CN117342023A - Unmanned aerial vehicle blade folding control method and system, array platform system and unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle blade folding control method and system, array platform system and unmanned aerial vehicle Download PDFInfo
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- CN117342023A CN117342023A CN202310983466.7A CN202310983466A CN117342023A CN 117342023 A CN117342023 A CN 117342023A CN 202310983466 A CN202310983466 A CN 202310983466A CN 117342023 A CN117342023 A CN 117342023A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 239000002184 metal Substances 0.000 claims description 3
- 238000004458 analytical method Methods 0.000 claims description 2
- 238000007664 blowing Methods 0.000 claims description 2
- 230000005389 magnetism Effects 0.000 description 8
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000003306 harvesting Methods 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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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
- B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
- B64U30/293—Foldable or collapsible rotors or rotor supports
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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
- B64U70/90—Launching from or landing on platforms
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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
- B64U70/90—Launching from or landing on platforms
- B64U70/99—Means for retaining the UAV on the platform, e.g. dogs or magnets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U80/00—Transport or storage specially adapted for UAVs
- B64U80/20—Transport or storage specially adapted for UAVs with arrangements for servicing the UAV
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Abstract
The invention discloses a unmanned aerial vehicle blade folding control method, which comprises the following steps: s1, receiving a landing signal of the unmanned aerial vehicle, analyzing the landing signal and obtaining a landing result, wherein the landing result comprises model data of the unmanned aerial vehicle; s2, according to the landing result, carrying out region definition on the array platform, and dividing a paddle receiving region; s3, controlling the array platform to push the unmanned aerial vehicle blade to retract on the push rod located in the retracting area. The invention also discloses an unmanned aerial vehicle blade folding control system, an array platform system and an unmanned aerial vehicle. According to the unmanned aerial vehicle folding system, after the unmanned aerial vehicle falls to any position of the array platform, full-automatic positioning identification, fixation and blade folding are carried out on the unmanned aerial vehicle, manpower is greatly saved, and folding speed and efficiency of the unmanned aerial vehicle blades are improved.
Description
Technical Field
The application relates to the field of automation, in particular to an unmanned aerial vehicle blade folding control method and system, an array platform system and an unmanned aerial vehicle.
Background
At present, unmanned aerial vehicle technology has been developed to a great extent, and high automation can be achieved, and automatic take-off, automatic landing, automatic charging, automatic folding of a machine body and the like are completed. Because unmanned aerial vehicle includes special structures such as paddle, oar arm, occupation space is often great, is very inconvenient for accomodate and preserve, and although the oar arm can realize automatic folding, the folding of paddle still is in the majority with manual folding's mode at present.
The paddle belongs to unmanned aerial vehicle's core component part, needs to take into account reliability and weight's problem, if increase the subassembly such as motor of automatic folding in unmanned aerial vehicle's paddle department, will greatly increase the weight of complete machine to also can reduce the reliability of high-speed rotatory paddle, increase the fault probability.
Therefore, an unmanned aerial vehicle blade folding control method and system, an array platform system and an unmanned aerial vehicle are needed, automatic folding of unmanned aerial vehicle blades is achieved, and unmanned aerial vehicle use and storage efficiency is improved.
Disclosure of Invention
The invention provides a unmanned aerial vehicle blade folding control method and system, an array platform system and an unmanned aerial vehicle, and mainly aims to solve the problem that automatic folding of unmanned aerial vehicle blades is difficult to realize at present.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the embodiment of the application provides an unmanned aerial vehicle blade folding control method, which comprises the following steps:
s1, receiving a landing signal of an unmanned aerial vehicle, analyzing the landing signal and obtaining a landing result, wherein the landing result comprises model data of the unmanned aerial vehicle;
s2, according to the landing result, carrying out region definition on the array platform, and dividing a paddle receiving region;
s3, controlling the array platform to push the unmanned aerial vehicle blade to retract on a push rod located in the retracting area.
In some possible embodiments, the landing signal is a first coordinate of a bottom supporting point of the unmanned aerial vehicle after the unmanned aerial vehicle falls on the array platform, and the model data of different unmanned aerial vehicles includes first relative position data of the bottom supporting point of the unmanned aerial vehicle and second relative position data of a corresponding pitch point relative to the supporting point.
