CN205580791U - Unmanned aerial vehicle carries sample collection device, Sample collection system and unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle carries sample collection device, Sample collection system and unmanned aerial vehicle Download PDFInfo
- Publication number
- CN205580791U CN205580791U CN201620336729.0U CN201620336729U CN205580791U CN 205580791 U CN205580791 U CN 205580791U CN 201620336729 U CN201620336729 U CN 201620336729U CN 205580791 U CN205580791 U CN 205580791U
- Authority
- CN
- China
- Prior art keywords
- parts
- sample
- sample collection
- control command
- collecting device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 5
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 3
- 238000005259 measurement Methods 0.000 abstract 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 33
- NBIIXXVUZAFLBC-UHFFFAOYSA-N Phosphoric acid Chemical compound OP(O)(O)=O NBIIXXVUZAFLBC-UHFFFAOYSA-N 0.000 description 6
- 238000005070 sampling Methods 0.000 description 5
- 239000003643 water by type Substances 0.000 description 4
- 230000007613 environmental effect Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000004353 relayed correlation spectroscopy Methods 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
Landscapes
- Sampling And Sample Adjustment (AREA)
Abstract
The utility model relates to an unmanned aerial vehicle carries sample collection device, sample collection system and unmanned aerial vehicle. The device includes: the ultrasonic range measurement part for measure the distance between unmanned aerial vehicle and the target plane, judge the part for judge that the distance is whether within the default distance scope, control command generates the part for the distance within the default distance scope time, generate a control command and the 2nd control command, a control command is used for making unmanned aerial vehicle starts the flying method that hovers, the wireless transmission part for send the 2nd control command to the ground remote control unit, the wireless receiving part for receive the sample collection order that the ground remote control unit sent, the acquisition control command generation part is ordered according to sample collection command generation acquisition control, acquisition member orders according to acquisition control, gathers the sample below the target plane. The utility model discloses an unmanned aerial vehicle year sample collection device has improved unmanned aerial vehicle and has carried out low latitude sample collection's security.
Description
Technical field
This utility model relates to unmanned vehicle field, particularly relates to a kind of UAV system sample collection
Device, sample acquisition system based on unmanned plane and unmanned plane.
Background technology
Unmanned plane (also referred to as unmanned vehicle) is widely used in every field in recent years, from
Initial amusement of taking photo by plane develops into present commercial Application.By unmanned plane, in inconvenience, manually or other set
The scene of standby operation carries out sample collection and has become as research and the focus of application.
As a example by water body sample collection, present stage, China's monitoring water environment mainly uses personal monitoring's mode,
Owing to water body sampling work has certain region and ageing, i.e. multiple spot is wanted to adopt in same waters
Collection, to be also acquired at times in same place, manually gather very complicated, often need to be by boats and ships
On the vehicles, cost is high and is limited greatly by physical geographic environment.
Unmanned vehicle as a example by many rotor wing unmanned aerial vehicles can hover over above the water surface in waters to be measured
Relatively closely highly carry out water body sampling, provide new scheme for water body sample collection.But, water body collection
The Extracting Ability of equipment (such as water pump) is limited, is typically only capable at unmanned plane and water surface distance certain
Could work in altitude range, but this scheme based on unmanned plane is but faced with and cannot accurately control nothing
The problem of the height (or hovering height) of the man-machine distance water surface.
The Position Fixing Navigation System of unmanned plane includes GPS (Global Positioning System, global location
System) satellite navigation, inertial navigation unit, barometer etc., its synthesis precision is at about 3m, due to water
Face height changed with season and date, GIS (Geographic Information System, geography information
System) data cannot accurately predict, and therefore the height of the unmanned plane distance water surface is not included in map datum,
Even if still cannot accurately obtain the height of the unmanned plane distance water surface under the subsidiary conditions such as barometer；And hands
The dynamic unmanned plane height that controls easily need to be affected by wind-force by barometrical altitude information, barometer, causes
Air pressure numerical value is unstable and makes unmanned plane out of control, falls in water, causes heavy losses.
Utility model content
Technical problem
In view of this, the technical problems to be solved in the utility model is, proposes one and can accurately control unmanned
The UAV system sample collecting device of machine hovering height.
