CN204432992U - Unmanned plane wrecking equipment - Google Patents
Unmanned plane wrecking equipment Download PDFInfo
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- CN204432992U CN204432992U CN201520048756.3U CN201520048756U CN204432992U CN 204432992 U CN204432992 U CN 204432992U CN 201520048756 U CN201520048756 U CN 201520048756U CN 204432992 U CN204432992 U CN 204432992U
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- 238000005516 engineering process Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
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- 206010049244 Ankyloglossia congenital Diseases 0.000 description 1
- 241000269799 Perca fluviatilis Species 0.000 description 1
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 description 1
- 239000000654 additive Substances 0.000 description 1
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- 238000006243 chemical reaction Methods 0.000 description 1
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- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
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Abstract
The utility model relates to a kind of unmanned plane wrecking equipment, comprise the remote control equipment (RCE) of aircraft, remotely-piloted vehicle, aircraft is provided with camera head, picture transmitter device and for fixing and throw in the dispenser of wrecking equipment, wrecking equipment also comprises the signal that receives camera head collection and carries out the image-receptive telltale that shows and the actinobacillus wheel for reclaiming wrecking equipment.Rely on aircraft as flight carrier, carry wrecking equipment, manipulates aircraft clear by rescue group, arrives the target place that sues and labours fast.Rely on camera head, judge sue and labour Goal Present Situation and determine release position, by ground remote controller, the dispenser controlling to hang wrecking equipment is opened, and wrecking equipment is precisely rendered to the target place that sues and labours.In addition, by the picture of passback, whether rescue group's target of just can determining to sue and labour has dressed wrecking equipment, and after target of determining to sue and labour has dressed wrecking equipment, rescue group starts to reclaim and rescues hauling rope, and target of suing and labouring is rescued back.
Description
Technical field
The utility model relates to rescue field, is specifically related to a kind of unmanned plane wrecking equipment.
Background technology
Occur after geologic hazard that the water surface disaster such as flood maybe cannot approach causes personnel stranded, the rescue mode of existing employing have swum across by line throwing appliance, personnel, assault boat, on foot, the wrecking equipment such as buoy quoit, life jacket throws in target of suing and labouring by the means of suing and labouring such as helicopter.But the put-on method of above-mentioned wrecking equipment has some limitations, make a concrete analysis of as follows:
Line throwing appliance: the cast of line throwing appliance is only 50 ~ 100 meters, then helpless to the target of suing and labouring exceeding dispenser range, additive method must be used instead and sue and labour.In addition, due to field condition complexity of suing and labouring, often need to estimate sentence the river flow velocity flow direction, wind-force size wind direction, geology and geomorphology landform, impelling precision is very poor, sometimes need repeatedly to repeat impelling, recovery, load impelling again, miss gold and sue and labour the time, cause treating that rescuer is dead.
Personnel swim across: when this kind of mode is sued and laboured, and often need rescue group to wear life jacket, frenulum lifeline tool, also will bear life-saving equipment, manpower overcomes the dangerously steep situations such as torrent, surge, whirlpool, swims across to target to be rescued.Time of not only suing and labouring is long, sues and labours apart from short, and rescuer's danger is high.
Assault boat: use which when suing and labouring, sometimes can because The turbulent river crashes its way through in the scene of the accident, the reason such as of strong winds and high waves or hydrologic regime is complicated, assault boat cannot enter water and sue and labour.When in emergency circumstances entering water rescue by force, even shipwreck accident can occur, cause the situation of rescue group's injures and deaths, the case that therefore the fire-fighting and rescue personnel occurred former years sacrifice is too numerous to enumerate.
On foot: when needing to rescue on foot after geologic hazard occurs, rescue group need overcome the disaster field threat occurred with secondary disaster with a varied topography, enter the input that wrecking equipment is carried out in the scene of the accident on foot, and the shortcoming of this situation is that the time of not only suing and labouring is long equally, and great threat is caused to the life of rescuer itself.
