CN206841719U - A kind of more rotor Intelligent flight devices with function of taking photo by plane and jettisoning - Google Patents
A kind of more rotor Intelligent flight devices with function of taking photo by plane and jettisoning Download PDFInfo
- Publication number
- CN206841719U CN206841719U CN201720521931.5U CN201720521931U CN206841719U CN 206841719 U CN206841719 U CN 206841719U CN 201720521931 U CN201720521931 U CN 201720521931U CN 206841719 U CN206841719 U CN 206841719U
- Authority
- CN
- China
- Prior art keywords
- plane
- jettisoninging
- taking photo
- subsystem
- hole
- 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.)
- Active
Links
Landscapes
- Toys (AREA)
Abstract
The utility model provides a kind of more rotor Intelligent flight devices with function of taking photo by plane and jettisoning, including aircraft body, take photo by plane subsystem and subsystem of jettisoninging；Subsystem of taking photo by plane includes：Fixed shell, the bottom of fixed shell offer through hole；The top of support bar extends to the inside of cavity through through hole, and the top of support bar is installed with cross bar, and the left and right ends of cross bar are each lower to be installed with the 1st spring and the 2nd spring respectively；The rotatably mounted support of taking photo by plane in the bottom of support bar, aerial device is fixedly mounted on support of taking photo by plane.With advantages below：Due to realizing the flexible connection between aerial device and aircraft body, on the one hand, reduce body vibrations to the adverse effect of camera, ensure that the pickup quality of camera；On the other hand, the problem of connecting portion stress that traditional scheme has is larger is it also avoid, so as to extend aircraft service life.
Description
Technical field
The utility model belongs to aircraft studying technological domain, and in particular to a kind of more rotations with function of taking photo by plane and jettisoning
Wing Intelligent flight device.
Background technology
With the development and popularization of MEMS sensor, motor, single-chip microcomputer and battery technology, quadrotor turns into model plane
New master's strength on boundary.Quadrotor has simple in construction, easily controllable, VTOL, low compared with Fixed Wing AirVehicle
Cost and high stability, quickly, neatly it can carry out the features such as motor-driven in all directions.Therefore have in dual-use field
Prospect is widely applied, such as military attack, public security is chased, agriculture and forestry are investigated, disaster is searched and rescued, power transmission line is patrolled, ship model toy, wide
Publicity is accused to take photo by plane.
Existing all kinds of quadrotors, it is universal that only there is aerial photography function, also, the body of quadrotor is with taking the photograph
As head is rigidly connected, there is following deficiency：Due to quadrotor, caused vibrations are larger in flight course, therefore,
On the one hand, the pickup quality of camera is directly reduced, on the other hand, the portion that is rigidly connected between aircraft body and camera
Position stress is larger, is easily caused aircraft body and is damaged, reduces aircraft service life.How effectively to solve the above problems, be
Thing in the urgent need to address at present.
Utility model content
The defects of existing for prior art, the utility model provide a kind of more rotor intelligence with function of taking photo by plane and jettisoning
Energy aircraft, can effectively solve the above problems.
The technical solution adopted in the utility model is as follows：
The utility model provides a kind of more rotor Intelligent flight devices with function of taking photo by plane and jettisoning, including aircraft body
(8), take photo by plane subsystem and subsystem of jettisoninging；It is described to take photo by plane subsystem and the subsystem of jettisoninging is built in the flight
On device body；
Wherein, the subsystem of taking photo by plane includes：Fixed shell (1), the fixed shell (1) is closing housing, in having
Empty cavity；The fixed shell (1) is fixedly installed in the bottom of aircraft body；The bottom of the fixed shell (1) opens up
There is through hole；The top of support bar (2) extends to the inside of the cavity through the through hole, the top of the support bar (2)
It is installed with cross bar (3), the left and right ends of the cross bar (3) are each lower to be installed with the 1st spring (4) and the 2nd spring respectively
(5)；1st spring (4) and the 2nd spring (5) are vertically arranged, and its bottom is corresponding with the inwall of the fixed shell (1)
Position is fixed；The rotatably mounted support of taking photo by plane (6) in bottom of the support bar (2), it is fixedly mounted on the support of taking photo by plane (6)
Aerial device (7)；
The subsystem of jettisoninging includes：Jettisoning steering wheel (9), fixed base frame of jettisoninging (10) and swing arm (11)；The aircraft
The intracavity bottom of body (8) offers hole of jettisoninging；The slip lid covering that the hole use of jettisoninging can move left and right；The aircraft sheet
The inner chamber of body (8) and positioned at the top in the hole of jettisoninging, fixed base frame (10) of being jettisoninged described in fixed installation；The fixed seat of jettisoninging
Body (10) is provided with symmetrical left support abutment (10.1) and right support abutment (10.2)；The left support abutment (10.1) and the right support abutment
(10.2) left pin-and-hole and right pin-and-hole are symmetrically offered；One end of the swing arm (11) and the output end of the steering wheel of jettisoninging (9) connect
Connect；The other end of the swing arm (11) is inserted into the left pin-and-hole after passing through the right pin-and-hole, and the steering wheel of jettisoninging (9) passes through
Drive the swing arm (11) to be swung, realize function of jettisoninging.