Solution
In order to solve above-mentioned technical problem, this utility model provides a kind of UAV system sample collection dress
Put, it is characterised in that described UAV system sample collecting device includes: supersonic sounding parts, is used for surveying
Distance between amount unmanned plane and objective plane；Judge parts, be connected with described supersonic sounding parts, use
In judging that described distance is whether within the scope of predeterminable range；Control command generating unit, with described judgement
Parts connect, and for when described distance is within the scope of described predeterminable range, generate the first control command
With the second control command；Described first control command is used for making described unmanned plane start hovering flight mode；
Wireless transmission parts, for sending described second control command to ground remote control parts, to notify ground
Unmanned plane described in remote control unit is ready for sample collection and prepares；Part of wireless receiver, is used for receiving described
The sample collection order that ground remote control parts send；Acquisition controlling order generating unit, wireless connects with described
Receipts parts connect, and generate acquisition controlling order according to described sample collection order；Acquisition component, with described
Acquisition controlling order generating unit connects, according to described acquisition controlling order, to the sample below objective plane
Originally it is acquired.
In one example, described UAV system sample collecting device also includes: location navigation parts, with
Described part of wireless receiver connects.
In one example, described location navigation parts are Big Dipper location navigation parts or GPS location navigation
Parts.
In one example, described acquisition component includes: pump, for sample drawn under objective plane；
Relay, is connected with described pump and described acquisition controlling order generating unit respectively, for adopting described in basis
Collection control command turns the pump on or closes.
In one example, the Enable Pin of described relay i.e. IN end receives and generates from acquisition controlling order
The acquisition controlling order of parts, common port i.e. COM end connects the positive pole of the power interface of described pump, normally opened
End i.e. ON end is connected as the positive pole of the power supply that described pump is powered.
In one example, described acquisition component also includes: the first specimen collection tube, with entering of described pump
Mouth connects；Second specimen collection tube, is connected respectively with described delivery side of pump and sample storage；Sample is deposited
Reservoir, is connected with described second specimen collection tube, for storing the sample that described pump is extracted.
In one example, described predeterminable range scope is 1.2m～2m.
In order to solve above-mentioned technical problem, this utility model provides a kind of sample collection based on unmanned plane
System, including: above-mentioned UAV system sample collecting device and ground remote control parts.
In order to solve above-mentioned technical problem, this utility model provides a kind of unmanned plane, and described unmanned plane is taken
It is loaded with above-mentioned UAV system sample collecting device.
Beneficial effect
The UAV system sample collecting device of this utility model embodiment can be by supersonic sounding parts essence
Really measure the distance between unmanned plane and objective plane, when meeting predeterminable range scope, make unmanned plane open
Dynamic hovering flight mode, and notify that unmanned plane described in ground remote control parts is ready for sample collection and prepares,
After receiving the sample collection order that ground remote control parts send, control acquisition component and sample is adopted
Collection.Owing to the range accuracy of supersonic sounding parts is centimetres, overcomes and prior art utilizes air pressure
Measure the shortcoming bigger away from the range error easily produced by such environmental effects, improve unmanned plane and carry out
The safety of low latitude sample collection.
According to below with reference to the accompanying drawings to detailed description of illustrative embodiments, further feature of the present utility model
And aspect will be clear from.
Accompanying drawing explanation
The accompanying drawing of the part comprising in the description and constituting description together illustrates with description
Exemplary embodiment of the present utility model, feature and aspect, and be used for explaining principle of the present utility model.
Fig. 1 illustrates the structure chart of the UAV system sample collecting device according to this utility model one embodiment；
Fig. 2 illustrates another structure of the UAV system sample collecting device according to this utility model one embodiment
Figure；
Fig. 3 illustrates the knot of the sample acquisition system based on unmanned plane according to another embodiment of this utility model
Composition.
Detailed description of the invention
Various exemplary embodiments of the present utility model, feature and side is described in detail below with reference to accompanying drawing
Face.Reference identical in accompanying drawing represents the same or analogous element of function.Although it is shown in the drawings
The various aspects of embodiment, but unless otherwise indicated, it is not necessary to accompanying drawing drawn to scale.
The most special word " exemplary " means " as example, embodiment or illustrative ".Here as
Any embodiment illustrated by " exemplary " should not necessarily be construed as preferred or advantageous over other embodiments.
It addition, in order to better illustrate this utility model, detailed description of the invention below gives crowd
Many details.It will be appreciated by those skilled in the art that there is no some detail, this utility model
Equally implement.In some instances, for method well known to those skilled in the art, means, unit
Part and circuit are not described in detail, in order to highlight purport of the present utility model.
Embodiment 1
Fig. 1 illustrates the structure of the UAV system sample collecting device 100 according to this utility model one embodiment
Figure.As it is shown in figure 1, this UAV system sample collecting device 100 specifically includes that supersonic sounding parts 101,
Can be used for measuring the distance between unmanned plane and objective plane；Judge parts 102, with supersonic sounding parts
101 connect, and can be used for judging that described distance is whether within the scope of predeterminable range；Control command generating unit
Part 103, and judges that parts 102 are connected, and can be used for when described distance is within the scope of predeterminable range, raw
Become the first control command and the second control command；First control command can be used for making unmanned plane start hovering and flies
Line mode；Wireless transmission parts 104, can be used for sending to ground remote control parts the second control command,
It is ready for sample collection with unmanned plane described in notice ground remote control parts to prepare；Part of wireless receiver 105,
Can be used for receiving the sample collection order that described ground remote control parts send；Acquisition controlling order generating unit
106, it is connected with part of wireless receiver 105, acquisition controlling order can be generated according to sample collection order；Adopt
Collection parts 107, be connected with acquisition controlling order generating unit 106, can according to described acquisition controlling order,
Sample below objective plane is acquired.
The UAV system sample collecting device of this utility model embodiment can be by supersonic sounding parts essence
Really measure the distance between unmanned plane and objective plane, when meeting predeterminable range scope, make unmanned plane open
Dynamic hovering flight mode, and notify that unmanned plane described in ground remote control parts is ready for sample collection and prepares,
After receiving the sample collection order that ground remote control parts send, control acquisition component and sample is adopted
Collection.Owing to the range accuracy of supersonic sounding parts is centimetres, overcomes and prior art utilizes air pressure
Measure away from the shortcoming that easily range error is bigger by such environmental effects, improve unmanned plane and carry out low latitude sample
Safety during this collection.
Fig. 2 shows the another of the UAV system sample collecting device 100 according to this utility model one embodiment
One structure chart.
In one example, as in figure 2 it is shown, acquisition component 107 comprises the steps that pump 1071, can be used for from target
Sample drawn under plane；Relay 1072, can respectively with pump 1071 and acquisition controlling order generating unit
106 connect, and can be used for making pump 1071 be turned on or off according to described acquisition controlling order.
In one example, as in figure 2 it is shown, the Enable Pin of relay 1072 i.e. IN end can receive from adopting
The acquisition controlling order of collection control command generating unit 106, the common port of relay 1072 i.e. COM end can
Connecting the positive pole of the power interface of pump 1071, the normally opened end i.e. ON end of relay 1072 can be connected as pump
The positive pole of the power supply of 1071 power supplies.Other pins of relay and pump or interface can be according to conventional occupation modes
Being attached, such as relay power pin VCC can connect DC power anode, and grounding pin GND connects directly
Stream power cathode, the negative pole of the power interface of pump can connect the negative pole of power supply.
It is presented above by relay and the example of pump composition acquisition component 107, but art technology
Personnel should be understood that the concrete structure of acquisition component is not limited to this, as long as can be in acquisition controlling order
Under control, start or terminate sample is acquired.
In one example, as in figure 2 it is shown, acquisition component 107 may also include that the first specimen collection tube
1073, can be connected with the entrance of pump 1071；Second specimen collection tube 1074, can with the outlet of pump 1071 and
Sample storage 1075 connects respectively；Sample storage 1075, can be connected with the second specimen collection tube 1074,
Can be used for storing the sample that pump 1071 is extracted.
In one example, as in figure 2 it is shown, described UAV system sample collecting device may also include that location
Navigation means 108, can be connected with part of wireless receiver 105.Location navigation parts 108 can be Big Dipper location
Navigation means or GPS location navigation parts.
As a example by GPS location navigation parts, GPS location navigation parts can receive part of wireless receiver 105
The GPS location in the destination sample region that the ground remote control parts (such as earth station's beep box) forwarded send
Information, GPS location navigation parts can be according to this GPS position information navigation unmanned plane during flying to destination sample
Region, is ready for sample collection.
Carry out as a example by water body sample collection by unmanned plane, after unmanned plane flies to target waters, supersonic sounding
Parts 101 can measure the distance between unmanned plane and the target water surface, using sonac module as ultrasonic
As a example by distance member, sonac module can launch the pulse signal of 40KHz, and pulse signal gets to water
Face back reflection returns sonac module, and the receiving terminal of sonac module can receive and reflection be detected
Signal, the recordable transmitting of sonac module and receive process time interval t, according to distance L and time
Between, the functional relationship (L=t*340/2) of speed, calculate distance L of unmanned plane and the water surface, ultrasonic biography
The distance measured can be notified to judging parts 102 by sensor.Judge that parts 102 can determine whether unmanned plane and water
Whether the distance in face meets predeterminable range scope (can be 1.2m～2m, such as 1.5m), when distance meets
Control command generating unit 103 then can be notified during predeterminable range scope.Control command generating unit 103 receives
After notice, can generate the first control command (such as starting hovering order), this first control command is controlled
Unmanned plane processed hovers.For example, unmanned plane is predeterminable hovering flight pattern, and first controls life
Order can be as the startup order of this offline mode.Control command generating unit 103 also can generate the second control
Order (ready order of such as sampling), control command generating unit 103 can be by ready life of sampling
Order sends to wireless transmission parts 104 (such as WIFI radio transmitters), and radio transmitters can be adopted described
Calibration wirelessly sends for ready command to ground remote control parts (such as earth station's beep box).
After earth station's beep box receives the ready order of described sampling, can by sample collection order wirelessly
It is sent to part of wireless receiver (such as WIFI wireless receiver).Adopt with " opening water pump " this sample
As a example by collection order, earth station's beep box can receive operator's triggering to " opening water pump " this option,
Such as operator clicks on " opening water pump " button, the numbering of the relay that input unmanned plane is corresponding, clicks on
" OK ", sends sample collection order " DO_SET_RELAY (0,1) ".Wireless receiver receives sample
Can notify after this acquisition to acquisition controlling order generating unit 106, acquisition controlling order generating unit
106 can generate acquisition controlling order (such as high trigger signal) to control according to sample collection order
Relay 1072 closes, and carries out sample collection for pump 1071 power supply.Such as, acquisition controlling order generating unit
Part 106 can export high trigger signal to the Enable Pin (IN end) of relay 1072, makes relay 1072
Normally opened end (ON end) Guan Bi so that power supply be pump 1071 (such as water pump) power supply, on water pump
Electricity work, pump 1071 can be by extending into the first specimen collection tube 1073 (such as flexible pipe) below the water surface
Absorbing water body sample, water body sample can flow into through water pump, the second specimen collection tube 1074 (such as flexible pipe)
To sample storage 1075 (such as water storage bottle).After sample collection completes, ground station control platform also can be sent out
Send " DO_SET_RELAY (0,0) " this sample collection order to control water pump to close, stop herein
Water body sample collection work.Unmanned plane can make a return voyage, or fly to target waters at next and carry out water body sample
This collecting work.
It will be understood by those skilled in the art that how by hardware (such as discrete hardware elements, integrated circuit,
Digital circuit based on gate device, analog circuit components and parts, programmable hardware device (such as single-chip microcomputer,
FPGA etc.) and the Circuits System etc. that constitutes of above combination in any) realize judging parts 102, controlling
The parts such as order generating unit 103 processed, acquisition controlling order generating unit 106.Such as, it is judged that parts 102
Can be made up of comparator and gate device.Control command generating unit 103 can be made up of trigger.Gather control
Order generating unit 106 processed can be made up of trigger.Again for example, it is possible to will determine that parts 102, control life
The hardware implementation mode making the parts such as generating unit 103, acquisition controlling order generating unit 106 is integrated in nothing
Man-machine flies to control in circuit, by flying to control the function of the above-mentioned parts of circuit realiration.Those skilled in the art should manage
Solve, it is also possible to realize above-mentioned each parts with arbitrarily other hardware modes well known by persons skilled in the art.
