CN113602386A - Coal mine detection and rescue robot with glider and working method - Google Patents
Coal mine detection and rescue robot with glider and working method Download PDFInfo
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- CN113602386A CN113602386A CN202111036560.9A CN202111036560A CN113602386A CN 113602386 A CN113602386 A CN 113602386A CN 202111036560 A CN202111036560 A CN 202111036560A CN 113602386 A CN113602386 A CN 113602386A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/04—Launching or towing gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/25—Fixed-wing aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
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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
Abstract
The invention discloses a self-provided glider type coal mine detection and rescue robot and a working method thereof, which are suitable for underground coal mine disaster relief. The device comprises a traveling mechanism, a launching frame is arranged on the traveling mechanism, a horizontal angle control system and an elevation angle control system are arranged between the traveling mechanism and the launching frame, a launching track and a pneumatic thrust device for providing launching power are arranged on the launching frame, a glider is arranged on the launching track, a video acquisition device and a wireless transmission device are arranged on the glider, the shape of an obstacle and the distance between the obstacle and the obstacle are firstly measured by an ultrasonic range finder inside a robot, the yaw angle and the pitch angle of a launching platform of the glider are adjusted by a stepping motor on the robot and an electric push rod arranged in the launching frame, and the glider is launched by the counterthrust generated by an air bag on the launching frame. In the flight process of the glider, a CCD camera in the glider is used for collecting images of dangerous environments. The device has reasonable design and convenient use, and effectively enlarges the detection distance.
Description
Technical Field
The invention relates to a coal mine detection and rescue robot and a working method thereof, in particular to a self-provided glider type coal mine detection and rescue robot and a working method thereof, which are suitable for underground coal mine disaster relief.
Background
Coal is an important strategic energy and resource in China, because of complex geological conditions, coal mines in China still mainly adopt underground mining, the safety production of coal mines is still one of the key bottlenecks of national social safety at present, accidents such as gas, coal dust, fire, rock burst and the like under coal mines still happen occasionally, and life and property safety of underground operators is threatened fatally. With the rapid development of ground robot technology, coal mine robot technology and related equipment are gradually applied to underground coal mines, wherein the coal mine rescue detection robot is developed and applied at the earliest. The coal mine rescue robot can replace rescue team members to enter a coal mine post-disaster dangerous area, and the environmental condition and the casualty condition of a post-disaster site are obtained through sensors such as a gas detection sensor and a camera carried by the robot, so that scientific basis is provided for the next rescue decision of a rescue team. However, due to the complex terrain conditions of coal mines after disasters, most of the existing coal mine rescue detection robots adopt wheel-type or crawler-type mobile platform mechanisms, the passing capacity is limited when the robots deal with the complex terrain, and the robots cannot go deep into the first site of the disaster after the disasters due to the blocking of ruins or deposits, so that the detection range of the robots is greatly reduced. Therefore, in order to maximize the detection coverage of the robot, it is necessary to provide a wheel-type mobile platform and glider combined coal mine detection and rescue robot system.
Disclosure of Invention
Aiming at the existing problems, the invention provides a robot system combining a glider and a wheel type moving platform, which has a simple structure and is convenient to use, can further enhance the detection distance when a moving walking mechanism encounters an obstacle and cannot continuously detect forwards, and provides decision reference for the forward propulsion of rescue team members or inspection personnel.
In order to achieve the technical purpose, the self-carrying glider type coal mine detection and rescue robot comprises a walking mechanism, wherein a launching frame is arranged on the walking mechanism, a horizontal angle control system and an elevation angle control system are arranged between the walking mechanism and the launching frame, a launching track and a pneumatic thrust device for providing launching power are arranged on the launching frame, a glider is arranged on the launching track, a video acquisition device and a wireless transmission device are arranged on the glider, a video acquisition system and an obstacle passing control system are arranged on the walking mechanism, the walking mechanism utilizes the wireless receiving and transmitting system to receive video acquisition signals sent by the glider in a wireless mode, and simultaneously sends out the information acquired by the video acquisition system.
