CN207249489U - A kind of unmanned plane and robot link job platform in the air - Google Patents
A kind of unmanned plane and robot link job platform in the air Download PDFInfo
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- CN207249489U CN207249489U CN201721105573.6U CN201721105573U CN207249489U CN 207249489 U CN207249489 U CN 207249489U CN 201721105573 U CN201721105573 U CN 201721105573U CN 207249489 U CN207249489 U CN 207249489U
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Abstract
The utility model provides a kind of unmanned plane and robot and links in the air job platform, including：Eight rotor wing unmanned aerial vehicle bodies, ground station control system, data transmission system, image delivering system, holder camera, unmanned plane electric lifting device frame, searchlight, warning lamp, robot carrying platform, battery management system, system for flight control computer, avoidance alignment system, carrying executing agency, carry executing agency to be made of the robot that can complete different concrete functions, carry executing agency and be installed on the robot carrying platform；The utility model is combined unmanned plane with the advantage of robot manipulating task, on the premise of operating worker safety is ensured, improves the efficiency of electric operating.
Description
Technical field
The utility model belongs to unmanned plane electric power line inspection technical field, and more particularly to a kind of unmanned plane and robot are aerial
Link job platform.
Background technology
With the continuous development of UAV system and its correlation technique, its application prospect is further wide, and application scenarios are also cured
Add complexity, particularly take photo by plane in the such as agricultural plant protection of some civil fields, video display, electric inspection process etc. plays increasing work
With.In electric inspection process field, the tasks such as the infrared, ultraviolet detection of UAV flight's visible light shooting, machine are presently mainly utilized
Carry equipment and flight inspection is carried out to transmission line of electricity, and field condition is returned into ground control system in real time, correctly sentence to make
Disconnected and manpower debugging ircuit fault, but also fresh at this stage can accomplish to utilize unmanned plane machine system debugging ircuit fault less.And
And the prior art there is a problem in that, 1. load-carryings are light, and general domestic mainstream UAV system Beijing South Maxpower Technology Co. Ltd reaches 5 kilograms；2. continuation of the journey
Ability is weak, and most of unmanned planes are all unable to flying for long time, and general cruising ability all probably only has half an hour, if utilizing nothing
The exclusion of man-machine carry out fault, that just needs constantly to charge to unmanned plane；3. it is not easy precisely to hover, therefore unmanned plane is in sky
In be difficult effect to object applying power.
Therefore, from described above, how UAV system is combined for electric operating with robot manipulating task, and
And can also solve the problems, such as that unmanned plane cruising ability is weak, be not easy precisely to hover, become current Navigation of Pilotless Aircraft control field urgently
The problem solved.
Utility model content
In view of the foregoing deficiencies of prior art, the purpose of this utility model is that solving to provide a kind of unmanned plane and machine
Device people links job platform in the air.