Preferably, in addition to pitch regulation motor and motor is horizontally rotated；The output end of the pitch regulation motor and institute
State support of taking photo by plane (6) connection；The output end for horizontally rotating motor is connected with the support of taking photo by plane (6).
Preferably, the aerial device (7) is aerial camera.
Preferably, for the subsystem of taking photo by plane, in addition to control chip of taking photo by plane, wind speed measurement sensor and brightness detection
Sensor；It is described take photo by plane control chip respectively with the pitch regulation motor, described horizontally rotate motor, the shooting of taking photo by plane
Machine, the wind speed measurement sensor connect with the brightness detection sensor.
Preferably, the aircraft body (8) is provided with power supply；The power supply respectively with subsystem and the institute of taking photo by plane
State subsystem connection of jettisoninging.
A kind of more rotor Intelligent flight utensils with function of taking photo by plane and jettisoning provided by the utility model have the advantage that：
Due to realizing the flexible connection between aerial device and aircraft body, on the one hand, reduce body vibrations to taking the photograph
As the adverse effect of head, the pickup quality of camera ensure that；On the other hand, it also avoid the connecting portion that traditional scheme has
The problem of stress is larger, so as to extend aircraft service life.
Brief description of the drawings
Fig. 1 is the structural representation of subsystem provided by the utility model of taking photo by plane；
Fig. 2 is the structural representation of subsystem provided by the utility model of jettisoninging；
Fig. 3 is the structure chart of aircraft body provided by the utility model.
Embodiment
In order that technical problem, technical scheme and beneficial effect that the utility model solves are more clearly understood, below
With reference to drawings and Examples, the utility model is further elaborated.It should be appreciated that specific implementation described herein
Example only to explain the utility model, is not used to limit the utility model.
The utility model provides a kind of more rotor Intelligent flight devices with function of taking photo by plane and jettisoning, including aircraft body
8th, take photo by plane subsystem and subsystem of jettisoninging；Take photo by plane subsystem and subsystem of jettisoninging is built on aircraft body, therefore,
Aircraft body has two kinds of functions of taking photo by plane and jettisoning simultaneously, expands the feature of aircraft body, meets that people's difference makes
With demand, separately below to taking photo by plane subsystem and subsystem of jettisoninging describes in detail：
(1) take photo by plane subsystem
With reference to figure 1, subsystem of taking photo by plane includes：Fixed shell 1, fixed shell 1 are closing housing, have hollow cavity；
Fixed shell 1 is fixedly installed in the bottom of aircraft body；The bottom of fixed shell 1 offers through hole；Wear on the top of support bar 2
Cross through hole and extend to the inside of cavity, the top of support bar 2 is installed with cross bar 3, each lower difference in left and right ends of cross bar 3
It is installed with the 1st spring 4 and the 2nd spring 5；1st spring 4 and the 2nd spring 5 are vertically arranged, and its bottom is interior with fixed shell 1
Wall correspondence position is fixed；The rotatably mounted support 6 of taking photo by plane in the bottom of support bar 2, aerial device is fixedly mounted on support 6 of taking photo by plane
7。
By installing the 1st spring 4 and the 2nd spring 5 additional, cushioning effect is realized, it is achieved thereby that support bar and aircraft body
Between flexible connection, and then realize the flexible connection between aerial device and aircraft body, so, quadrotor
In flight course, when by flow perturbation, the 1st spring 4 and the 2nd spring 5 give support bar certain motion surplus, reduce machine
Body shakes the adverse effect to camera, ensure that the pickup quality of camera；And due to realizing aerial device and aircraft
Flexible connection between body, the problem of connecting portion stress that traditional scheme has is larger is it also avoid, it is winged so as to extend
Row device service life.