Helicopter: when rescuing, helicopter is used to carry out the input of wrecking equipment sometimes, and existing situation is, because rescue helicopters are expensive, having ready conditions, it is few to be equipped with the rescue unit of helicopter, this type of emergency case that is numerous and region dispersion cannot be tackled at all, helicopter is high to the landing site requirements that takes off, some place in danger cannot provide the drop conditions that takes off at all, thus bring rescue bottleneck, moreover, according to existing General Aviation in China rules and regulations, comprise the flight data dispose of rescue and relief work, the examination & approval of relevant departments are had to pass through before flight, and this examination & approval time is long, very big conflict is caused with the rescue action of seizing every minute and second, moreover, single with regard to operating cost angle, the cost using helicopter to carry out the input of wrecking equipment is relatively too high.
Utility model content
The purpose of this utility model is just to provide a kind of unmanned plane wrecking equipment, and it effectively can overcome the defect of above-mentioned wrecking equipment put-on method, and wrecking equipment is accurate, reliable, fast speed is rendered to and waited to rescue target place.
For achieving the above object, the utility model have employed following technical scheme:
A kind of unmanned plane wrecking equipment, comprise the remote control equipment (RCE) of aircraft, remotely-piloted vehicle, aircraft is provided with camera head, picture transmitter device and for fixing and throw in the dispenser of wrecking equipment, wrecking equipment also comprises the signal that receives camera head collection and carries out the image-receptive telltale that shows and the actinobacillus wheel for reclaiming wrecking equipment.
Concrete scheme is:
Aircraft is driverless operation multi-rotor aerocraft, dispenser comprises and is positioned at the steering wheel and the mounting bracket of fixing steering wheel that aircraft center of gravity place arranges, mounting bracket is provided with U-shaped that Open Side Down, the oral area of U-shaped is provided with sealed latch, sealed latch and U-shaped form bearing fit in the horizontal direction, and steering wheel is connected with sealed latch by transmission component; Transmission component comprises steering wheel arm and connecting rod that steering wheel output shaft is arranged, the length direction of steering wheel arm and the perpendicular layout of the output shaft of steering wheel, and the two ends of connecting rod are articulated and connected with steering wheel arm, sealed latch respectively; Wrecking equipment is by the colligation of rescue hauling rope, and one end of rescue hauling rope is provided with link, and link is fastened on the connection realizing wrecking equipment and aircraft in U-shaped; Camera head is fixed on the forward position of aircraft, adopts the wireless transmissioning mode of 5.8G frequency range to carry out image transmitting between picture transmitter device and image-receptive telltale.Wrecking equipment also comprises the meteorological determinator of the wind speed that aircraft is arranged and GPS global pick device; Aircraft is provided with alighting gear, alighting gear is that two inverted T-shaped legs are formed, upper end and the aircraft of inverted T-shaped leg are articulated and connected, inverted T-shaped leg is connected with actuating device, inverted T-shaped leg is in two states: one to be two inverted T-shaped legs be inverted V-shaped arranges for supporting aircraft support state, and two to be two inverted T-shaped legs be that the shooting of horizontal arrangement to camera head dodge dodges state for it.
In technique scheme, rely on aircraft as flight carrier, carry wrecking equipment, manipulates aircraft clear by rescue group, arrives the target place that sues and labours fast.Rely on camera head, judge sue and labour Goal Present Situation and determine release position, by ground remote controller, the dispenser controlling to hang wrecking equipment is opened, and wrecking equipment is precisely rendered to the target place that sues and labours.In addition, by the picture of passback, whether rescue group's target of just can determining to sue and labour has dressed wrecking equipment, and after target of determining to sue and labour has dressed wrecking equipment, rescue group starts to reclaim and rescues hauling rope, and target of suing and labouring is rescued back, finally completes rescue operations.
Accompanying drawing explanation
Fig. 1 is the connection diagram between aircraft, wrecking equipment, actinobacillus wheel;
Fig. 2 is the schematic diagram that aircraft remote control and image transmit;
Fig. 3 is the schematic flow sheet utilizing unmanned plane to throw in wrecking equipment;
Fig. 4 is the structural representation of dispenser.
Detailed description of the invention
In order to make the purpose of this utility model and advantage clearly understand, below in conjunction with embodiment, the utility model is specifically described.Should be appreciated that following word only in order to describe one or more concrete embodiments of the present utility model, considered critical is not carried out to the protection domain that the utility model is specifically asked.