The top of the travelling mechanism is provided with a flat mounting platform, the horizontal angle control system comprises a main shaft which is arranged on the mounting platform and connected with the main shaft and is arranged in a rectangular key groove machined part of the launching frame, the rectangular key groove machined part is arranged in the middle of the base of the launching frame, a gear plate is arranged behind the rectangular key groove machined part, two bull-eye universal wheels are arranged below the gear plate, wherein the middle part of the mounting platform is provided with a main shaft which is matched with the rectangular key groove machined part and is in key connection with the rectangular key groove machined part, the main shaft is provided with a flange bearing which plays a role of axial fixation, the tail part of the walking robot is provided with a stepping motor, the stepping motor is mutually occluded with a gear plate through a gear, the stepping motor drives the occluded gear plate to rotate through the rotation of a driving gear, thereby driving the two bull-eye universal wheels and the rectangular key groove workpiece to move together, and driving the launcher to finish the angle adjustment in the horizontal direction by taking the main shaft as the center of a circle.
Elevation control system sets up on horizontal angle control system, elevation control system includes the base that the ordinary section bar of square constitutes, the aluminium side pipe that both ends set up around still including, the aluminium side pipe of rear end welds on the ordinary section bar of square at both ends about, both ends punch the sliding sleeve that is used for fixed built-in bearing and settle the movable support of top about the aluminium side pipe of front end, two aluminium side pipes all punch at the middle part and are used for installing the hinge, the level is equipped with the electric putter that can the front and back activity in the middle of the base, thereby electric putter's tip slides on the ordinary section bar of square through driving both sides sliding sleeve and drives the movable rod of aluminium side pipe top, thereby control the angle of launching frame slope along with the horizontal hunting of movable rod, rectangle keyway machined part passes through the fixed setting of bolt and nut at the middle part position of base.
The launching track is a track which is arranged in parallel with the aluminum square tube, buffers are respectively arranged at the head and the tail of the launching track, and the buffers are connected with the middle parts of the two cross beams on the front end and the rear end of the aluminum square tube through iron blocks; the pneumatic thrust device arranged on the launching track comprises a slide block which is matched and connected with the track, a launching platform is arranged above the slide block, an air bag for providing thrust is arranged below the slide block, a mechanical claw is arranged at the front end of the launching platform, the height of the mechanical claw is lower than that of the rear wing of the glider, a rear wing placing plate is arranged at the rear end of the launching platform, the mechanical claw and the rear wing placing plate are used for fixing the glider so as to prevent the glider from generating displacement before launching,
the front end of the glider is provided with a CCD with a laser source, a wireless transmitting module and a gas and visual sensor are arranged inside the glider body, and the wings and the tail wing are provided with steering engines for controlling angles.
A working method of a coal mine detection and rescue robot with a glider comprises the following steps:
firstly, controlling a walking robot to arrive at an accident site in a mine, scanning by using a camera in a video acquisition system of the walking robot in a walking process to find whether a barrier exists in front, judging whether the walking robot can pass the barrier if the barrier exists, and crossing the barrier if the walking robot can pass the barrier until environmental data is acquired and stored at an accident occurrence place;
if the walking robot judges that the walking robot can not pass through the obstacle, the walking robot measures the shape and the distance of the front obstacle by using the ultrasonic ranging system, analyzes the horizontal angle and the pitch angle of the launching according to an internal program of the walking robot, then controls the stepping motor to drive the gear to drive the bull eye universal wheel to accurately adjust the pitch angle of the launching frame, and simultaneously drives the movable support to enable the elevation control system to adjust the elevation angle by using the electric push rod, so that the radian of the launching track is adjusted; finally, secondary judgment is carried out on whether the emitting gap is reached or not by a CCD (charge coupled device) with a laser source in the glider;
the walking robot controls the volume of gas released by an air bag through barrier data obtained by an acoustic ranging system, then drives a transmitting platform and a glider through the reverse thrust of the gas, when the transmitting platform reaches the position of a buffer and stops under the obstruction of the buffer, the glider is ejected out, the air attitude is adjusted by a steering engine at the rear part of the glider in the air to enable the glider to fly stably, then data collection is carried out by utilizing a CCD (charge coupled device) with a laser source, gas and a visual sensor, the data is transmitted back to the walking robot through a wireless transmitting module, then whether the gas and video data meet preset requirements or not is judged through an internal controller of the walking robot, if the data do not meet the preset requirements, the collected data are judged not to be image data required in planning, a terminal controller on the ground is required to control the steering engine, and the flying direction or flying distance of the glider is changed, if the preset requirement is not met, the collected image data is judged to be correct, the data are transmitted to the traveling mechanism receiver and stored, and the loss of the data is reduced as much as possible until the glider falls to the ground and detection is finished.