To realize above-mentioned purpose of utility model, technical solutions of the utility model are as follows：
A kind of unmanned plane and robot link job platform in the air, including with lower part：
Eight rotor wing unmanned aerial vehicle bodies, include unmanned plane driving motor, the paddle of front fuselage of unmanned aerial vehicle body, fuselage interior
Leaf；
Ground station control system, for receiving unmanned plane status information and job information, and sends the control to unmanned plane
System instruction；
Data transmission system, for the control instruction between unmanned plane and ground station control system and unmanned plane status information
Transmission；
Image delivering system, described image Transmission system are used for unmanned plane by the working environment information captured by holder camera
It is transmitted back to ground station control system；
Holder camera, the holder camera are installed on dynamic mount, and the holder camera is according to the ground station control system
The instruction of system is rotated and elevating movement；
Unmanned plane electric lifting device frame, the unmanned plane electric lifting device frame is installed on the both sides of unmanned aerial vehicle body bottom, with machine
The junction of body uses digital rudder controller；The digital rudder controller to control undercarriage pack up and expansion action；
Searchlight, selects LED light, including drive circuit, control module, the searchlight according to the difference of ambient light and
Adjust different brightness；
Warning lamp, the warning lamp are installed on unmanned plane brushless electric machine seat bottom, and the warning lamp selects three-color LED light,
Flash color and changeable frequency under unmanned plane different conditions；
Robot carrying platform, the robot carrying platform are installed on robot fuselage bottom, including shifting sledge, control
Device processed, robot retaining mechanism；
Battery management system, the battery management system include unmanned plane power battery, battery management controller, cell tube
Reason controller is estimated for electric charge and power battery electric discharge management；The unmanned plane power battery is lithium battery；
System for flight control computer, the system for flight control computer includes inertial navigation unit, magnetometer, barometer, GPS, described
Inertial navigation unit is exporting the value at UAV Attitude angle and 3-axis acceleration；
Avoidance alignment system, the avoidance alignment system include camera, radar, ultrasonic wave module, the camera peace
Two cameras are installed in surrounding loaded on robot, each direction, and the ultrasonic wave module is installed on robot fuselage four
Week；
Executing agency is carried, the carrying executing agency is made of the robot that can complete different concrete functions, described
Carry executing agency be installed on the robot carrying platform on, it is described carrying executing agency using unmanned plane as data relay point,
Its data transfer is returned into ground control system.
It is preferred that carrying executing agency includes：Branch pruning machine people, more shaft locking robots and deicing machine
People's one or more therein.
It is preferred that ground station control system includes data receipt unit and computer, the data receipt unit
The data received are transferred directly to computer to be handled.
It is preferred that the data transmission system and described image Transmission system are independently independent using two
Passage, control instruction and unmanned plane status information and carrying robot manipulating task information are conveyed by the data transmission system,
The information of the holder camera is transmitted by image delivering system.
It is preferred that the holder camera is installed on the front end of unmanned plane, the holder of holder camera is in control instruction
Controlled motion under be rotated and elevating movement.
It is preferred that unmanned plane be equipped with unmanned plane driving motor coaxle installation protective cover, unmanned plane it is every
One blade has a protective cover protection, and the shape of the unmanned machine protective cover is circle, and material is carbon fiber.
It is preferred that the shifting sledge of the robot carrying platform is installed on the side parallel with electric lifting device frame
To carrying robot, face is moved on its track, and the robot retaining mechanism is by Minitype digital servos control with autonomous control
The movement of robot, the controller are used between the movement for controlling carrying platform and the robot with being carried establish logical
News.
It is preferred that the inertial navigation unit of the system for flight control computer adds to export UAV Attitude angle and three axis
The value of speed, the inertial navigation unit is installed at the geometric center of unmanned plane body, when unmanned plane makes in a new environment
Used time, it is necessary to calibrate magnetometer and barometer, the GPS is installed on the outside of unmanned plane body by strut.
It is preferred that the camera of the avoidance alignment system is installed on unmanned aerial vehicle body surrounding, each direction peace
Two cameras are filled, constant distance between the camera of two, each direction, the ultrasonic wave module is installed on unmanned plane
A ultrasonic wave module is installed in fuselage surrounding, each direction, and the avoidance alignment system is to structure robot environment three in real time
Map is tieed up, and coordinate of the robot in surrounding environment is sent back into ground station control system.
It is installed on it is preferred that each carrying executing agency by card slot on the robot carrying platform, it is described
The control instruction that executing agency receives unmanned plane is carried, the carrying executing agency can singly complete a certain item power circuit and make
Industry works.
The beneficial effects of the utility model are：Compared with prior art, the utility model is by unmanned plane and robot manipulating task
Advantage combine, on the premise of operating worker safety is ensured, improve the efficiency of electric operating.
Brief description of the drawings
Fig. 1 is unmanned plane described in the utility model and robot linkage aerial work platform integral module schematic diagram；
Fig. 2 is linkage aerial work platform 3 dimensional drawing described in the utility model.