In addition, subsystem of taking photo by plane also includes pitch regulation motor and horizontally rotates motor；The output end of pitch regulation motor
Support 6 is connected with taking photo by plane, for adjusting the luffing angle for support of taking photo by plane；The output end and support 6 of taking photo by plane for horizontally rotating motor connect
Connect, for realizing horizontally rotating for support of taking photo by plane, and then adjust the level angle for support of taking photo by plane.
For subsystem of taking photo by plane, in addition to control chip of taking photo by plane, wind speed measurement sensor and brightness detection sensor；Boat
Clap control chip respectively with pitch regulation motor, horizontally rotate motor, aerial camera, wind speed measurement sensor and brightness detect
Sensor connects.Therefore, during aircraft flight, wind speed measurement sensor and brightness detection sensor detect flight in real time
Air speed value and brightness value near device, pitch regulation motor can be more accurately controlled according to air speed value and horizontally rotate motor,
Realize the precise positioning to photographic subjects；And the exposure degree of aerial camera is can control by brightness value, improve shooting quality.
For aerial device, realized using imaging sensor.Visual pattern, imaging sensor are also simultaneously four rotor flyings
" eyes " of device, for receiving visual signal, and the image of collection is passed back to by FPV first by wireless NFR24L01 modules and regarded
Angle, convenient flight control and the interception of image, NFR24L01 are the radio circuit transmittings of a 2.4G frequency.
Imaging sensor uses OV5640, and it is one 1/4 cun of CMOS of OV (OmniVision) company production
QSXGA (2592*1944) imaging sensor, there is provided a complete 500W pixel camera head solution, and be integrated with
Auto-focusing (AF) function, there is very high cost performance.The sensor bulk is small, operating voltage is low, there is provided monolithic QSXGA takes the photograph
As the institute of head and image processor is functional.By SCCB bus marcos, whole frame, sub-sampling can be exported, scales and takes window
Etc. 8/10 image data of various resolution ratio of mode.Product QSXGA images are up to 15 frames/second, and (1080P images are reachable
30 frames, 720P images are up to 60 frames, up to 120 frames during QVGA resolution ratio).User can control picture quality, data lattice completely
Formula and transmission means.All image processing function processes, which include gamma curve, white balance, contrast, colourity etc., to be passed through
SCCB interface programmings.The exclusive sensor technology of image sensor application, by reducing or eliminating optics or electronic defects as admittedly
Determine pattern noise, hangover, bloom etc., improve picture quality, obtain steady and audible coloured image.
The characteristics of OV5640, mainly has：
It is (high sensitivity, low to reach higher performance using 1.4 μm of * 1.4 μm of pixel sizes, and using OmniBSI technologies
Crosstalk and low noise).
Automated graphics control function：Automatic exposure (AEC), AWB (AWB), light striped is eliminated automatically, be automatic
Black-level alignment (ABLC) and automatic bandpass filter (ABF) etc..
Support picture quality control：Color saturation regulation, tone regulation, gamma calibrations, acutance and lens calibration etc..
The SCCB interfaces of standard, compatible IIC interfaces.
Support RawRGB, RGB (RGB565/RGB555/RGB444), CCIR656, YUV (422/420), YCbCr (422)
With compression image (JPEG) output format.
The output of QSXGA (500W) picture size is supported, and is scaled down to other any sizes.
Support flash lamp.
Image scaling, translation and window is supported to set.
Support compression of images, you can output jpeg image data.
Support digital visual interface (DVP) and MIPI interfaces.
Support auto-focusing.
Carry embedded microprocessor
(2) jettisoning subsystem
Subsystem of jettisoninging includes：Jettisoning steering wheel 9, jettisoning fixed base frame 10 and swing arm 11；The intracavity bottom of aircraft body 8
Offer hole of jettisoninging；The slip lid covering that hole use of jettisoninging can move left and right；The inner chamber of aircraft body 8 and positioned at jettisoninging the upper of hole
Side, fixed base frame 10 of jettisoninging is fixedly mounted；Fixed base frame 10 of jettisoninging is provided with symmetrical left support abutment 10.1 and right support abutment
10.2；Left support abutment 10.1 and right support abutment 10.2 symmetrically offer left pin-and-hole and right pin-and-hole；One end of swing arm 11 and steering wheel 9 of jettisoninging
Output end connects；The other end of swing arm 11 is inserted into left pin-and-hole after passing through right pin-and-hole, and steering wheel 9 of jettisoninging is by driving swing arm 11 to enter
Row swings, and realizes function of jettisoninging.