Advantageous effects
This device reasonable in design, convenient to use not only can further enlarge its detection distance when the detection robot meets unable roadblock that passes through to can advance for rescue team member or the personnel of patrolling and examining and provide the decision reference. In addition, in the whole launching process, the energy is supplied to the launching device by using gas, so that the explosion-proof design requirement of underground electromechanical equipment of the coal mine is easily met, the underground explosion-proof device is very safe to use in the environment of underground explosive gas of the coal mine, and the self weight of the system caused by the explosion-proof design can be greatly reduced.
Drawings
FIG. 1 is a schematic view of the structure of the glider of the present invention;
FIG. 2 is a schematic diagram of the detection and rescue robot with a glider for coal mine;
FIG. 3 is a schematic view of a launching mechanism of the coal mine detection and rescue robot with a glider;
FIG. 4 is a schematic view of a launching mechanism of the coal mine detection and rescue robot with a glider;
FIG. 5 is a schematic view of a walking mechanism of the coal mine detection and rescue robot with a glider;
FIG. 6 is a schematic structural view of a coal mine detection and rescue robot with a glider according to the present invention;
fig. 7 is a working flow chart of the coal mine detection and rescue robot with a glider.
In the figure: 1-bull's eye universal wheel; 2-square common section bar; 3-a hinge; 4-rear wing placing plate 5-sliding block; 6-mechanical claw; 7-a launch platform; 8-square aluminum tubes; 9-a nut; 10-a buffer; 11-a bolt; 12-a sliding sleeve; 13-a gear plate; 14-a rectangular keyway workpiece; 15-air bag; 16-an electric push rod; 17-built-in bearing; 18-iron nuggets; 19-a motor; 20-a gear; 21-a flange bearing; 22-a main shaft; 23-a steering engine; 24-gas and vision sensor; 25-a wireless transmission module; 26-CCD with laser source.
Detailed Description
Embodiments of the invention are further described below with reference to the accompanying drawings:
as shown in fig. 6, the coal mine detection and rescue robot with a glider comprises a walking mechanism, wherein a launching frame is arranged on the walking mechanism, a horizontal angle control system and an elevation angle control system are arranged between the walking mechanism and the launching frame, a launching track and a pneumatic thrust device for providing launching power are arranged on the launching frame, the glider is arranged on the launching track, a video acquisition device and a wireless transmission device are arranged on the glider, a video acquisition system, an obstacle passing control system, an ultrasonic distance measurement system and a wireless receiving and transmitting system are arranged on the walking mechanism, the walking mechanism measures the shape and the distance of an obstacle by using the video acquisition system and an ultrasonic distance measurement sensor, the walking mechanism receives a video acquisition signal wirelessly transmitted by the glider by using the wireless receiving and transmitting system, and simultaneously sends the information acquired by the video acquisition system.