In some possible embodiments, in step S1, different model data are stored in a database, corresponding first relative position data are matched in the database according to the relative position of the first coordinates, and corresponding second relative position data are obtained.
In some possible embodiments, in step S2, a second coordinate of a harvest point on the array platform is obtained based on the first coordinate and second relative position data corresponding to the first coordinate, and the harvest area is a set of the second coordinates.
In some possible embodiments, in step S2, when the area definition is performed on the array platform, a magnetic attraction area is further defined, where the magnetic attraction area is the set of the first coordinates, and the array platform is controlled to magnetically attract and fix the bottom support point of the unmanned aerial vehicle located in the magnetic attraction area.
The embodiment of the application also provides an unmanned aerial vehicle paddle folding control system, comprising:
a receiving unit for receiving the landing signal;
the processing unit is used for acquiring the model data of the unmanned aerial vehicle according to the landing signal, and dividing the array platform into a paddle receiving area and a magnetic attraction area according to the model data and the landing signal;
the push rod driving unit is used for controlling the array platform to push up a push rod positioned in the paddle collecting area;
and the magnetic attraction driving unit is used for controlling the array platform to magnetically attract and fix the support point at the bottom of the unmanned aerial vehicle in the magnetic attraction area.
The embodiment of the application also provides an array platform system, including the controller and with a plurality of columnar telescopic members of controller signal connection, a plurality of telescopic members laminating each other are arranged and are formed array platform, every telescopic members includes cylinder body and push rod, cylinder body top opening, the push rod can be followed the inside slip of cylinder body from top to bottom and be in the opening at cylinder body top upwards stretches out or the downwardly retracting, a plurality of array arrangement the top of telescopic members's push rod forms the landing platform that is used for unmanned aerial vehicle to descend, every the push rod top is equipped with pressure sensor, pressure sensor is used for the response and produces unmanned aerial vehicle's descending signal, the controller is used for receiving descending signal, dividing out through the analysis and receive the oar region, and to control receive the corresponding telescopic members's in the oar push rod pushes up unmanned aerial vehicle paddle and receives the oar.
Under some possible embodiments, the device further comprises an air pump, wherein a closed cavity is formed by the bottom of the push rod and the inner wall of the cylinder body, an air pressure valve which is connected with the controller in a signal manner and can be independently controlled to be opened or closed by the controller is arranged at the bottom of each cylinder body, the air pump is communicated with each closed cavity through the air pressure valve, and the air pump is used for blowing air to the closed cavity with the air pressure valve opened so as to push the push rod to move upwards.
In some possible embodiments, an electromagnet which is in signal connection with the controller and can be independently controlled to be electrified or powered off by the controller is arranged at the top of each push rod, and the electromagnet is used for magnetically attracting a supporting point of the bottom of the unmanned aerial vehicle which is in contact with the landing platform.
The embodiment of the application also provides an unmanned aerial vehicle, include the organism and locate at least two oar arms that extend to the unmanned aerial vehicle outside of organism, the oar arm can for the organism is automatic to be expanded or folding, the oar arm outside is equipped with can follow the folding paddle of swivel plane, when the oar arm is folding, the swivel plane perpendicular to of paddle array platform top plane, the bottom of the body is equipped with falls the frame, it is the metal that can be inhaled by magnetism to fall the material of frame.
Compared with the prior art, the invention at least comprises the following beneficial effects:
according to the paddle folding control method, the position where the unmanned aerial vehicle is parked and the model of the unmanned aerial vehicle can be detected through the pressure sensor of the array platform system, and corresponding unmanned aerial vehicle parameters in the matching database can accurately realize folding of paddles of different unmanned aerial vehicles.
Array platform system can push up folding to the paddle of different models through the telescopic member of control column, and it is fixed to carry out magnetism to the unmanned aerial vehicle that descends through the electro-magnet, can be more firm when unmanned aerial vehicle carries out the paddle folding.
The unmanned aerial vehicle of this application can freely descend to array platform's any position, realizes falling behind full-automatic location folding, has practiced thrift the manpower by a wide margin to fault tolerance is higher, realizes also having the superiority to unmanned aerial vehicle paddle automatic folding's speed and efficiency.
Drawings
The invention will be further described with reference to the accompanying drawings, in which embodiments do not constitute any limitation of the invention, and other drawings can be obtained by one of ordinary skill in the art without inventive effort from the following drawings.