During actual use, when need not jettisoning function when, hole of jettisoninging is closed by slip lid；When need to jettisoning function when, it is first
Slip lid is first opened using electronic mode, exposes hole of jettisoninging；It is placed at the top of shooting rope in driving swing arm；Steering wheel work of jettisoninging is driven,
Steering wheel of jettisoninging drives swing arm to move from left to right, so that the left end of swing arm departs from left pin-and-hole, in swing arm moving process, shooting rope
Top depart from swing arm, realization is jettisoninged function.
Steering wheel of jettisoninging is reequiped by Futaba s3003 steering wheels to be completed, and steering wheel of jettisoninging is mainly by steering wheel, train of reduction gears, position
Feedback potentiometer, direct current generator, control circuit etc. form, and the steering wheel after repacking, can by one passage control Push And Release of remote control
Carry 3-4KG goods, it can be achieved to launch the fixed point of article.
(3) aircraft body
As shown in figure 3, it is the structure chart of aircraft body, using STM32F4 as core processor, the processor cores
Framework ARM Cortex-M4 have the characteristics that high-performance, low cost, low-power consumption.
Master control borad includes sensor MPU9250, circuit module, wireless NFR24L01 modules, electric motor starting module, power supply pipe
Manage module etc.；It is remotely controlled commodity in use remote control and receiver.Control chip receives the SBUS command signals of receiver by serial ports,
Connected between sensor and control chip using spi bus, control signal is transmitted with PWM between MCU and electricity tune.
Aircraft body configuration radio-frequency system, power-supply system, Motor execution module and navigation module.
(3.1) radio-frequency system
Radio-frequency system is used in real time receive and dispatch the video collected by wireless radiofrequency.What the channel of radio frequency used
It is 2.4G, 2.4GHz is an open frequency range, and the high-speed transfer of data, the work(of module can be achieved using SPI interface in it
Consume it is small, securely and reliably.Finally signal is handled, stored in movable memory equipment such as SD card or USB flash disk.
The basic parameter of NFR24L01 wireless transmitter modules
Parameter (condition) numerical value/unit
(recommend 3.3v V using voltage 3-3.6v
Peak power output+20dBm
Emission mode operating current (peak value) 115MA
Reception pattern operating current (peak value) 45MA
Power-down mode electric current 4.2UA
- 20 DEG C of operating temperature
Receive clever degree 2Mbps patterns -92dBm
Receive clever degree 1Mbps patterns -95dBm
Receive clever degree 250Kbps patterns -104dBm
PA gains 20dB
LNA gains 10dB
LNA voice coefficients 2.6dB
Antenna gain (peak value) 2Dbi
520m (openly) under 2MB speed
(3.2) power-supply system
The whole power-supply system for flying control plate supports that input current is big, and output current is big, voltage stabilization, securely and reliably, passes through
Adjust output resistance, you can realize the output configuration of voltage, onboard design is conveniently.It is electric according to partial pressure simultaneously in Input voltage terminal
Resistance, it is convenient that the voltage of whole system is adopted into earth station, it is convenient to judge.
The module essential electrical characteristic：
1st, input voltage：7 arrive 36V
2nd, output voltage：2.5 arrive 12.6V
3rd, maximum output current：3A
4th, power：45W
5th, pressure difference：1V
The voltage stabilization of above-mentioned power-supply system, electric current is larger, can be straight as the input of next stage 3.3V power supplys, the design
Connect and employ linear LDO LD1117 chips, voltage is dropped into 3.3V from 5V, realize the power supply to flying control MCU and other peripheral hardwares,
LD1117 pressure differences are small, and output is stable, securely and reliably.It is widely used in industrial control field.
(3.3) Motor execution module
Motor execution module is by four rotor flying controllers and DC brushless motor electron speed regulator and brush DC electricity
Machine.Controllers of the STM32F103C8T6 as DC brushless motor electron speed regulator, four arms of rotor four by one individually
Electricity adjust the rotating speed of controlled motor, control signal is calculated by algorithm by the master control borad of quadrotor and passes through PWM
The control chip that each electricity is adjusted is transmitted to, the executing agency of the design uses DC brushless motor, a kind of typical electromechanical integration
Product, alternative DC motor speed-regulating, frequency converter+variable-frequency motor speed governing, asynchronous machine+reductor speed governing, needed suitable for those
Want the high-power dynamical system of high-torque.