As shown in fig. 3, fig. 4 and fig. 5, a flat installation platform is arranged at the top of the traveling mechanism, the horizontal angle control system comprises a main shaft 22 arranged on the installation platform and connected with a rectangular key slot machined part 14 arranged in a launcher, the rectangular key slot machined part 14 is arranged in the middle of a launcher base, a gear plate 13 is arranged behind the rectangular key slot machined part 14, two bull's eye universal wheels 1 are arranged below the gear plate 13, wherein the main shaft 22 matched with and connected with the rectangular key slot machined part 14 is arranged in the middle of the installation platform, a flange bearing 21 for axial fixing is arranged on the main shaft 22, a stepping motor 19 is arranged at the tail of the traveling robot, the stepping motor 19 is mutually meshed with the gear plate 13 through a gear 20, the stepping motor 19 rotates through a driving gear 20 to drive the meshed gear plate 13 to rotate, thereby driving the two bull's eye universal wheels 1 and the rectangular key slot machined part 14 to move together, thereby driving the launcher to complete the angle adjustment in the horizontal direction with the main shaft 22 as the center of the circle.
The elevation control system is arranged on the horizontal angle control system, the elevation control system comprises a base consisting of square common sectional materials 2, and further comprises aluminum square pipes 8 arranged at the front end and the rear end, the aluminum square pipes 8 at the rear end are welded on the square common sectional materials 2 at the left end and the right end, sliding sleeves for fixing built-in bearings 17 and movable rods arranged above the sliding sleeves are punched at the left end and the right end of the front aluminum square pipes 8, the middle parts of the two aluminum square pipes 8 are respectively provided with a hole for installing a hinge 3, an electric push rod 16 capable of moving back and forth is horizontally arranged in the middle of the base, the end parts of the electric push rods 16 drive the movable rods above the aluminum square pipes by driving the sliding sleeves at the two sides to slide on the square common sectional materials 2, and the inclined angle of the launching cradle is controlled along with the left-right swinging of the movable rods, the rectangular key groove machined part 14 is fixedly arranged at the middle position of the base through the bolt 11 and the nut 9.
The launching track is a track which is arranged side by side with the aluminum square tube 8, the head and the tail of the launching track are respectively provided with a buffer 10, and the buffers 10 are connected with the middle parts of two cross beams on the front end and the rear end of the aluminum square tube 8 through iron blocks 18; the pneumatic thrust device arranged on the launching track comprises a slide block 5 which is connected with the track in a matching way, a launching platform 7 is arranged above the slide block 5, an air bag 15 for providing thrust is arranged below the slide block, a mechanical claw 6 is arranged at the front end of the launching platform 7, the mechanical claw 6 is lower than the rear wing of the glider in height, a rear wing placing plate 4 is arranged at the rear end, the mechanical claw 6 and the rear wing placing plate 4 are used for fixing the glider so as to prevent the glider from generating displacement before launching,
as shown in figure 1, the front end of the glider is provided with a CCD26 with a laser source, a wireless transmitting module 25 and a gas and visual sensor 24 are arranged inside the glider body, and the wings and the tail are provided with steering engines 23 for controlling angles.
