial vehicle (1), a laser radar device (8) is fixedly arranged on the positioning plate (7), an RTK sensor (9) is arranged at the bottom of the laser radar device (8), an IMU sensor (10) is arranged on one side of the RTK sensor (9), the bottom of the RTK sensor (9) is provided with a double-optical pan-tilt camera (11), the dual-optical pan-tilt camera (11) comprises a visible light camera (111) and an infrared light camera (112).
2. The multi-rotor unmanned aerial vehicle with the laser intelligent obstacle avoidance function of claim 1, wherein: unmanned aerial vehicle (1) has built-in multiple sensors such as GPS, gyroscope, speedometer, barometer, magnetic compass, unmanned aerial vehicle (1) inside is provided with chargeable formula power.
3. The multi-rotor unmanned aerial vehicle with the laser intelligent obstacle avoidance function of claim 1, wherein: frame (2) equiangular circumference distributes at unmanned aerial vehicle (1) top, the quantity of frame (2) is 4 groups, driver body (3) are through bolt fixed mounting on frame (2) top, driver body (3) are through wire and airborne computer unit (4) electric connection.
4. The multi-rotor unmanned aerial vehicle with the laser intelligent obstacle avoidance function of claim 1, wherein: the unmanned aerial vehicle is characterized in that the airborne computer unit (4) is fixedly installed at the top of the unmanned aerial vehicle (1) through a bolt, the airborne computer unit (4) is electrically connected with an internal power supply of the unmanned aerial vehicle (1) through a wire, a wireless communication module is arranged in the airborne computer unit (4), and the airborne computer unit (4) is connected with remote computer wireless communication data through the wireless communication module.
5. The multi-rotor unmanned aerial vehicle with the laser intelligent obstacle avoidance function of claim 1, wherein: support (5) symmetric distribution is in unmanned aerial vehicle (1) bottom both sides, landing slab (6) pass through bolt fixed mounting in support (5) bottom, landing slab (6) and support (5) vertical distribution.
6. The multi-rotor unmanned aerial vehicle with the laser intelligent obstacle avoidance function of claim 1, wherein: locating plate (7) are located at unmanned aerial vehicle (1) bottom center through bolt fixed mounting, laser radar equipment (8) are through bolt fixed mounting on locating plate (7), laser radar equipment (8) are through wire and airborne computer unit (4) electric connection, laser radar equipment (8) outside is provided with radar data receiver and demonstration remote controller, laser radar equipment (8) with radar data receiver and demonstration remote controller pass through electromagnetic signal wireless connection.
7. The multi-rotor unmanned aerial vehicle with the laser intelligent obstacle avoidance function of claim 1, wherein: the RTK sensor (9) is fixedly installed on the positioning plate (7) through a bolt, the RTK sensor (9) is electrically connected with the airborne computer unit (4) through a wire, the IMU sensor (10) is fixedly installed on the positioning plate (7) through a bolt, and the IMU sensor (10) is electrically connected with the airborne computer unit (4) through a wire.
8. The multi-rotor unmanned aerial vehicle with the laser intelligent obstacle avoidance function of claim 1, wherein: two optical cloud platform cameras (11) pass through bolt fixed mounting on locating plate (7), visible light camera (111) pass through the wire and airborne computer unit (4) electric connection, infrared light camera (112) pass through the wire and airborne computer unit (4) electric connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110404962.3A CN113148156A (en) | 2021-04-14 | 2021-04-14 | Many rotor unmanned aerial vehicle with barrier function is kept away to laser intelligence |
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| CN202110404962.3A CN113148156A (en) | 2021-04-14 | 2021-04-14 | Many rotor unmanned aerial vehicle with barrier function is kept away to laser intelligence |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114162320A (en) * | 2021-09-30 | 2022-03-11 | 国网山东省电力公司潍坊供电公司 | Long-endurance laser tree obstacle clearing type unmanned aerial vehicle and use method thereof |
| CN115320848A (en) * | 2022-10-13 | 2022-11-11 | 电子科技大学 | Unmanned aerial vehicle system with keep away barrier function |
| WO2023082254A1 (en) * | 2021-11-15 | 2023-05-19 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle |
-
2021
- 2021-04-14 CN CN202110404962.3A patent/CN113148156A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114162320A (en) * | 2021-09-30 | 2022-03-11 | 国网山东省电力公司潍坊供电公司 | Long-endurance laser tree obstacle clearing type unmanned aerial vehicle and use method thereof |
| CN114162320B (en) * | 2021-09-30 | 2024-02-27 | 国网山东省电力公司潍坊供电公司 | Long-endurance laser tree barrier removing unmanned aerial vehicle and application method thereof |
| WO2023082254A1 (en) * | 2021-11-15 | 2023-05-19 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle |
| CN115320848A (en) * | 2022-10-13 | 2022-11-11 | 电子科技大学 | Unmanned aerial vehicle system with keep away barrier function |
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