In one example, the hardware implementation mode judging parts 102 be integrated in unmanned plane fly control electricity
In the case of in road, sonac module can be connected with flying control by serial ports or I2C EBI, will
The unmanned plane measured notifies to judging parts 102 with the distance of the water surface.
Embodiment 2
Fig. 3 illustrates the sample acquisition system based on unmanned plane 300 according to another embodiment of this utility model
Structure chart.As it is shown on figure 3, sample acquisition system 300 based on unmanned plane includes: in embodiment 1
UAV system sample collecting device 100 and ground remote control parts 301.
Embodiment 3
A kind of unmanned plane, this UAV flight has the UAV system sample collecting device 100 in embodiment 1.
The above, detailed description of the invention the most of the present utility model, but protection domain of the present utility model
It is not limited thereto, the technology model that any those familiar with the art discloses at this utility model
In enclosing, change can be readily occurred in or replace, all should contain within protection domain of the present utility model.Cause
This, protection domain of the present utility model should be as the criterion with described scope of the claims.
Claims (9)
1. a UAV system sample collecting device, it is characterised in that described UAV system sample collection
Device includes:
Supersonic sounding parts, for measuring the distance between unmanned plane and objective plane；
Judge parts, be connected with described supersonic sounding parts, be used for judging described distance whether preset away from
Within the scope of from；
Control command generating unit, is connected with described judgement parts, for presetting described in described distance
Time within distance range, generate the first control command and the second control command；Described first control command is used
Hovering flight mode is started in making described unmanned plane；
Wireless transmission parts, for sending described second control command to ground remote control parts, with notice
Unmanned plane described in ground remote control parts is ready for sample collection and prepares；
Part of wireless receiver, for receiving the sample collection order that described ground remote control parts send；
Acquisition controlling order generating unit, is connected with described part of wireless receiver, according to described sample collection
Order generates acquisition controlling order；
Acquisition component, is connected with described acquisition controlling order generating unit, according to described acquisition controlling order,
Sample below objective plane is acquired.
UAV system sample collecting device the most according to claim 1, it is characterised in that described nothing
Man-machine load sample collecting device also includes: location navigation parts, is connected with described part of wireless receiver.
UAV system sample collecting device the most according to claim 2, it is characterised in that described fixed
Position navigation means is Big Dipper location navigation parts or GPS location navigation parts.
UAV system sample collecting device the most according to claim 1, it is characterised in that described in adopt
Collection parts include:
Pump, for sample drawn under objective plane；
Relay, is connected with described pump and described acquisition controlling order generating unit respectively, for according to institute
State acquisition controlling order to turn the pump on or close.
UAV system sample collecting device the most according to claim 4, it is characterised in that described in continue
The Enable Pin of electrical equipment i.e. IN end receives the acquisition controlling order from acquisition controlling order generating unit, public
End i.e. COM end connects the positive pole of the power interface of described pump, and normally opened end i.e. ON end is connected as described pump and supplies
The positive pole of the power supply of electricity.
UAV system sample collecting device the most according to claim 4, it is characterised in that described in adopt
Collection parts also include:
First specimen collection tube, is connected with the entrance of described pump；
Second specimen collection tube, is connected respectively with described delivery side of pump and sample storage；
Sample storage, is connected with described second specimen collection tube, for storing the sample that described pump is extracted
This.
UAV system sample collecting device the most according to claim 1, it is characterised in that described pre-
If distance range is 1.2m～2m.
8. a sample acquisition system based on unmanned plane, it is characterised in that described based on unmanned plane
Sample acquisition system includes:
UAV system sample collecting device as claimed in any of claims 1 to 7；
Ground remote control parts.