(3.4) navigation module
Navigation feature is made up of GPS navigation system and HMC5883L magnetic compasses, and GPS uses UBLOX M8N modules, the module
The Big Dipper is supported simultaneously, the exploitation in later stage can be facilitated, the module mainly has following advantage, convenient use.
The technical parameter of the module is as follows：
Operating voltage：DC5V
Search the star time：20 seconds
Search star number amount：Depending on environment, be up to 26
Precision：0.9 meter or so
Weight：30g
Connection：4 pins of compass/GPS
LED：Bright light flashes after searching out star
Precise positioning hovering plug and play is realized in the presence of the GPS module, there is provided precise positioning, make a return voyage automatically, intelligence
The functions such as energy direction controlling.In gps mode, longitude and latitude and high precision hovering can be locked simultaneously, even it is larger in wind-force
Situation, similarly can in the range of very little steadily hovering.Under the support of the module, quadrotor can be realized a little
Path planning to point moves, and realizes stronger navigation feature.
Described above is only preferred embodiment of the present utility model, it is noted that for the common skill of the art
For art personnel, on the premise of the utility model principle is not departed from, some improvements and modifications can also be made, these improve and
Retouching should also regard the scope of protection of the utility model.
Claims (5)
1. a kind of have the more rotor Intelligent flight devices of function of taking photo by plane and jettisoning, it is characterised in that including aircraft body (8),
Take photo by plane subsystem and subsystem of jettisoninging；It is described to take photo by plane subsystem and the subsystem of jettisoninging is built in the aircraft sheet
On body；
Wherein, the subsystem of taking photo by plane includes：Fixed shell (1), the fixed shell (1) are closing housing, are had hollow
Cavity；The fixed shell (1) is fixedly installed in the bottom of aircraft body；The bottom of the fixed shell (1) offers logical
Hole；The top of support bar (2) extends to the inside of the cavity through the through hole, and the top of the support bar (2) is fixed
Cross bar (3) is installed, the left and right ends of the cross bar (3) are each lower to be installed with the 1st spring (4) and the 2nd spring (5) respectively；
1st spring (4) and the 2nd spring (5) are vertically arranged, its bottom and the inwall correspondence position of the fixed shell (1)
It is fixed；The rotatably mounted support of taking photo by plane (6) in bottom of the support bar (2), it is fixedly mounted on the support of taking photo by plane (6) and takes photo by plane
Device (7)；
The subsystem of jettisoninging includes：Jettisoning steering wheel (9), fixed base frame of jettisoninging (10) and swing arm (11)；The aircraft body
(8) intracavity bottom offers hole of jettisoninging；The slip lid covering that the hole use of jettisoninging can move left and right；The aircraft body
(8) inner chamber and positioned at the top in the hole of jettisoninging, fixed base frame (10) of being jettisoninged described in fixed installation；The fixed base frame of jettisoninging
(10) symmetrical left support abutment (10.1) and right support abutment (10.2) are provided with；The left support abutment (10.1) and the right support abutment
(10.2) left pin-and-hole and right pin-and-hole are symmetrically offered；One end of the swing arm (11) and the output end of the steering wheel of jettisoninging (9) connect
Connect；The other end of the swing arm (11) is inserted into the left pin-and-hole after passing through the right pin-and-hole, and the steering wheel of jettisoninging (9) passes through
Drive the swing arm (11) to be swung, realize function of jettisoninging.
A kind of 2. more rotor Intelligent flight devices with function of taking photo by plane and jettisoning according to claim 1, it is characterised in that
Also include pitch regulation motor and horizontally rotate motor；The output end of the pitch regulation motor connects with the support of taking photo by plane (6)
Connect；The output end for horizontally rotating motor is connected with the support of taking photo by plane (6).
A kind of 3. more rotor Intelligent flight devices with function of taking photo by plane and jettisoning according to claim 2, it is characterised in that
The aerial device (7) is aerial camera.
A kind of 4. more rotor Intelligent flight devices with function of taking photo by plane and jettisoning according to claim 3, it is characterised in that
For the subsystem of taking photo by plane, in addition to control chip of taking photo by plane, wind speed measurement sensor and brightness detection sensor；It is described to take photo by plane
Control chip respectively with the pitch regulation motor, it is described horizontally rotate motor, the aerial camera, the wind speed measurement pass
Sensor connects with the brightness detection sensor.