Fig. 1 is a schematic flow chart of a method for controlling the folding of a blade of an unmanned aerial vehicle according to the present invention.
Fig. 2 is a schematic diagram of a unmanned aerial vehicle blade folding control system of the present invention.
FIG. 3 is a schematic diagram of an array platform system of the present invention.
Fig. 4 is a schematic view of a telescoping member according to one embodiment of the present invention.
Fig. 5 is a schematic view of the present invention with a drone landing to an array platform.
Fig. 6 is a schematic view of the present invention with the drone lowered to the array platform folding paddle arm and the pushrod pushed out.
Fig. 7 is a schematic view of a drone of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
The inventor finds that the unmanned aerial vehicle occupies a larger space due to the special structures such as the paddle arm and the like, and the unmanned aerial vehicle needs to be folded to save space conveniently, however, the automatic folding of the unmanned aerial vehicle paddles is less at present, and the full-automatic paddle folding is difficult to realize.
In view of this, and with reference to fig. 1-7, the present application provides an array platform system and a drone, and a method and system for controlling the folding of a blade of a drone implemented with the array platform system and the drone. The following description is made with reference to specific embodiments.
Example 1:
the embodiment provides an array platform system, as shown in fig. 1 and 2, including a controller and a plurality of columnar telescopic members 1, the controller is connected with each telescopic member 1 by signals, all telescopic members 1 are vertical and are mutually attached and arranged to form an array platform, in particular, telescopic members 1 are hexagonal prism-shaped, and are mutually attached and arranged to form a honeycomb-shaped array platform, so that the whole platform is more stable.
As shown in fig. 2, each of the telescopic members 1 includes a cylinder 2 and a push rod 3, the top opening of the cylinder 2, the push rod 3 can slide up and down along the inside of the cylinder 2 and extend upward or retract downward at the opening of the top of the cylinder 2, the tops of the push rods 3 of all the telescopic members 1 form a landing platform 4 for the unmanned aerial vehicle to land, and a pressure sensor 5 is provided at the top of each push rod 3, when the unmanned aerial vehicle lands on the landing platform 4, the pressure sensor 5 at the top of the pressed push rod 3 will generate a landing signal and send the landing signal to a controller, the controller will determine the model of the unmanned aerial vehicle based on the relative position of the coordinates of the pressed pressure sensor 5 after receiving the landing signal, and divide a paddle receiving area based on the model and the landing signal, and the control part can control the push rod 3 of the corresponding telescopic member 1 in the paddle receiving area to push up and jack up the paddle 12 of the unmanned aerial vehicle to perform paddle receiving.
In particular, in some embodiments, the air pump is further included, as shown in fig. 1, the bottom of the push rod 3 and the inner wall of the cylinder body 2 form a closed cavity 6, the bottom of each cylinder body 2 is provided with an air pressure valve 7 connected with a controller in a signal manner, the air pump is communicated with each closed cavity 6 through the air pressure valve 7, when the air pump blows, the control part can control a specific air pressure valve or valves 7 to be opened, and at the moment, the push rod 3 of the corresponding telescopic member 1 can be pushed upwards.
In addition, still be equipped with controller signal connection and can be controlled the electro-magnet 8 of circular telegram or outage by the controller alone at the top of every push rod 3, the control part can control one or several electro-magnet 8 magnetism and inhale the bottom sprag point of the unmanned aerial vehicle who drops to landing platform 4, firm unmanned aerial vehicle is convenient for carry out operations such as paddle 12 folding.
Example 2:
the embodiment provides an unmanned aerial vehicle, and it mainly includes organism 9 and at least two paddle arms 10 that extend outside of locating on the organism 9 that are located the center, and as shown in fig. 7, paddle arms 10 can be for organism 9 automatic expansion or folding, reduces occupation space, is equipped with rotating electrical machines 11 in the outside of paddle arms 10, is equipped with paddle 12 on the motor. Particularly, when the external force is drawn in, the blade 12 of the unmanned aerial vehicle in the embodiment stays in the drawn-in state due to the fastening force, and the foldable direction of the blade 12 is along the rotation plane. It should be noted that, when the paddle arm 10 of the unmanned aerial vehicle is folded, the rotation plane of the paddle 12 is perpendicular to the plane of the top of the array platform, so that the paddle 12 is jacked up and folded when the push rod 3 is pushed up. In addition, in some embodiments, the unmanned aerial vehicle employs an absolute encoder that will stop in a fixed position when the paddles 12 stop rotating, as shown in fig. 7, when the paddles 10 are folded, the two paddles 12 on each of the paddles 10 stay in a horizontally symmetrical orientation, facilitating the push-up of the fold.