Fig. 3 is linkage aerial work platform front view described in the utility model.
Fig. 4 is linkage aerial work platform side view described in the utility model.
Wherein, 301 it is holder camera, 302 be unmanned plane electric lifting device frame, 303 be unmanned machine protective cover, 304 is eight rotations
Wing unmanned plane body, 305 be searchlight, 306 be warning lamp, 307 be robot carrying platform, 308 be battery management system,
309 be system for flight control computer, and 310 be avoidance alignment system.
Embodiment
Illustrate the embodiment of the utility model below by way of specific instantiation, those skilled in the art can be by this theory
Content disclosed by bright book understands other advantages and effect of the utility model easily.The utility model can also be by addition
Different embodiments are embodied or practiced, and the various details in this specification can also be based on different viewpoints with answering
With carrying out various modifications or alterations under the spirit without departing from the utility model.
A kind of unmanned plane and robot link job platform in the air, including with lower part：
Eight rotor wing unmanned aerial vehicle bodies, include unmanned plane driving motor, the paddle of front fuselage of unmanned aerial vehicle body, fuselage interior
Leaf；Unmanned plane is equipped with the protective cover with unmanned plane driving motor coaxle installation, each blade of unmanned plane has an institute
Protective cover protection is stated, the shape of the unmanned machine protective cover is circle, and material is carbon fiber.
Ground station control system, for receiving unmanned plane status information and job information, and sends the control to unmanned plane
System instruction；Ground station control system includes data receipt unit and computer, the data that the data receipt unit will receive
Computer is transferred directly to be handled.
Data transmission system, for the control instruction between unmanned plane and ground station control system and unmanned plane status information
Transmission；
Image delivering system, described image Transmission system are used for unmanned plane by the working environment information captured by holder camera
It is transmitted back to ground station control system；Data transmission system and the described image Transmission system is independently independent using two
Passage, control instruction and unmanned plane status information and carrying robot manipulating task information are conveyed by the data transmission system,
The information of the holder camera is transmitted by image delivering system.
Holder camera, the holder camera are installed on dynamic mount, and the holder camera is according to the ground station control system
The instruction of system is rotated and elevating movement；The holder camera is installed on the front end of unmanned plane, and the holder of holder camera is being controlled
Make and be rotated and elevating movement under the controlled motion of instruction.
Unmanned plane electric lifting device frame, the unmanned plane electric lifting device frame is installed on the both sides of unmanned aerial vehicle body bottom, with machine
The junction of body uses digital rudder controller；The digital rudder controller to control undercarriage pack up and expansion action；
Searchlight, selects LED light, including drive circuit, control module, the searchlight according to the difference of ambient light and
Adjust different brightness；
Warning lamp, the warning lamp are installed on unmanned plane brushless electric machine seat bottom, and the warning lamp selects three-color LED light,
Flash color and changeable frequency under unmanned plane different conditions；All respectively there is a LED light below eight motor cabinets.Heading
The color of LED etc. is always green.
Robot carrying platform, the robot carrying platform are installed on robot fuselage bottom, including shifting sledge, control
Device processed, robot retaining mechanism；The shifting sledge of the robot carrying platform is installed on the direction parallel with electric lifting device frame,
Carrying robot, face is moved on its track, and the robot retaining mechanism is by Minitype digital servos control with autonomous control machine
The movement of people, the controller are used to establish communication between the movement for controlling carrying platform and the robot with being carried.
Battery management system, the battery management system include unmanned plane power battery, battery management controller, cell tube
Reason controller is estimated for electric charge and power battery electric discharge management；The unmanned plane power battery is lithium battery；
System for flight control computer, the system for flight control computer includes inertial navigation unit, magnetometer, barometer, GPS, described
Inertial navigation unit is exporting the value at UAV Attitude angle and 3-axis acceleration；The inertial navigation unit of the system for flight control computer to
The value of UAV Attitude angle and 3-axis acceleration is exported, the inertial navigation unit is installed at the geometric center of unmanned plane body, when
Unmanned plane in a new environment in use, have to calibration magnetometer and barometer, the GPS nothing is installed on by strut
On the outside of man-machine body.