A kind of 5. more rotor Intelligent flight devices with function of taking photo by plane and jettisoning according to claim 1, it is characterised in that
The aircraft body (8) is provided with power supply；The power supply respectively with it is described take photo by plane subsystem and it is described jettisoning subsystem connect
Connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720521931.5U CN206841719U (en) | 2017-05-11 | 2017-05-11 | A kind of more rotor Intelligent flight devices with function of taking photo by plane and jettisoning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720521931.5U CN206841719U (en) | 2017-05-11 | 2017-05-11 | A kind of more rotor Intelligent flight devices with function of taking photo by plane and jettisoning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206841719U true CN206841719U (en) | 2018-01-05 |
Family
ID=60795546
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720521931.5U Active CN206841719U (en) | 2017-05-11 | 2017-05-11 | A kind of more rotor Intelligent flight devices with function of taking photo by plane and jettisoning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206841719U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108945465A (en) * | 2018-08-22 | 2018-12-07 | 江苏心源航空科技有限公司 | A kind of battery for electronic multi-rotor aerocraft is jettisoninged and recycling positioning device |
| CN109094780A (en) * | 2018-09-04 | 2018-12-28 | 炬众钛合（天津）科技发展有限公司 | A kind of packing material based on aircraft transport |
| CN111377055A (en) * | 2018-12-28 | 2020-07-07 | 成都天府新区光启未来技术研究院 | Unmanned aerial vehicle releasing device and releasing method |
-
2017
- 2017-05-11 CN CN201720521931.5U patent/CN206841719U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108945465A (en) * | 2018-08-22 | 2018-12-07 | 江苏心源航空科技有限公司 | A kind of battery for electronic multi-rotor aerocraft is jettisoninged and recycling positioning device |
| CN108945465B (en) * | 2018-08-22 | 2024-02-23 | 江苏心源航空科技有限公司 | Battery throwing and recycling positioning device for electric multi-rotor aircraft |
| CN109094780A (en) * | 2018-09-04 | 2018-12-28 | 炬众钛合（天津）科技发展有限公司 | A kind of packing material based on aircraft transport |
| CN111377055A (en) * | 2018-12-28 | 2020-07-07 | 成都天府新区光启未来技术研究院 | Unmanned aerial vehicle releasing device and releasing method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206841719U (en) | A kind of more rotor Intelligent flight devices with function of taking photo by plane and jettisoning | |
| CN104154997B (en) | A kind of UAV system small-sized self-stabilization aviation multi-optical spectrum imaging system | |
| CN101914893B (en) | Bridge detection robot based on four-axle aircraft | |
| CN207117778U (en) | Image intake device, moveable platform and image capturing equipment | |
| CN102879603B (en) | Balloon-carried type water flow imaging and speed measurement system facing torrential flood emergency monitoring | |
| CN103754380B (en) | A kind of many lens aerial photography stable platforms | |
| WO2021129001A1 (en) | Underwater and aerial robot | |
| CN205017413U (en) | Shoot device based on unmanned vehicles | |
| CN106791418A (en) | A kind of free-standing holder for aerial photographing system and its control method | |
| CN103795921A (en) | Automatic testing photography control device | |
| CN205726068U (en) | The light compensating apparatus of unmanned vehicle | |
| CN103763473A (en) | Control device for adjusting parameters of aerial camera in real time | |
| CN106549447A (en) | A kind of charging method and charging system of mobile terminal | |
| CN204046708U (en) | The aerial aerial camera wireless remote of unmanned plane is taken photo by plane control system | |
| CN203747305U (en) | Miniature quad-rotor unmanned aerial vehicle electric power line infrared patrol inspection system | |
| CN105905286A (en) | Unmanned aerial vehicle with thrust line variable device | |
| CN205738070U (en) | There is the unmanned plane of thrust line variset | |
| CN109748158A (en) | A kind of unmanned plane cable automatic retraction device | |
| CN111832379A (en) | Unmanned aerial vehicle real-time video detection system based on convolutional neural network | |
| CN106741892B (en) | A kind of more rotor aerial photography aircrafts | |
| CN203747901U (en) | Control device for adjusting parameters of aerial camera in real time | |
| CN208086031U (en) | A kind of unmanned plane with gondola | |
| CN206350071U (en) | A kind of free-standing holder for aerial photographing system | |
| CN206540846U (en) | A kind of bridge bottom crack detection system based on unmanned plane during flying platform | |
| CN207650653U (en) | Gesture control quadrotor based on Leap Motion |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |