CN204945803U - A kind of two unmanned aerial vehicle control systems promoting flying power - Google Patents
A kind of two unmanned aerial vehicle control systems promoting flying power Download PDFInfo
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- CN204945803U CN204945803U CN201520665994.9U CN201520665994U CN204945803U CN 204945803 U CN204945803 U CN 204945803U CN 201520665994 U CN201520665994 U CN 201520665994U CN 204945803 U CN204945803 U CN 204945803U
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Abstract
A kind of two unmanned aerial vehicle control systems promoting flying power, it relates to vehicle technology field, gps receiver and compass module one, remote measurement radio transceiver chip one, radio control receiver module one, two automatic focusing camera head modules are all connected with female unmanned plane cpu motherboard, fiber alignment success sensor assembly, epicyclic gearbox servomotor one, position potentiometer sensor all with dock/discharge linear drive motor control module and be connected, position potentiometer sensor is connected with epicyclic gearbox servomotor one, infrared external reflection position transducer module, all directed with the unmanned plane motor control module of epicyclic gearbox servomotor two is connected, the directed motor control module of unmanned plane is connected with female unmanned plane cpu motherboard.Automaticity is high, is easy to manipulation, can be extended 5-10 the cruising time of UAS doubly; The splicing of flexible control two frame unmanned plane be separated, realize the course of work continuously and the object of smoothness.
Description
technical field:
The utility model relates to vehicle technology field, is specifically related to a kind of two unmanned aerial vehicle control systems promoting flying power.
background technology:
Multi-rotor aerocraft is called for short unmanned plane, exactly an aircraft has simultaneously multiple positive incidence rotor to produce lift, and the aircraft overcoming anti-twisted power is rotated according to different directions, because multiple rotor rotates to different directions, such torque is exactly zero, even can realize hovering of letting go, manual control is got up and is also operated freely, while shortening pilot's training time, stability also improves, fly control if installed additional, so complicated gesture stability program just can neglect, and even the fixed-wing can bought can be flown control program dislocation everywhere and come.
But current multi-rotor aerocraft also also exists shortcoming, first, the cruising time of many rotor wing unmanned aerial vehicles extremely makes people worried, and this seriously constrains the development of unmanned air vehicle technique.No matter be the large boundary unmanned plane that occupation rate is the highest in the world at present, or the unmanned plane of some sector applications, be more than 20 minute when generally civilian UAS navigates, when the UAS of sector application navigates, also only have 1-2 hour.And, do not continue a journey completely on the market at present very long, or the technology of unlimited continuation of the journey.Large boundary unmanned plane during flying maintains half an hour at most, usually gos out carry three or four pieces of batteries, and Foreign Media is issued article and claimed, and the commercial promise of unmanned plane is limited to of short duration battery durable and lost contact risk; In addition, the mission payload of current multi-rotor aerocraft very little, a few hectogram has just reached the limit of, if will promote heavy burden index, what the size of its aircraft will be large is surprising.
There is the patented technology that a kind of UAS is continued a journey at present, allow unmanned plane execute the task flight in the sky to when soon not having electric, start the second frame unmanned plane heaven and perform same task, now first unmanned plane just starts automatically to make a return voyage to departure location or to the charging place of specifying, then this unmanned plane is about to begin charging, continued takeoff after charging complete, and then the second frame unmanned plane gets off charging again, circulation like this, reaches the object extending cruising time; Certainly, when the charging of first unmanned plane, artificial charging can be taked, machine vision also can be used automatically to find to allow unmanned plane the ready position charged, then unmanned plane return ground rest on above realize automatic charging, contact charging or non-contacting wireless charging can be taked.
But, no matter be the above-mentioned any mode mentioned, when execution mission critical, always exist and interrupt or persistent discontinuous problem, because first unmanned plane and the second frame unmanned plane depart from, first unmanned plane does not have particular location during electricity, and not the second frame unmanned plane is come with regard to just in time corresponding position.Therefore, there is the coarse defect in UAS continuation of the journey position in this continuation of the journey technology.
Meanwhile, the defect that the task of also there is execution is separated: such as, first unmanned plane shooting key video sequence or picture, now first unmanned plane does not have electricity, can only leave charging with video camera; Second frame unmanned plane again takes off with other video camera and executes the task; Here details exists interrupts, or must carry out merging treatment after returning, very loaded down with trivial details, easily omits key message.
In addition, same load, uses two frame unmanned planes of above-mentioned separation, when cannot realize long boat; If during same boat, be also to realize larger load.Therefore, the load of existing unmanned plane can not change flexibly with during boat.
utility model content:
The purpose of this utility model is to provide a kind of two unmanned aerial vehicle control systems promoting flying power, and its automaticity is high, is easy to manipulation, can be extended 5-10 the cruising time of UAS doubly; The docking of flexible control two frame unmanned plane be separated, realize the course of work continuously and the object of smoothness; And can change flexibly when its load and boat.
In order to solve the problem existing for background technology, the utility model is by the following technical solutions: it comprises female unmanned plane, sub-unmanned plane, docking facilities, the middle part of female unmanned plane is butt-joint control device, and the lower end of butt-joint control device and the upper end of sub-unmanned plane are linked together by docking facilities; Wherein, docking facilities adopts conical grafting to design, and female unmanned plane, sub-unmanned plane by the grafting of docking facilities, be separated and realize two unmanned plane docking and depart from; The lower end of sub-unmanned plane is provided with task execution device, such as, and camera, The Cloud Terrace etc.
In the utility model, the control system of female unmanned plane comprises female unmanned plane rotor motor, motor speed control module one, battery supply one, female unmanned plane cpu motherboard, voltage-current sensor module one, gps receiver and compass module one, fiber alignment success sensor assembly, dock/discharge linear drive motor control module, remote measurement radio transceiver chip one, radio control receiver module one, several automatic focusing camera head module, infrared external reflection position transducer module, the directed motor control module of unmanned plane, several female unmanned plane rotor motor connects several motor speed control module one respectively, several motor speed control module one parallel with one another rear respectively with female unmanned plane cpu motherboard, battery supply one connects, battery supply one respectively with female unmanned plane cpu motherboard, voltage-current sensor module one connects, gps receiver and compass module one, remote measurement radio transceiver chip one, radio control receiver module one, several automatic focusing camera head module is all connected with female unmanned plane cpu motherboard, remote measurement radio transceiver chip one, radio control receiver module one difference antenna corresponding thereto connects, fiber alignment success sensor assembly, gear reduction box servomotor one, position potentiometer sensor all with dock/discharge linear drive motor control module and be connected, position potentiometer sensor is connected with gear reduction box servomotor one, infrared external reflection position transducer module, all directed with the unmanned plane motor control module of gear reduction box servomotor two is connected, and the directed motor control module of unmanned plane is connected with female unmanned plane cpu motherboard.
In the utility model, the control system of sub-unmanned plane comprises sub-unmanned plane rotor motor, motor speed control module two, battery supply two, sub-unmanned plane cpu motherboard, voltage-current sensor module two, gps receiver and compass module two, remote measurement radio transceiver chip two, radio control receiver module two, camera universal joint control module, camera module, vision signal sending module, several unmanned plane rotor motor connects several motor speed control module two respectively, several motor speed control module two parallel with one another rear respectively with battery supply two, sub-unmanned plane cpu motherboard connects, battery supply two respectively with voltage-current sensor module two, camera universal joint control module, camera module connects, voltage-current sensor module two, camera universal joint control module is all connected with sub-unmanned plane cpu motherboard, and camera module is connected with vision signal sending module, and vision signal sending module is connected with antenna, remote measurement radio transceiver chip two, radio control receiver module two is all connected with sub-unmanned plane cpu motherboard, remote measurement radio transceiver chip two, radio control receiver module two is connected to antenna.
Principle of the present utility model is: task is carried out in process, and female unmanned plane and sub-unmanned plane are all by the radio controller communication on remote measurement radio transceiver chip, radio control receiver module and ground.The electricity of the female unmanned plane of voltage-current sensor module Real-Time Monitoring, sub-unmanned plane, if when electricity is low, then sends the warning of low electricity, is convenient to ground driver and makes reply.Gps receiver and compass module are used for location, and this is positioned with two kinds of effects: one, ground driver can learn the position of two airplanes; Two, before docking, female unmanned plane by gps receiver and compass module locator unmanned plane, and can do out position adjustment.Before docking, automatic focusing camera head module helps to find sub-unmanned plane, and infrared external reflection position transducer module is for determining the docking location between female unmanned plane and sub-unmanned plane.Fiber alignment success sensor assembly, docking/discharge linear drive motor control module to match, can achieve a butt joint successfully and provide signal, and drive servomotor to lock, when two airplanes need to be separated, dock/discharge linear drive motor control module for discharging latch mechanism.
The utility model has following beneficial effect:
1, control system is simple and easy to realize, easily manipulate, to the training more simple and fast of driver.
2, control system automaticity is high, the docking controlling flexibly two frame unmanned planes be separated, realize the course of work continuously and the object of smoothness.
3, match with two unmanned plane structure, object flexible and changeable when achieving the load of unmanned plane and navigate.
accompanying drawing illustrates:
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the structural representation that in the utility model, female unmanned plane docks with sub-unmanned plane;
Fig. 3 is the right view of Fig. 2;
Fig. 4 is the schematic block circuit diagram of female unmanned plane in the utility model;
Fig. 5 is the schematic block circuit diagram of the utility model neutron unmanned plane;
Fig. 6 is workflow diagram of the present utility model;
Fig. 7 is the circuit theory diagrams of embodiment;
Reference numeral:
1-female unmanned plane; 2-sub-unmanned plane; 3-docking facilities; 4-butt-joint control device;
S1-position potentiometer sensor; M1-gear reduction box servomotor one; M2-gear reduction box servomotor two; N-female unmanned plane rotor motor; M-motor speed control module one; E1-battery supply one; U1-female unmanned plane cpu motherboard; U2-voltage-current sensor module one; U3-gps receiver and compass module one; U4-fiber alignment success sensor assembly; U5-dock/discharge linear drive motor control module; U6-remote measurement radio transceiver chip one; U7-radio control receiver module one; U8-automatic focusing camera head module one; U9-automatic focusing camera head module two; The directed motor control module of U10-unmanned plane; U11-infrared external reflection position transducer module; T1-antenna one; T2-antenna two;
Z-sub-unmanned plane rotor motor; Y-motor speed control module two; E2-battery supply two; U12-sub-unmanned plane cpu motherboard; U13-voltage-current sensor module two; U14-gps receiver and compass module two; U15-remote measurement radio transceiver chip two; U16-radio control receiver module two; U17-camera universal joint control module; U18-camera module; U19-vision signal sending module; T3-antenna three; T4-antenna four; T5-antenna five.
embodiment:
In order to make the purpose of this utility model, technical scheme and advantage clearly understand, below in conjunction with the drawings and the specific embodiments, the utility model is further elaborated.Should be appreciated that embodiment described herein only in order to explain the utility model, and be not used in restriction the utility model.
Referring to Fig. 1-Fig. 3, this embodiment is by the following technical solutions: it comprises female unmanned plane 1, sub-unmanned plane 2, docking facilities 3, the middle part of female unmanned plane 1 is butt-joint control device 4, and the lower end of butt-joint control device 4 and the upper end of sub-unmanned plane 2 are linked together by docking facilities 3.Described female unmanned plane 1 selects the larger aircraft of six rotors, and sub-unmanned plane 2 selects the flivver of four rotors; The rotor of female unmanned plane 1, sub-unmanned plane 2 is that sense of rotation staggers on the contrary or one to one; So can start simultaneously, also can start separately.If double-deck unmanned plane starts simultaneously, then load just can improve, and also can improve during boat; If only start a frame unmanned plane wherein, then will diminish when load and boat, play flexible and changeable effect.
Referring to Fig. 4, in described female unmanned plane 1, the control circuit of butt-joint control device 4 comprises female unmanned plane rotor motor n, motor speed control module one m, battery supply one E1, female unmanned plane cpu motherboard U1, voltage-current sensor module one U2, gps receiver and compass module one U3, fiber alignment success sensor assembly U4, dock/discharge linear drive motor control module U5, remote measurement radio transceiver chip one U6, radio control receiver module one U7, the directed motor control module U10 of unmanned plane, antenna one T1, antenna two T2, six female unmanned plane rotor motor n connect six motor speed control module one m respectively, several motor speed control module one m parallel with one another rear respectively with female unmanned plane cpu motherboard U1, battery supply one E1 connects, battery supply one E1 respectively with female unmanned plane cpu motherboard U1, voltage-current sensor module one U2 connects, gps receiver and compass module one U3, remote measurement radio transceiver chip one U6, radio control receiver module one U7, automatic focusing camera head module one U8, automatic focusing camera head module two U9 is all connected with female unmanned plane cpu motherboard U1, remote measurement radio transceiver chip one U6, radio control receiver module one U7 respectively with antenna one T1, antenna two T2 connects, fiber alignment success sensor assembly U4, gear reduction box servomotor one M1, position potentiometer sensor S1 all with dock/discharge linear drive motor control module U5 and be connected, position potentiometer sensor S1 is connected with gear reduction box servomotor one M1, infrared external reflection position transducer module U11, gear reduction box servomotor two M2 is all directed with unmanned plane, and motor control module U10 is connected, and the directed motor control module U10 of unmanned plane is connected with female unmanned plane cpu motherboard U1.
Referring to Fig. 5, the control circuit of described sub-unmanned plane 1 comprises sub-unmanned plane rotor motor z, motor speed control module two y, battery supply two E2, sub-unmanned plane cpu motherboard U12, voltage-current sensor module two U13, gps receiver and compass module two U14, remote measurement radio transceiver chip two U15, radio control receiver module two U16, camera universal joint control module U17, camera module U18, vision signal sending module U19, antenna three T3, antenna four T4, antenna five T5, four unmanned plane rotor motor z connect four motor speed control module two y respectively, several motor speed control module two y parallel with one another rear respectively with battery supply two E2, sub-unmanned plane cpu motherboard U12 connects, battery supply two E2 respectively with voltage-current sensor module two U13, camera universal joint control module U17, camera module U18 connects, voltage-current sensor module two U13, camera universal joint control module U17 is all connected with sub-unmanned plane cpu motherboard U12, and camera module U18 is connected with vision signal sending module U19, vision signal sending module U19 is connected with antenna five T5, remote measurement radio transceiver chip two U15, radio control receiver module two U16 is all connected with sub-unmanned plane cpu motherboard U12, remote measurement radio transceiver chip two U15, radio control receiver module two U16 is connected to antenna three T3, antenna four T4.
Referring to Fig. 6, the workflow of this embodiment is:
Before a, task start, female unmanned plane 1, sub-unmanned plane 2 are checked;
B, two radio controllers to be opened;
C, female unmanned plane 1, sub-unmanned plane 2 are all placed on the ground, and are ensured spacing 10-20m, open the power supply of female unmanned plane 1 and sub-unmanned plane 2;
D, wait check that GPS locates LED state instruction, after the gps receiver of female unmanned plane 1, sub-unmanned plane 2 and compass module have all been located, the manually female unmanned plane 1 of docking and sub-unmanned plane 2;
E, offline mode switch is set by chief aviation pilot to two unmanned plane during flying pattern (in such a mode, only having the motor of female unmanned plane 1 to provide flying power);
F, under the control of chief aviation pilot, female unmanned plane 1 carries sub-unmanned plane 2 and takes off, simultaneously, the state of flight that two frame unmanned planes send, GPS locator data, orientation and vision signal are all controlled (in task, copilot also can make female unmanned plane 1 take off) by remote measurement radio transceiver chip;
In g, flight course, the battery electric quantity of the female unmanned plane 1 of voltage-current sensor module Real-Time Monitoring, sub-unmanned plane 2, if sub-unmanned plane 2 electricity is low, then whether controllers can be selected to allow female unmanned plane 1 work on: if allow female unmanned plane 1 work on, then when it sends the warning of low electricity, carry sub-unmanned plane 1 to fly back transmitter site, task completes; If allow female unmanned plane 1 quit work, then female unmanned plane 1 directly carries sub-unmanned plane 1 and to fly back transmitter site, and task completes;
If the female unmanned plane of h 1 sends the warning of low electricity, during without the need to continuing to execute the task, female unmanned plane 1 directly carries sub-unmanned plane 1 and to fly back transmitter site, and task completes; If female unmanned plane 1 sends the warning of low electricity, but when task still needs to continue, chief aviation pilot sends pre-offline mode signal, the motor of promoter unmanned plane 2 to two frame unmanned planes, makes it be supported the weight of self;
I, now, dock/discharge linear drive motor control module U5 and be in off-position, unclamp the sub-unmanned plane 2 of below, female unmanned plane 1 will fly to rapidly the height of 15-25m above sub-unmanned plane 2, and sub-unmanned plane 2 continues task, female unmanned plane 1 flies back transmitter site, and automatic cut-off power;
J, copilot help female unmanned plane 1 to change new rechargeable battery, and opening power, wait for GPS location;
K, GPS locate successfully, and female unmanned plane 1 is set pre-docked flight pattern by chief aviation pilot, and female unmanned plane 1 receives GPS location and the altitude information of sub-unmanned plane 2, and then female unmanned plane 1 flies to the position of 20m above sub-unmanned plane 2GPS position;
L, two automatic focusing camera head modules are opened and search for sub-unmanned plane 2, female unmanned plane 1, once find sub-unmanned plane 2, is locked, control system can guide female unmanned plane 1 slowly to fly to sub-unmanned plane 2, once control system detects that camera focus is less than predetermined value, or be less than the height of cone in docking facilities 3, then control system is adjusted to docked flight pattern and is completed docking (before docking, female unmanned plane 1 will pass through gps receiver and the compass module adjustment direction of sub-unmanned plane 2);
Whether m, fiber alignment success sensor assembly U4 can detect docking and put in place, after docking puts in place, send the successful signal of docking, by docking/discharging linear drive motor control module U5 starter receiver reducer casing servomotor one M1 after female unmanned plane cpu motherboard U1 receives this signal; If dock not in place, then repeat step l;
N, fiber alignment success sensor assembly U4 sends and is butted into function signal to ground, and offline mode is become two unmanned plane during flying pattern by chief aviation pilot;
O, repetitive cycling step g-step n can realize the control of two UAS.
Embodiment:
Sub-unmanned plane can select four general on the market rotor wing unmanned aerial vehicles, and in female unmanned aerial vehicle control system, the main control chip of its cpu motherboard can have multiple choices, in the present embodiment, selects STM32F10XCXT6 cake core as main control chip, referring to Fig. 7.
Docking location LED mono-D1, docking location LED bis-D2, resistance one R1, resistance two R2 are connected with a PIC16F1824 single-chip microcomputer one, composition fiber alignment success sensor assembly, this PIC16F1824 single-chip microcomputer one is connected with STM32F10XCXT6 main control chip by I2C bus;
One has brushless motor full bridge driver DRV8701, fet driver H-Driver, position potentiometer sensor S1, resistance three R3 is combined into and docks/discharge linear drive motor control module, have brushless motor full bridge driver DRV8701, position potentiometer sensor S1 is connected with above-mentioned PIC16F1824 single-chip microcomputer one, a fet driver H-Driver is connected with gear reduction box servomotor one M1;
Infrared LEDs one D3, infrared LEDs two D4, resistance four R1, resistance two R2 are connected with a PIC16F1824 single-chip microcomputer two, composition infrared external reflection position transducer module, PIC16F1824 single-chip microcomputer two is connected with STM32F10XCXT6 main control chip and two automatic focusing camera head modules by I2C bus, and the automatic focusing camera head module in the present embodiment selects automatic focusing camera head common in the market;
One has brushless motor full bridge driver DRV8701, fet driver H-Driver, resistance six R6 is combined into the directed motor control module of unmanned plane, this has brushless motor full bridge driver DRV8701 to be connected with above-mentioned PIC16F1824 single-chip microcomputer two, and this fet driver H-Driver is connected with gear reduction box servomotor two M2.
In the present embodiment, battery supply adopts LD1117AS33 regulator block to form with PTH08080WAH power module and the element such as electric capacity, resistance; Gps receiver and compass module adopt UBLOX-M8N Big Dipper GPS module, HMC5983 tri-axle electronic compass chip combines; Remote measurement radio transceiver chip selects 3DRRadiotelemetry digital transmission module; Radio control receiver module selects Futaba telepilot, and because the industry usually adopts such design, thus in this not go into detail.
It should be noted last that, above embodiment and embodiment are only in order to illustrate the technical solution of the utility model and unrestricted, although be described in detail the utility model with reference to example, those of ordinary skill in the art is to be understood that, can modify to the technical solution of the utility model or equivalent replacement, and not departing from the spirit and scope of technical solutions of the utility model, it all should be encompassed in the middle of right of the present utility model.
Claims (2)
1. promote two unmanned aerial vehicle control systems for flying power, it comprises female unmanned plane, sub-unmanned plane, docking facilities, the middle part of female unmanned plane is butt-joint control device, and the lower end of butt-joint control device and the upper end of sub-unmanned plane are linked together by docking facilities, it is characterized in that the control system of female unmanned plane comprises female unmanned plane rotor motor, motor speed control module one, battery supply one, female unmanned plane cpu motherboard, voltage-current sensor module one, gps receiver and compass module one, fiber alignment success sensor assembly, dock/discharge linear drive motor control module, remote measurement radio transceiver chip one, radio control receiver module one, several automatic focusing camera head module, infrared external reflection position transducer module, the directed motor control module of unmanned plane, several female unmanned plane rotor motor connects several motor speed control module one respectively, several motor speed control module one parallel with one another rear respectively with female unmanned plane cpu motherboard, battery supply one connects, battery supply one respectively with female unmanned plane cpu motherboard, voltage-current sensor module one connects, gps receiver and compass module one, remote measurement radio transceiver chip one, radio control receiver module one, several automatic focusing camera head module is all connected with female unmanned plane cpu motherboard, remote measurement radio transceiver chip one, radio control receiver module one difference antenna corresponding thereto connects, fiber alignment success sensor assembly, gear reduction box servomotor one, position potentiometer sensor all with dock/discharge linear drive motor control module and be connected, position potentiometer sensor is connected with gear reduction box servomotor one, infrared external reflection position transducer module, all directed with the unmanned plane motor control module of gear reduction box servomotor two is connected, and the directed motor control module of unmanned plane is connected with female unmanned plane cpu motherboard.
2. a kind of two unmanned aerial vehicle control systems promoting flying power according to claim 1, is characterized in that the control system of sub-unmanned plane comprises sub-unmanned plane rotor motor, motor speed control module two, battery supply two, sub-unmanned plane cpu motherboard, voltage-current sensor module two, gps receiver and compass module two, remote measurement radio transceiver chip two, radio control receiver module two, camera universal joint control module, camera module, vision signal sending module, several unmanned plane rotor motor connects several motor speed control module two respectively, several motor speed control module two parallel with one another rear respectively with battery supply two, sub-unmanned plane cpu motherboard connects, battery supply two respectively with voltage-current sensor module two, camera universal joint control module, camera module connects, voltage-current sensor module two, camera universal joint control module is all connected with sub-unmanned plane cpu motherboard, and camera module is connected with vision signal sending module, and vision signal sending module is connected with antenna, remote measurement radio transceiver chip two, radio control receiver module two is all connected with sub-unmanned plane cpu motherboard, remote measurement radio transceiver chip two, radio control receiver module two is connected to antenna.
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| CN201520665994.9U CN204945803U (en) | 2015-08-31 | 2015-08-31 | A kind of two unmanned aerial vehicle control systems promoting flying power |
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| CN201520665994.9U CN204945803U (en) | 2015-08-31 | 2015-08-31 | A kind of two unmanned aerial vehicle control systems promoting flying power |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105068551A (en) * | 2015-08-31 | 2015-11-18 | 深圳市飞研智能科技有限公司 | Double-UAV control system with improvement of cruising ability |
| CN111103896A (en) * | 2019-12-16 | 2020-05-05 | 北京泊松技术有限公司 | Unmanned aerial vehicle air docking match judgment system and judgment method |
-
2015
- 2015-08-31 CN CN201520665994.9U patent/CN204945803U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105068551A (en) * | 2015-08-31 | 2015-11-18 | 深圳市飞研智能科技有限公司 | Double-UAV control system with improvement of cruising ability |
| CN105068551B (en) * | 2015-08-31 | 2018-04-24 | 深圳市飞研智能科技有限公司 | A kind of double unmanned aerial vehicle control systems for lifting cruising ability |
| CN111103896A (en) * | 2019-12-16 | 2020-05-05 | 北京泊松技术有限公司 | Unmanned aerial vehicle air docking match judgment system and judgment method |
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Granted publication date: 20160106 Effective date of abandoning: 20180424 |