As shown in fig. 2 and 7, a working method of a coal mine detection and rescue robot with a glider is characterized by comprising the following steps:
firstly, controlling a walking robot to arrive at an accident site in a mine, scanning by using a camera in a video acquisition system of the walking robot in a walking process to find whether a barrier exists in front, judging whether the walking robot can pass the barrier if the barrier exists, and crossing the barrier if the walking robot can pass the barrier until environmental data is acquired and stored at an accident occurrence place;
if the walking robot judges that the walking robot can not pass through the obstacle, the walking robot measures the shape and the distance of the front obstacle by using an ultrasonic ranging system, analyzes the horizontal angle and the pitch angle of the launching according to an internal program of the walking robot, controls a stepping motor 19 to drive a gear 20 to drive a bull-eye universal wheel 1 to accurately adjust the pitch angle of a launching frame, and simultaneously pushes a movable support through an electric push rod 16 to enable an elevation control system to adjust the elevation angle, so that the radian of a launching track is adjusted; finally, secondary judgment is carried out by a CCD26 with a laser source in the glider to judge whether the emitting gap is reached;
the walking robot controls the air bag 15 to release the volume of air through obstacle data obtained by an acoustic ranging system, then drives the launching platform 7 and the glider through the reverse thrust of the air, when the launching platform 7 reaches the position of the buffer 10 and stops under the obstruction of the buffer 10, the glider is ejected out, the air attitude of the glider in the air is adjusted through a rear steering engine 23 to enable the glider to fly stably, then data collection is carried out by utilizing a CCD26 with a laser source and a gas and visual sensor 24, the data is transmitted back to the walking robot through a wireless launching module 25, then whether the gas and video data meet the preset requirement or not is judged through an internal controller of the walking robot, if the data do not meet the preset requirement, the collected data are judged not to be image data required in planning, the steering engine 23 needs to be controlled by utilizing a terminal on the ground, the flying direction or flying distance of the glider is changed, if the preset requirement is not met, the collected image data is judged to be correct, the data are transmitted to the traveling mechanism receiver and stored, and the loss of the data is reduced as much as possible until the glider falls to the ground and detection is finished.
Claims (6)
1. The utility model provides a survey rescue robot from taking glider formula colliery which characterized in that: the device comprises a traveling mechanism, a launching frame is arranged on the traveling mechanism, a horizontal angle control system and an elevation angle control system are arranged between the traveling mechanism and the launching frame, a launching track and a pneumatic thrust device for providing launching power are arranged on the launching frame, a glider is arranged on the launching track, a video acquisition device and a wireless transmission device are arranged on the glider, a video acquisition system is arranged on the traveling mechanism, an obstacle passing control system, an ultrasonic ranging system and a wireless receiving and sending system are arranged on the traveling mechanism, the traveling mechanism utilizes the video acquisition system and an ultrasonic ranging sensor to measure the shape and the distance of an obstacle, and utilizes the wireless receiving and sending system to receive a video acquisition signal sent by the glider in a wireless mode, and meanwhile, the information collected by the video acquisition system is sent out.
2. The self-carrying glider type coal mine detection and rescue robot according to claim 1, characterized in that: the top of the walking mechanism is provided with a smooth mounting platform, the horizontal angle control system comprises a connecting main shaft (22) arranged on the mounting platform, a rectangular key groove machined part (14) of the launching frame is arranged in the middle of the base of the launching frame, a gear plate (13) is arranged behind the rectangular key groove machined part (14), two bull-eye universal wheels (1) are arranged below the gear plate (13), the middle of the mounting platform is provided with the main shaft (22) matched and connected with the rectangular key groove machined part (14) in a key mode, a flange bearing (21) with an axial fixing effect is arranged on the main shaft (22), the tail of the walking robot is provided with a stepping motor (19), the stepping motor (19) is mutually meshed with the gear plate (13) through a gear (20), and the stepping motor (19) rotates through the driving gear (20) so as to drive the meshed gear plate (13) to rotate, thereby driving the two bull-eye universal wheels (1) and the rectangular key slot machining piece (14) to move together, and driving the launching rack to complete angle adjustment in the horizontal direction by taking the main shaft (22) as the center of a circle.
3. The self-carrying glider type coal mine detection and rescue robot according to claim 1, characterized in that: the elevation control system is arranged on the horizontal angle control system, the elevation control system comprises a base consisting of square common sectional materials (2), and further comprises aluminum square pipes (8) arranged at the front end and the rear end, the aluminum square pipe (8) at the rear end is welded on the square common sectional materials (2) at the left end and the right end, sliding sleeves for fixing built-in bearings (17) and movable rods for arranging the upper parts are punched at the left end and the right end of the aluminum square pipe (8) at the front end, openings for installing hinges (3) are formed in the middle parts of the two aluminum square pipes (8), an electric push rod (16) capable of moving back and forth is horizontally arranged in the middle of the base, the end part of the electric push rod (16) drives the movable rods above the aluminum square pipes by driving the sliding sleeves at the two sides to slide on the square common sectional materials (2), and the inclination angle of the launching cradle is controlled along with the left-right swinging of the movable rods, the rectangular key groove machining piece (14) is fixedly arranged at the middle position of the base through a bolt (11) and a nut (9).
4. The self-carrying glider type coal mine detection and rescue robot according to claim 3, characterized in that: the launching track is a track which is arranged side by side with the aluminum square tube (8), the head and the tail of the launching track are respectively provided with a buffer (10), and the buffers (10) are connected with the middle parts of two cross beams on the front end and the rear end of the aluminum square tube (8) through iron blocks (18); the pneumatic thrust device arranged on the launching track comprises a sliding block (5) connected with the track in a matched mode, a launching platform (7) is arranged above the sliding block (5), an air bag (15) for providing thrust is arranged below the sliding block, a mechanical claw (6) is arranged at the front end of the launching platform (7), the height of the mechanical claw (6) is lower than that of a rear wing of the glider, a rear wing placing plate (4) is arranged at the rear end of the mechanical claw (6), the mechanical claw (6) and the rear wing placing plate (4) are used for fixing the glider, and the glider is prevented from being displaced before launching.
5. The self-carrying glider type coal mine detection and rescue robot according to claim 1, characterized in that: the front end of the glider is provided with a CCD (26) with a laser source, a wireless transmitting module (25) and a gas and visual sensor (24) are arranged inside the glider body, and the wings and the empennage are provided with steering engines (23) for controlling angles.
6. A working method of the self-contained glider type coal mine detection and rescue robot is characterized by comprising the following steps:
firstly, controlling a walking robot to arrive at an accident site in a mine, scanning by using a camera in a video acquisition system of the walking robot in a walking process to find whether a barrier exists in front, judging whether the walking robot can pass the barrier if the barrier exists, and crossing the barrier if the walking robot can pass the barrier until environmental data is acquired and stored at an accident occurrence place;
if the walking robot judges that the walking robot can not pass through the obstacle, the walking robot measures the shape and the distance of the front obstacle by using an ultrasonic ranging system, analyzes the horizontal angle and the pitch angle of the launching according to an internal program of the walking robot, then controls a stepping motor (19) to drive a gear (20) to drive a bull-eye universal wheel (1) to accurately adjust the pitch angle of a launching frame, and simultaneously pushes a movable support to enable an elevation control system to adjust the elevation angle by using an electric push rod (16), thereby adjusting the radian of a launching track; finally, a CCD (26) with a laser source in the glider secondarily judges whether an emission gap is reached;
the walking robot controls the volume of gas released by an air bag (15) through obstacle data obtained by an ultrasonic ranging system, then drives a transmitting platform (7) and a glider through the reverse thrust of the gas, when the transmitting platform (7) reaches the position of a buffer (10) and stops under the obstruction of the buffer (10), the glider is ejected out, the glider in the air adjusts the air attitude through a rear steering engine (23) to enable the flight to be stable, then data is collected by a CCD (26) with a laser source and a gas and visual sensor (24), the data is transmitted back to the walking robot through a wireless transmitting module (25), then whether gas and video data meet preset requirements or not is judged through an internal controller of the walking robot, if the preset requirements are not met, the collected data is judged not to be image data required in a plan, and a terminal controller on the ground is required to control the steering engine (23), and changing the flying direction or flying distance of the glider, if the preset requirement is met, judging that the collected image data is correct, transmitting the data to the traveling mechanism receiver and storing the data, and reducing the loss of the data as much as possible until the glider lands on the ground and the detection is finished.
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| CN114397904A (en) * | 2022-01-14 | 2022-04-26 | 广东电网能源发展有限公司 | Unmanned aerial vehicle line-dropping system and method for overhead transmission line and storage medium |
| CN117262283A (en) * | 2023-11-22 | 2023-12-22 | 常州丰飞智控科技有限公司 | Jet-propelled aircraft transmitting system measuring device |
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