9. a unmanned plane, it is characterised in that described UAV flight with good grounds claim 1-7 kind is appointed
Anticipate a described UAV system sample collecting device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620336729.0U CN205580791U (en) | 2016-04-20 | 2016-04-20 | Unmanned aerial vehicle carries sample collection device, Sample collection system and unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620336729.0U CN205580791U (en) | 2016-04-20 | 2016-04-20 | Unmanned aerial vehicle carries sample collection device, Sample collection system and unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205580791U true CN205580791U (en) | 2016-09-14 |
Family
ID=56863378
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620336729.0U Expired - Fee Related CN205580791U (en) | 2016-04-20 | 2016-04-20 | Unmanned aerial vehicle carries sample collection device, Sample collection system and unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205580791U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106813946A (en) * | 2016-12-27 | 2017-06-09 | 东莞产权交易中心 | A kind of four axle unmanned planes of water quality detection |
| CN107063755A (en) * | 2017-05-29 | 2017-08-18 | 四川沃洛佳科技有限公司 | A kind of unmanned plane water sampling method |
| CN109000982A (en) * | 2018-07-24 | 2018-12-14 | 烟台伺维特智能科技有限公司 | A kind of unmanned aerial vehicle platform water surface sampler, system and method |
-
2016
- 2016-04-20 CN CN201620336729.0U patent/CN205580791U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106813946A (en) * | 2016-12-27 | 2017-06-09 | 东莞产权交易中心 | A kind of four axle unmanned planes of water quality detection |
| CN107063755A (en) * | 2017-05-29 | 2017-08-18 | 四川沃洛佳科技有限公司 | A kind of unmanned plane water sampling method |
| CN107063755B (en) * | 2017-05-29 | 2023-05-05 | 四川沃洛佳科技有限公司 | Unmanned aerial vehicle water sample collection method |
| CN109000982A (en) * | 2018-07-24 | 2018-12-14 | 烟台伺维特智能科技有限公司 | A kind of unmanned aerial vehicle platform water surface sampler, system and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP7014243B2 (en) | Equipment, methods and programs | |
| AU2018222910B2 (en) | Inspection vehicle control device, control method, and computer program | |
| US10060741B2 (en) | Topology-based data gathering | |
| RU2704614C1 (en) | Flight control system of an unmanned aerial vehicle with differential positioning based on the network cors | |
| CN111033561B (en) | System and method for navigating a robotic device using semantic information | |
| CN205580791U (en) | Unmanned aerial vehicle carries sample collection device, Sample collection system and unmanned aerial vehicle | |
| CN204613745U (en) | A kind of multifunctional small-size quadrotor | |
| CN203217082U (en) | Remotely-controlled flight GPS geographic information collection system | |
| CN104816829A (en) | Skyeye aircraft applicable to investigation | |
| CN107783552B (en) | Method and device for controlling return flight of unmanned aerial vehicle | |
| CN108885451A (en) | For controlling the method and system of loose impediment | |
| CN107861436A (en) | A kind of multi-rotor unmanned aerial vehicle high altitude environment detecting system | |
| CN103529465A (en) | Indoor and outdoor person seamless positioning device | |
| KR102379326B1 (en) | Disaster investigation system based on special vehicle and disaster investigation method using the same | |
| CN108845587A (en) | Unmanned plane real-time control system and unmanned plane | |
| CN108803633A (en) | A kind of unmanned plane low latitude monitoring system based on mobile communications network | |
| CN107466384A (en) | A kind of method and device for following the trail of target | |
| LU101922B1 (en) | A GPS and Ultrasonic Wave Based Outdoor Robot Positioning System and Method | |
| CN109564273A (en) | Search system and the transmitter used in the search system | |
| CN207367056U (en) | A kind of fire-fighting unmanned plane based on Mega2560 | |
| CN111295567A (en) | Course determining method, device, storage medium and movable platform | |
| US9776730B1 (en) | Independently operable flight data capture and transmission device | |
| CN204623845U (en) | Be applicable to the sky eye aircraft investigated | |
| CN209559255U (en) | A kind of explorer vehicle for search and rescue | |
| Karachalios et al. | Arduino sensor integrated drone for weather indices: A prototype for pre-flight preparation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160914 |