Avoidance alignment system, the avoidance alignment system include camera, radar, ultrasonic wave module, the avoidance positioning
The camera of system is installed on unmanned aerial vehicle body surrounding, and two cameras are installed in each direction, and two, each direction is taken the photograph
As constant distance between head, the ultrasonic wave module is installed on unmanned aerial vehicle body surrounding, and a ultrasonic wave mould is installed in each direction
Block, the avoidance alignment system is to structure robot environment's three-dimensional map, and by robot in surrounding environment in real time
Coordinate sends back ground station control system.
Executing agency is carried, the carrying executing agency is made of the robot that can complete different concrete functions, described
Carry executing agency be installed on the robot carrying platform on, it is described carrying executing agency using unmanned plane as data relay point,
Its data transfer is returned into ground control system.Carrying executing agency includes：Branch pruning machine people, more shaft locking robots and remove
Ice robot one or more therein.Each executing agency of carrying is installed on the robot carrying platform by card slot,
The control instruction carried executing agency and receive unmanned plane, the carrying executing agency can singly complete a certain item power line
Road work operations.
Specifically, holder camera 301 by key chain carry immediately below unmanned plane；Unmanned plane electric lifting device frame 302 is pacified
Mounted in fuselage side；Unmanned machine protective cover 303 is installed above each unmanned plane wing；Searchlight 305 and warning lamp 306 are all
It is arranged on directly over fuselage, to facilitate operator to be controlled when taking off；Battery management system 308, system for flight control computer 309
In the box below fuselage, robot carrying platform 307 is carried below；Avoidance alignment system is installed on unmanned plane
To facilitate data transfer immediately below GPS.During normal work, branch pruning machine is carried on unmanned plane robot carrying platform 307
People or more shaft locking robots fly to electric wire, and when close to electric wire, the gripper above unmanned plane electric lifting device frame 302 is made
Reaction holds on to electric wire, and unmanned plane, which only needs to adjust pitch attitude, can just make the executing agency carried above to wire motion
Or unmanned plane is returned, this completes whole process.
In one embodiment of the utility model, ground station control system is mainly used for human-computer interaction and staff
Complete the control and command of multiple no-manned plane.Developed ground station software is installed in a computer, earth station's software includes two
A window.Instruction window, another window are data display window to first window in order to control.Pass through the data display window
Can be with real-time monitored unmanned plane and robotary information, including remaining capacity, sensor states, job schedule etc..Except this
Outside, the video information that the shooting of holder camera is returned can also be shown in the window.The instruction of the order control window can
By computer Chinese input with keyboard, can also be inputted by unmanned controller.
In one embodiment of the utility model, the travel condition of unmanned plane has both of which, is respectively full-automatic mould
Formula and manual mode.Fully automatic mode makes a return voyage including a key, pinpoints detection, line walking detection.One key makes a return voyage suitable for nobody
The return coordinate that machine is set according to departure time auto-returned point after completion task.Especially when there is Unmanned Aerial Vehicle Data Link
Interrupt when special circumstances, unmanned plane can automatically switch to a key and make a return voyage state, avoid unmanned plane that accident occurs.The fixed point inspection
Survey and be used for the specific coordinates such as unmanned plane detection shaft tower, detection height and detection radius can be set.The line walking detection is used for
When UAV flight it is infrared when line walking module when, can automatically high Airborne Search transmission line of electricity complete automatic detecting task.
In one embodiment of the utility model, the communication channel of unmanned plane has two, is respectively data transfer and figure
As transmission.In normal state, described two passages are not interfere with each other, and each complete respective task.When one of passage is sent out
During raw data chain interruption, two data-links can automatically switch a shared data transmission channel, but data transfer is preferential.
In one embodiment of the utility model, holder camera is installed on damping, and damping is connected as flexible connect
The problems such as connecing, the picture that unmanned plane shake is brought can be overcome unintelligible.The holder can carry out pitching and rotation.Manual
When pattern operates completion task, holder camera can select not install.Holder camera is installed in selection, it is especially dark in environment
In the environment of searchlight can be opened when work carry out light filling.
In one embodiment of the utility model, unmanned plane battery management system is responsible for the pre- of complete machine movement battery charge
Estimate and management of discharging, during unmanned plane execution task, the battery management system can detect remaining capacity, root in real time
According to unmanned plane task intensity feedback residue operating time.Before execution task, operating personnel can set remaining capacity warning level
Value, when electricity is less than the threshold value set, warning lamp flashing red light, flicker frequency is accelerated.When remaining capacity wretched insufficiency, nothing
It is man-machine to be switched to automatic state of making a return voyage.
In one embodiment of the utility model, avoidance alignment system can pass through the sensor constructing environment three of carrying
Image is tieed up, particularly, the coordinate of unmanned plane in space can be accurately represented in the three-dimensional map of structure.Unmanned plane with
During robot coordinating operation, unmanned plane is in order to coordinate robot, it is necessary to the high fine setting campaign of precision.The avoidance system carried
System can send alarm signal when unmanned plane soon touches barrier.
In one embodiment of the utility model, robot carrying platform is used to carry executing agency.The machine
People's carrying platform can control the robot carried into row position.The cooperation of unmanned plane and robot mainly includes following 3
Kind mode：
(1), the robot for performing certain particular task is invested in the shaft tower in high-altitude as aerial delivery device by unmanned plane
Or operation is carried out on transmission line of electricity.
(2), unmanned plane auxiliary robot, which coordinates, completes aerial work task.Unmanned plane utilizes the camera and biography carried
Sensor can be fed back and corrected to the movement of robot.
(3), unmanned plane and robot cooperate jointly completes aerial work task.
A kind of cooperation mode of lower mask body combination unmanned plane and robot introduces the application of the utility model.In the reality
Apply UAV flight's branch in example and build trimming task of the robot completion to the branch around transmission line of electricity.
It is whether intact in the state of each actuator of unmanned plane pre-takeoff check first, check that the branch of execution task is built
Robotary.The subsystems of system are examined according to pre-takeoff check order.
Earth station's monitoring system, UAV system, the power switch of branch pruning machine people are opened respectively, check earth station
Whether control system communicates normal with unmanned plane.Then calibration sensor.Wait program self-test.
After the completion of all artificial inspections and program self-test, one key of unmanned plane is set to make a return voyage a little, by the operation shape of unmanned plane
State is switched to manual mode.Then manipulator is taken off the unmanned plane for carrying branch pruning machine people using remote controler, and arriving in by plane needs
The transmission line of electricity overhead of the branch to be trimmed.
At this time unmanned plane be switched to it is automatic fly with state that is being combined manually, unmanned plane automatic cruise mode is opened, the mould
Formula can control unmanned plane to be moved distance away with transmission line of electricity.The trim mode of people branch trimmer device people in order to control
Formula.Branch pruning function is opened in the navigation stage for having branch.During execution task, UAV flight's branch trimmer
Device people moves according to the relative distance fixed with transmission line of electricity all the time, therefore can will stretch into branch pruning in the range of this
Fall.
When unmanned plane and branch pruning machine people coordinate and perform branch pruning task, the holder phase of UAV flight
The ambient condition information detected can be fed back to earth station by the other equipments such as machine.
When the task of completion or not enough power supply, unmanned plane starts function of making a return voyage, and is fed back according to earth station
Information can also control the return of unmanned plane manually.Auto-returned is by back to the starting point of unmanned plane.Returning to coordinate manually can
To be determined according to actual conditions.