The technical scheme that the utility model is taked is as shown in Figure 1, 2, 3:
A kind of method utilizing unmanned plane to throw in wrecking equipment, wrecking equipment used comprises the remote control equipment (RCE) 11 of aircraft 10, remotely-piloted vehicle 10, aircraft 10 is provided with camera head 12, picture transmitter device 13 and the dispenser 15 for fixing and throw in wrecking equipment 17, wrecking equipment 17 also comprises and receives image-receptive telltale 14 that signal carrying out that camera head 12 gathers shows and the actinobacillus wheel 16 for reclaiming wrecking equipment 17, and its operation is specific as follows:
S1: the rescue hauling rope in pull-out actinobacillus wheel 16 is connected with wrecking equipment 17, uses remote control equipment (RCE) 11 to open dispenser 15, is connected by wrecking equipment 17 with aircraft 10;
S2: open image-receptive read-out, manipulation aircraft 10, to target area flight, carries out target acquisition according to the picture passed back, after finding rescue target, opens dispenser 15, throws in wrecking equipment 17;
S3: manipulation aircraft 10 makes camera head 12 aim at rescue target, from image-receptive read-out, rescue target is observed, observe whether possess recovering condition of suing and labouring, after possessing recovering condition of suing and labouring, rescue group starts to reclaim rescue hauling rope, drags rescue target away from dangerous situation.
Use aircraft 10 as flight carrier, carry wrecking equipment 17, aircraft 10 clear is manipulated by rescue group, quick arrival is sued and laboured target place, rely on the image that camera head 12 returns, judge sue and labour Goal Present Situation and determine release position, by ground remote controller 11, the dispenser 15 controlling to hang wrecking equipment 17 is opened, and wrecking equipment 17 is precisely rendered to the target place that sues and labours.In addition, whether dressed wrecking equipment 17 by the image of passback target of can determining to sue and labour, after target of determining to sue and labour has dressed wrecking equipment 17, rescue group has started to reclaim rescue hauling rope, and target of suing and labouring is rescued back, finally completes rescue operations.Wrecking equipment 17 is connected by rescuing hauling rope with between rescue group, and rescue hauling rope is accommodated in actinobacillus wheel 16, is pulled and discharges, but regained by manpower by flight carrier.
In the utility model the effect of each equipment such as aircraft 10, remote control equipment (RCE) 11, camera head 12, picture transmitter device 13, dispenser 15, image-receptive telltale 14, actinobacillus wheel 16 and actual embodiment specific as follows:
Aircraft 10: the flight carrying function realizing lifesaving appliance, there is intelligent master control system, GPS global pick device (model: A2 has been installed, manufacturer: Shenzhen Dajiang Innovation Technology Co., Ltd.), the meteorological determinator (model: A2 of wind speed, manufacturer: Shenzhen Dajiang Innovation Technology Co., Ltd.), vertical takeoff and landing, spot hover, intelligent direction controlling, constant speed of cruising can be realized, out of controlly independently to make a return voyage, low voltage independently makes a return voyage function, and can make a return voyage by a key, manoevreability flexibly, multiple occasion task can be performed.Aircraft 10 specifically can be driverless operation multi-rotor aerocraft 10 (model: BCA-Y4, manufacturer: Shaanxi Bei Chen Space Science and Technology Co., Ltd).Aircraft 10 is installed advanced master controller (model: A2, manufacturer: Shenzhen Dajiang Innovation Technology Co., Ltd.), (note: the meteorological determinator of the GPS global pick device in native system, wind speed, master controller are all be incorporated in a primary controller in fact, the model of this primary controller is: A2, manufacturer: Shenzhen Dajiang Innovation Technology Co., Ltd.) independently can detect the air pressure of aircraft 10 present position thus obtain altitude information, coordinate GPS global positioning system, just can realize the locking of aircraft 10 coordinate position.When the wind comes from certain direction, master controller meeting calculation of wind speed size, and provide multiple axial attitude is carried out in instruction to aircraft 10 reverse correction with the rotating speed controlling multiple screw propeller, thus the hovering realized in strong wind and stabilized flight (maximum within moderate gale power, independently can realize fixed point, fixed high hovering).Full-flight velocity reaches 10 meters per second, and flying distance reaches 1500 meters farthest, can arrive the target place that sues and labours fast and sue and labour.
Above-mentioned aircraft 10, its cost is 1/tens of helicopter price, and maintenance cost is cheap, maintains simple, easy to operate; Aircraft 10 volume is little, easy to carry simultaneously, easily can enter complexity or severe rescue site, and flight flexibly, and landing place of not taken off limits, and can fly at small space; In addition, it belongs to small aircraft 10, and when suing and labouring, the height of flight usually can not more than 300 meters, without the need to carrying out spatial domain and course line application.When each execution rescue task, without the need to the dead work of complexity, simple to operate, power up and can take off, operating cost almost can be ignored, and setup time shortens greatly.
Camera head 12, picture transmitter device 13: realize sue and labour target proximity region search, investigate, Goal Present Situation of suing and labouring understand, determine the monitoring of wrecking equipment 17 release position and rescue operations, camera head 12 is high-definition camera (model: iLooK, manufacturer: Guangzhou China Tech that Science and Technology Ltd.), camera head 12 is fixed on the forward position of aircraft 10, the model of picture transmitter device 13: DJI 5.8G 500, manufacturer: Shenzhen Dajiang Innovation Technology Co., Ltd..
Image-receptive telltale 14: realize receiving the video image function beamed back of airborne camera head 12, completes search, investigates, locates and the video monitoring of process of suing and labouring.The wireless transmissioning mode of 5.8G frequency range is adopted to carry out image transmitting between picture transmitter device 13 and image-receptive telltale 14 (model: RaySee 5.8G, manufacturer: Shenzhen hawkeye is taken photo by plane Science and Technology Ltd.).
Carry out fixing a point precisely to throw according to the picture that camera head 12 is passed back, after input, also can monitor (such as whether to have dressed life-saving equipment to target of suing and labouring, real-time passback is sued and laboured target condition etc.), according to the video pictures of passback, after determining that lifesaving appliance puts in place, rescue group carries out recovery and sues and labours.
Dispenser 15: realize the carry of wrecking equipment 17, locking and throw in function; The dispenser 15 adopting high duty alloy to make, controls folding by ground remote controller 11, reliable; Dispenser 15 is arranged on aircraft 10, and position is aircraft 10 afterbody lower end, center-of-gravity position place.Concrete scheme is: dispenser 15 comprises the steering wheel 151 (model: ES9254 being positioned at aircraft 10 center of gravity place and arranging, manufacturer: silver swallow-aeroplane modelling technique Co., Ltd of Shenzhen) and the mounting bracket 15b of fixing steering wheel, mounting bracket 15b is provided with U-shaped the 15a that Open Side Down, the oral area of U-shaped 15a is provided with sealed latch 154, sealed latch 154 forms bearing fit in the horizontal direction with U-shaped 15a, and steering wheel 151 is connected with sealed latch 154 by transmission component; Transmission component comprises steering wheel arm 152 and connecting rod 153 that steering wheel 151 output shaft is arranged, the length direction of steering wheel arm 153 and the perpendicular layout of output shaft of steering wheel 151, the two ends of connecting rod 153 are articulated and connected with steering wheel arm 152, sealed latch 154 respectively, as shown in Figure 4.
Wrecking equipment 17: with the solid buoy quoit of international standard, life jacket or other wrecking equipments 17.Wrecking equipment 17 is by the colligation of rescue hauling rope, and one end of rescue hauling rope is provided with link, and link is fastened in U-shaped the connection realizing wrecking equipment 17 and aircraft 10.Rescue hauling rope, through buoy quoit, carries out failure-free colligation to buoy quoit, the distance of reserved two meters, fag end one end arranges link (becket), can hang on dispenser 15, other end coiling, can by the aircraft 10 easily autonomous unwrapping wire of towing on actinobacillus wheel 16.Actinobacillus wheel 16 configures the Di Nima rope of diameter 2.5mm, maximum 500 kilograms of breaking force.
Alighting gear: the alighting gear on aircraft 10 is that two inverted T-shaped legs are formed, upper end and the aircraft 10 of inverted T-shaped leg are articulated and connected, inverted T-shaped leg is connected with actuating device, inverted T-shaped leg is in two states: one to be two inverted T-shaped legs be inverted V-shaped arranges for supporting aircraft 10 support state, and two to be two inverted T-shaped legs be that the shooting of horizontal arrangement to camera head 12 dodge dodges state for it.Alighting gear is controlled by ground remote controller 11, and after lift-off, ground provides instruction, and alighting gear steering wheel carries out action, by gear up or put down, because alighting gear can electronicly be packed up, ensures that camera head 360 ° of accessible visuals field are carried out rescue and monitored;
Remote control equipment (RCE) 11: all flights realizing aircraft 10 control, and can control the keying of dispenser 15, complete the input function of wrecking equipment 17, the model of remote control equipment (RCE) 11: WFT09II, manufacturer: the world flies Science and Technology Development Co., Ltd..
What the utility model provided utilizes unmanned plane to throw in the method for wrecking equipment 17, it throws in distance, rescue speed is fast, can direct clear, impact by complicated hydrological environment is little, no matter be rescue speed, detecting speed or rescue distance, detecting height, be all far superior to traditional rescue mode;
Meanwhile, in the utility model, aircraft 10 has intelligent master control system, has installed GPS global positioning system, can realize vertical takeoff and landing, can realize fixed point, fixed high hovering in moderate gale power.Also possess intelligent direction controlling, constant speed of cruising, out of controlly independently to make a return voyage, the function such as low voltage is independently maked a return voyage, and can make a return voyage by a key, manoevreability is flexible, normally can work under various complicated;
In addition, video can be passed in real time back and carry out fixing a point precisely throwing in, search on foot without the need to manpower, detect and wrecking equipment 17 is thrown in, search, detecting area be wide, sue and labour, the detecting time is short, avoid secondary disaster and rescue group's inherently safe is threatened.Can to sue and labour target before suing and labouring, sue and labour in monitor, can allow rescue group grasp in real time rescue progress;
Further, rescuer manipulates at perch, and rely on unmanned plane to carry out input of suing and labouring, operating personal does not participate in the most dangerous link directly, has ensured the life security of rescuer self to greatest extent.
The above is only preferred implementation of the present utility model; should be understood that; for those skilled in the art; to know in the utility model after contents; under the prerequisite not departing from the utility model principle; can also make some equal conversion to it and substitute, these convert on an equal basis and substitute and also should be considered as belonging to protection domain of the present utility model.
Claims (7)
1. a unmanned plane wrecking equipment, it is characterized in that: the remote control equipment (RCE) comprising aircraft, remotely-piloted vehicle, aircraft is provided with camera head, picture transmitter device and for fixing and throw in the dispenser of wrecking equipment, wrecking equipment also comprises the signal that receives camera head collection and carries out the image-receptive telltale that shows and the actinobacillus wheel for reclaiming wrecking equipment.
2. unmanned plane wrecking equipment according to claim 1, is characterized in that: aircraft is driverless operation multi-rotor aerocraft.
3. unmanned plane wrecking equipment according to claim 1, it is characterized in that: dispenser comprises and is positioned at the steering wheel and the mounting bracket of fixing steering wheel that aircraft center of gravity place arranges, mounting bracket is provided with U-shaped that Open Side Down, the oral area of U-shaped is provided with sealed latch, sealed latch and U-shaped form bearing fit in the horizontal direction, and steering wheel is connected with sealed latch by transmission component.
4. unmanned plane wrecking equipment according to claim 3, it is characterized in that: transmission component comprises steering wheel arm and connecting rod that steering wheel output shaft is arranged, the length direction of steering wheel arm and the perpendicular layout of the output shaft of steering wheel, the two ends of connecting rod are articulated and connected with steering wheel arm, sealed latch respectively.
5. unmanned plane wrecking equipment according to claim 3 or 4, is characterized in that: wrecking equipment is by the colligation of rescue hauling rope, and one end of rescue hauling rope is provided with link, and link is fastened on the connection realizing wrecking equipment and aircraft in U-shaped.
6. unmanned plane wrecking equipment according to claim 1 or 2 or 3 or 4, is characterized in that: camera head is fixed on the forward position of aircraft.
7. unmanned plane wrecking equipment according to claim 1 or 2 or 3 or 4, it is characterized in that: aircraft is provided with alighting gear, alighting gear is that two inverted T-shaped legs are formed, upper end and the aircraft of inverted T-shaped leg are articulated and connected, inverted T-shaped leg is connected with actuating device, inverted T-shaped leg is in two states: one to be two inverted T-shaped legs be inverted V-shaped arranges for supporting aircraft support state, and two to be two inverted T-shaped legs be that the shooting of horizontal arrangement to camera head dodge dodges state for it.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520048756.3U CN204432992U (en) | 2015-01-23 | 2015-01-23 | Unmanned plane wrecking equipment |
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| CN201520048756.3U CN204432992U (en) | 2015-01-23 | 2015-01-23 | Unmanned plane wrecking equipment |
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| CN204432992U true CN204432992U (en) | 2015-07-01 |
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| CN201520048756.3U Expired - Fee Related CN204432992U (en) | 2015-01-23 | 2015-01-23 | Unmanned plane wrecking equipment |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105717943A (en) * | 2016-02-02 | 2016-06-29 | 铱格斯曼航空科技集团有限公司 | Portable and wearable unmanned plane ground control station system |
| CN106371461A (en) * | 2016-09-08 | 2017-02-01 | 河海大学常州校区 | Visual servo based video tracking flight object control system and method |
| CN106672176A (en) * | 2017-01-13 | 2017-05-17 | 泰州机电高等职业技术学校 | Life buoy air-dropping device allowing precise positioning |
| CN107161299A (en) * | 2017-05-31 | 2017-09-15 | 佛山市神风航空科技有限公司 | A kind of rescue mode and device of marine unmanned plane |
| CN107200145A (en) * | 2017-05-31 | 2017-09-26 | 佛山市神风航空科技有限公司 | Fight flood and relieve victims mode and the device of a kind of unmanned plane |
| CN108762298A (en) * | 2018-05-30 | 2018-11-06 | 佛山市神风航空科技有限公司 | A kind of aquatic unmanned aerial vehicle landing self-control system |
| CN109946702A (en) * | 2019-04-04 | 2019-06-28 | 广州丰谱信息技术有限公司 | The ultrasonic undersea detection imaging system of machine ship one |
| CN116142338A (en) * | 2021-10-22 | 2023-05-23 | 临颍县爬杆机器人有限公司 | Rescue device for pole-climbing robot, rescue pole-climbing robot and components of pole-climbing robot |
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2015
- 2015-01-23 CN CN201520048756.3U patent/CN204432992U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105717943A (en) * | 2016-02-02 | 2016-06-29 | 铱格斯曼航空科技集团有限公司 | Portable and wearable unmanned plane ground control station system |
| CN106371461A (en) * | 2016-09-08 | 2017-02-01 | 河海大学常州校区 | Visual servo based video tracking flight object control system and method |
| CN106672176A (en) * | 2017-01-13 | 2017-05-17 | 泰州机电高等职业技术学校 | Life buoy air-dropping device allowing precise positioning |
| CN106672176B (en) * | 2017-01-13 | 2018-07-10 | 泰州机电高等职业技术学校 | It is a kind of can precise positioning lifebuoy dropping gear application method |
| CN107161299A (en) * | 2017-05-31 | 2017-09-15 | 佛山市神风航空科技有限公司 | A kind of rescue mode and device of marine unmanned plane |
| CN107200145A (en) * | 2017-05-31 | 2017-09-26 | 佛山市神风航空科技有限公司 | Fight flood and relieve victims mode and the device of a kind of unmanned plane |
| CN108762298A (en) * | 2018-05-30 | 2018-11-06 | 佛山市神风航空科技有限公司 | A kind of aquatic unmanned aerial vehicle landing self-control system |
| CN109946702A (en) * | 2019-04-04 | 2019-06-28 | 广州丰谱信息技术有限公司 | The ultrasonic undersea detection imaging system of machine ship one |
| CN116142338A (en) * | 2021-10-22 | 2023-05-23 | 临颍县爬杆机器人有限公司 | Rescue device for pole-climbing robot, rescue pole-climbing robot and components of pole-climbing robot |
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