In some embodiments, the number of the paddles 12 on each paddle arm 10 of the unmanned aerial vehicle is two, which is symmetrical, and folding and storage are also convenient.
In some embodiments, a falling frame 13 is arranged at the bottom of the unmanned aerial vehicle body 9, and the falling frame 13 is made of metal which can be magnetically attracted and fixed by the array platform.
Example 3:
the embodiment provides a method for controlling folding of unmanned aerial vehicle blades, which is implemented by adopting the array platform as in embodiment 1 and the unmanned aerial vehicle as in embodiment 2, and comprises the following steps:
s1, receiving a landing signal of the unmanned aerial vehicle, applying a downward force to the array platform after the unmanned aerial vehicle lands on the array platform, triggering the pressure sensor 5 at the top of the push rod 3 in contact with a supporting point at the bottom of the unmanned aerial vehicle, wherein each pressure sensor 5 corresponding to each push rod 3 is provided with a position coordinate, all the triggered pressure sensors 5 send information sets of all the triggered first coordinates to the controller, and the controller analyzes the landing signal to obtain a landing result which comprises model data of the unmanned aerial vehicle.
It should be noted that, the relative positions of the supporting points at the bottom of the different unmanned aerial vehicles are different, and the relative positions of the receiving points where the upper propulsion blades 12 are required to be folded are also different, and the model data is the first relative position data of the supporting points at the bottom of the different unmanned aerial vehicles and the second relative position data of the corresponding receiving points relative to the supporting points. The controller is used for analyzing the landing signal, namely comparing the relative position information of the first coordinate with the first relative position data in the database, namely the corresponding model is obtained after the matching, and the corresponding second relative position data can be obtained.
S2, after determining a landing result, namely unmanned plane model data, area definition is carried out on the array platform, and a paddle receiving area is divided. The second relative position data, namely the relative position of the collecting point relative to the falling point, is matched with the first coordinate, the second coordinate of the collecting point is obtained through calculation, and the collecting area is a set of the second coordinates.
Particularly, under this step, when carrying out regional definition to the array platform, still divided the magnetism and inhale the region, the region is the collection of first coordinate to inhale to magnetism, and the electromagnet 8 that is located the push rod 3 top of region was inhaled to magnetism through controller control array platform is inhaled to magnetism carries out magnetism and inhale fixedly to unmanned aerial vehicle.
And S3, pushing up the unmanned aerial vehicle blades 12 by the push rod 3 which is used for controlling the array platform to be positioned in the paddle collecting area to collect paddles.
Example 4:
the embodiment provides an unmanned aerial vehicle folding control system, mainly includes:
the receiving unit is used for receiving the landing signal of the unmanned aerial vehicle and sending the landing signal to the processing unit;
the processing unit is used for receiving the landing signal, analyzing the landing signal based on the signal, judging the model data of the unmanned aerial vehicle which is currently landed, and dividing the array platform into a magnetic absorption area for carrying out magnetic absorption fixation and a paddle collecting area for carrying out pushing-up paddle collecting according to the model data and the landing signal;
the push rod 3 driving unit is used for controlling the array platform to push the unmanned aerial vehicle paddles 12 on the push rod 3 positioned in the paddle collecting area to collect paddles;
and the magnetic attraction driving unit is used for controlling the electromagnet 8 of the array platform in the magnetic attraction area to magnetically attract and fix the supporting point at the bottom of the unmanned aerial vehicle.
The above examples illustrate only one embodiment of the invention, which is described in more detail and is not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (10)
1. The unmanned aerial vehicle blade folding control method is characterized by comprising the following steps of:
s1, receiving a landing signal of an unmanned aerial vehicle, analyzing the landing signal and obtaining a landing result, wherein the landing result comprises model data of the unmanned aerial vehicle;
s2, according to the landing result, carrying out region definition on the array platform, and dividing a paddle receiving region;
s3, controlling the array platform to push the unmanned aerial vehicle blade to retract on a push rod located in the retracting area.
2. The unmanned aerial vehicle blade folding control method of claim 1, wherein the landing signal is a first coordinate of a unmanned aerial vehicle landing bottom support point on the array platform, and the model data of different unmanned aerial vehicles comprises first relative position data of the unmanned aerial vehicle bottom support point and second relative position data of a corresponding receiving paddle point relative to the support point.
3. The unmanned aerial vehicle blade folding control method according to claim 2, wherein in step S1, different model data are stored in a database, corresponding first relative position data are matched in the database according to the relative position of the first coordinates, and corresponding second relative position data are obtained.
4. A method for controlling folding of unmanned aerial vehicle blades according to claim 3, wherein in step S2, based on the first coordinates and the second relative position data corresponding thereto, second coordinates of a pitch point on the array platform are obtained, and the pitch region is a set of the second coordinates.
5. The unmanned aerial vehicle blade folding method according to claim 2, wherein in the step S2, when the area definition is performed on the array platform, a magnetic attraction area is further divided, the magnetic attraction area is the set of the first coordinates, and the array platform is controlled to magnetically attract and fix the unmanned aerial vehicle bottom supporting point located in the magnetic attraction area.
6. An unmanned aerial vehicle blade folding control system, comprising:
a receiving unit for receiving the landing signal;
the processing unit is used for acquiring the model data of the unmanned aerial vehicle according to the landing signal, and dividing the array platform into a paddle receiving area and a magnetic attraction area according to the model data and the landing signal;
the push rod driving unit is used for controlling the array platform to push up a push rod positioned in the paddle collecting area;
and the magnetic attraction driving unit is used for controlling the array platform to magnetically attract and fix the support point at the bottom of the unmanned aerial vehicle in the magnetic attraction area.
7. An array platform system applied to the unmanned aerial vehicle blade folding method according to any one of claims 1 to 5, comprising a controller and a plurality of columnar telescopic members connected with the controller in a signal manner, wherein the plurality of columnar telescopic members are mutually attached and arrayed to form an array platform, each telescopic member comprises a cylinder body and a push rod, the top of the cylinder body is open, the push rods can slide up and down along the inside of the cylinder body and extend upwards or retract downwards at the opening at the top of the cylinder body, the tops of the push rods of the telescopic members distributed in an array form a landing platform for unmanned aerial vehicle landing, each push rod top is provided with a pressure sensor, the pressure sensor is used for sensing and generating a landing signal of the unmanned aerial vehicle, and the controller is used for receiving the landing signal, dividing a pitch-collecting area through analysis and pushing the unmanned aerial vehicle blade upwards to the push rod of the corresponding telescopic member in the pitch-collecting area.
8. The array platform system according to claim 7, further comprising an air pump, wherein the bottom of the push rod and the inner wall of the cylinder body form a closed cavity, an air pressure valve which is connected with the controller in a signal manner and can be independently controlled to be opened or closed by the controller is arranged at the bottom of each cylinder body, the air pump is communicated with each closed cavity through the air pressure valve, and the air pump is used for blowing air into the closed cavity with the air pressure valve opened to push the push rod to move upwards.
9. The array platform system according to claim 7, wherein the top of each push rod is provided with an electromagnet which is in signal connection with the controller and can be independently controlled to be electrified or powered off by the controller, and the electromagnet is used for magnetically attracting a supporting point of the bottom of the unmanned aerial vehicle which is in contact with the landing platform.
10. An Unmanned Aerial Vehicle (UAV) applied to the unmanned aerial vehicle blade folding control method according to any one of claims 1 to 5, comprising a machine body and at least two paddle arms arranged on the machine body and extending towards the outer side of the UAV, wherein the paddle arms can be automatically unfolded or folded relative to the machine body, paddles capable of being folded along a rotating plane are arranged on the outer side of the paddle arms, when the paddle arms are folded, the rotating plane of the paddles is perpendicular to the top plane of the array platform, a falling frame is arranged at the bottom of the machine body, and the falling frame is made of metal capable of being magnetically attracted.
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CN115649500A (en) * | 2022-11-15 | 2023-01-31 | 四块科技(深圳)有限公司 | Folding many rotor unmanned aerial vehicle |
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