The above embodiments are only illustrative of the principle and efficacy of the utility model, new not for this practicality is limited
Type.Any person skilled in the art can all carry out above-described embodiment under the spirit and scope without prejudice to the utility model
Modifications and changes.Therefore, all those of ordinary skill in the art are without departing from the revealed spirit of the utility model
With all equivalent modifications completed under technological thought or change, should be covered by the claim of the utility model.
Claims (10)
- The job platform 1. a kind of unmanned plane and robot link in the air, it is characterised in that including with lower part：Eight rotor wing unmanned aerial vehicle bodies, include unmanned plane driving motor, the blade of front fuselage of unmanned aerial vehicle body, fuselage interior；Ground station control system, for receiving unmanned plane status information and job information, and the control sent to unmanned plane refers to Order；Data transmission system, for the control instruction between unmanned plane and ground station control system and the biography of unmanned plane status information It is defeated；Image delivering system, described image Transmission system are used for unmanned plane and transmit the working environment information captured by holder camera Return ground station control system；Holder camera, the holder camera are installed on dynamic mount, and the holder camera is according to the ground station control system Instruction is rotated and elevating movement；Unmanned plane electric lifting device frame, the unmanned plane electric lifting device frame is installed on the both sides of unmanned aerial vehicle body bottom, with fuselage Junction uses digital rudder controller；The digital rudder controller to control undercarriage pack up and expansion action；Searchlight, selects LED light, including drive circuit, control module, the searchlight to be adjusted according to the difference of ambient light Different brightness；Warning lamp, the warning lamp are installed on unmanned plane brushless electric machine seat bottom, and the warning lamp selects three-color LED light, in nothing Flash color and changeable frequency under man-machine different conditions；Robot carrying platform, the robot carrying platform are installed on robot fuselage bottom, including shifting sledge, control Device, robot retaining mechanism；Battery management system, the battery management system include unmanned plane power battery, battery management controller, battery management control Device processed is estimated for electric charge and power battery electric discharge management；The unmanned plane power battery is lithium battery；System for flight control computer, the system for flight control computer include inertial navigation unit, magnetometer, barometer, GPS, the inertial navigation Unit is exporting the value at UAV Attitude angle and 3-axis acceleration；Avoidance alignment system, the avoidance alignment system include camera, radar, ultrasonic wave module, and the camera is installed on Two cameras are installed in the surrounding of robot, each direction, and the ultrasonic wave module is installed on robot fuselage surrounding；Executing agency is carried, the carrying executing agency is made of the robot that can complete different concrete functions, the carrying Executing agency is installed on the robot carrying platform, and the carrying executing agency is using unmanned plane as data relay point, by it Data transfer returns ground control system.
- The job platform 2. a kind of unmanned plane according to claim 1 and robot link in the air, it is characterised in that：Carrying is held Row mechanism includes：Branch pruning machine people, more shaft locking robots and deicing robot one or more therein.
- The job platform 3. a kind of unmanned plane according to claim 1 and robot link in the air, it is characterised in that：Earth station Control system includes data receipt unit and computer, and the data received are transferred directly to calculate by the data receipt unit Machine is handled.
- The job platform 4. a kind of unmanned plane according to claim 1 and robot link in the air, it is characterised in that：The number Two independent passages, control instruction and unmanned plane state are independently used according to Transmission system and described image Transmission system Information and carrying robot manipulating task information are conveyed by the data transmission system, and the information of the holder camera is by image transmitting System is transmitted.
- The job platform 5. a kind of unmanned plane according to claim 1 and robot link in the air, it is characterised in that：The cloud Platform camera is installed on the front end of unmanned plane, and the holder of holder camera is rotated and bows under the controlled motion of control instruction Face upward movement.
- The job platform 6. a kind of unmanned plane according to claim 1 and robot link in the air, it is characterised in that：Unmanned plane The protective cover with unmanned plane driving motor coaxle installation is equipped with, each blade of unmanned plane has a protective cover to protect Shield, the shape of the unmanned machine protective cover is circle, and material is carbon fiber.
- The job platform 7. a kind of unmanned plane according to claim 1 and robot link in the air, it is characterised in that：The machine The shifting sledge of device people's carrying platform is installed on the direction parallel with electric lifting device frame, and carrying robot, face is transported on its track Dynamic, the robot retaining mechanism is used for by Minitype digital servos control with the movement of autonomous control robot, the controller Communication is established between the movement of control carrying platform and the robot with being carried.
- The job platform 8. a kind of unmanned plane according to claim 1 and robot link in the air, it is characterised in that：The nothing To export the value at UAV Attitude angle and 3-axis acceleration, the inertial navigation unit is installed on the inertial navigation unit of man-machine flight control system At the geometric center of unmanned plane body, when unmanned plane in a new environment in use, having to calibration magnetometer and air pressure Meter, the GPS are installed on the outside of unmanned plane body by strut.
- The job platform 9. a kind of unmanned plane according to claim 1 and robot link in the air, it is characterised in that：It is described to keep away The camera of barrier alignment system is installed on unmanned aerial vehicle body surrounding, and two cameras, each direction are installed in each direction Constant distance between two cameras, the ultrasonic wave module are installed on unmanned aerial vehicle body surrounding, and each direction is installed one and surpassed Sound wave module, the avoidance alignment system in real time structure robot environment's three-dimensional map, and by robot around ring Coordinate in border sends back ground station control system.
- The job platform 10. a kind of unmanned plane according to claim 1 and robot link in the air, it is characterised in that：Each Carry executing agency to be installed on the robot carrying platform by card slot, the control carried executing agency and receive unmanned plane System instruction, the carrying executing agency can singly complete a certain item electric line operation work.
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| CN201721105573.6U CN207249489U (en) | 2017-08-31 | 2017-08-31 | A kind of unmanned plane and robot link job platform in the air |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107329487A (en) * | 2017-08-31 | 2017-11-07 | 西南交通大学 | A kind of unmanned plane and robot link job platform in the air |
| CN108490977A (en) * | 2018-05-05 | 2018-09-04 | 大连葆光节能空调设备厂 | A kind of positioning cruise monitoring device |
| CN109358638A (en) * | 2018-09-10 | 2019-02-19 | 南京航空航天大学 | Unmanned plane vision barrier-avoiding method based on distributed maps |
| CN109444876A (en) * | 2018-12-13 | 2019-03-08 | 广州极飞科技有限公司 | Operating equipment and its method of adjustment and device |
| CN110291012A (en) * | 2018-07-23 | 2019-09-27 | 深圳市大疆创新科技有限公司 | Control method, device and control device, aircraft, the flight system of searchlight |
-
2017
- 2017-08-31 CN CN201721105573.6U patent/CN207249489U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107329487A (en) * | 2017-08-31 | 2017-11-07 | 西南交通大学 | A kind of unmanned plane and robot link job platform in the air |
| CN108490977A (en) * | 2018-05-05 | 2018-09-04 | 大连葆光节能空调设备厂 | A kind of positioning cruise monitoring device |
| CN110291012A (en) * | 2018-07-23 | 2019-09-27 | 深圳市大疆创新科技有限公司 | Control method, device and control device, aircraft, the flight system of searchlight |
| CN110291012B (en) * | 2018-07-23 | 2022-01-07 | 深圳市大疆创新科技有限公司 | Searchlight control method and device, searchlight control device, aircraft and flight system |
| CN109358638A (en) * | 2018-09-10 | 2019-02-19 | 南京航空航天大学 | Unmanned plane vision barrier-avoiding method based on distributed maps |
| CN109444876A (en) * | 2018-12-13 | 2019-03-08 | 广州极飞科技有限公司 | Operating equipment and its method of adjustment and device |
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