CN209112455U - A kind of unmanned aerial vehicle ejecting apparatus and system - Google Patents
A kind of unmanned aerial vehicle ejecting apparatus and system Download PDFInfo
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- CN209112455U CN209112455U CN201821644615.8U CN201821644615U CN209112455U CN 209112455 U CN209112455 U CN 209112455U CN 201821644615 U CN201821644615 U CN 201821644615U CN 209112455 U CN209112455 U CN 209112455U
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Abstract
The utility model discloses a kind of unmanned aerial vehicle ejecting apparatus and system, wherein the unmanned aerial vehicle ejecting device includes umbrella storehouse, propellant, igniter.The top in the umbrella storehouse is equipped with capping.The bottom in the umbrella storehouse is arranged in the igniter.Object of the umbrella storehouse for receiving includes parachute, the propellant.The propellant is located at the bottom in the umbrella storehouse.In the case where meeting igniting trigger condition, the igniter lights the propellant, and the gas that the propellant combustion generates pops up the parachute.The mode for being popped up parachute by using propellant is lighted due to unmanned aerial vehicle ejecting device provided by the utility model, therefore compared with the existing technology for the middle scheme using spring, the utility model unmanned aerial vehicle ejecting device can solve since catapult-launching gear is using spring, caused by after unmanned plane space hold is excessive, weight increases and spring pops up parachute, the problem of balance of unmanned plane is affected.
Description
Technical field
The utility model relates to unmanned plane field more particularly to a kind of unmanned aerial vehicle ejecting apparatus and systems.
Background technique
Unmanned plane is in the abnormal state of flight such as fall, is out of control sometimes in flight course, in order to guarantee unmanned plane
Safety, can generally be furnished with parachute on unmanned plane, when unmanned plane is in above-mentioned abnormal state of flight, by launching accordingly
Device pops up parachute, and then can ensure the safety of unmanned plane, in order to avoid because out of control fall causes unmanned plane to damage.
And the catapult-launching gear that unmanned plane uses at present is all based on the catapult-launching gear of spring, the shortcomings that this device, is,
Firstly, the space of unmanned plane can be occupied using spring；Secondly, in order to pop up parachute effectively, it is often preferable using elastic force
Spring, i.e. therefore the biggish spring of quality will increase the weight of unmanned plane.And after parachute pop-up, the machine of unmanned plane
Also keep work in the very big situation of the wing, thus because of situations such as spring extends and occur wave, centre-of gravity shift, generally will affect
To the balance of unmanned plane.
Utility model content
The purpose of this utility model is to provide a kind of unmanned aerial vehicle ejecting apparatus and systems, to solve current unmanned plane because adopting
With the catapult-launching gear of spring, caused by after unmanned plane space hold is excessive, weight increases and spring pops up parachute, nothing
The problem of man-machine balance is affected.
To achieve the above object, on the one hand, the utility model provides a kind of unmanned aerial vehicle ejecting device, which includes umbrella
Storehouse, propellant, igniter；The top in the umbrella storehouse is equipped with capping；The bottom in the umbrella storehouse is arranged in the igniter；Institute
State umbrella storehouse for receiving object include parachute, the propellant；The propellant is located at the bottom in the umbrella storehouse；Full
In the case where foot point fire trigger condition, the igniter lights the propellant, and the gas that the propellant combustion generates will
The parachute pop-up.
In some embodiments, the propellant is solid matter, is used for combustion generated gas.
In some embodiments, the propellant is low nitrogen nitrocellulose or sodium azide.
In some embodiments, the igniting trigger condition is that unmanned plane is in abnormality；The abnormality packet
Include fall condition, runaway condition.
In some embodiments, the igniter is arc ignition device.
In some embodiments, the arc ignition device includes arc generator.
In some embodiments, two electrodes of the arc generator are fixed on umbrella orlop face by pedestal
On, it is located at umbrella orlop face center.
In some embodiments, the pedestal mainly uses aluminium oxide ceramics to make.
In some embodiments, the arc ignition device further includes ignition control circuit；The ignition control circuit
Including controlling chip, first resistor, second resistance, 3rd resistor, first capacitor, the second capacitor, the first metal-oxide-semiconductor, the 2nd MOS
Pipe；Wherein, the Vcc pin for controlling chip connects high level, and GND pin ground connection, Vd pin is for inputting outer triggering signal；Control
The PWR supervisor of chip connect with one end of 3rd resistor；The other end of 3rd resistor and one end, the second metal-oxide-semiconductor of second resistance
Grid connection；The other end of second resistance is connected as the anode of voltage input end and battery core；The drain electrode of second metal-oxide-semiconductor with
The grid connection of one end of first resistor, the first metal-oxide-semiconductor；The other end of first resistor is connect with the drain electrode of the first metal-oxide-semiconductor；The
Node between the other end of one resistance and the drain electrode of the first metal-oxide-semiconductor is defeated with the voltage of battery pack as battery core voltage output end
Enter end connection；The source electrode of first metal-oxide-semiconductor, one end of first capacitor, the second capacitor one end meet high level Vcc；First capacitor
The other end, the other end of the second capacitor, the second metal-oxide-semiconductor source grounding.
In some embodiments, the capping is connect with the parachute.
On the other hand, preferably to realize above-mentioned purpose, the utility model additionally provides a kind of unmanned aerial vehicle ejecting system, should
System includes the catapult-launching gear in trigger control device, above scheme and its embodiment；The trigger control device is used for
The state of flight information of unmanned plane is obtained, and according to the state of flight information of unmanned plane, judges whether to meet igniting triggering item
Part, and in the case where meeting trigger condition, it triggers the catapult-launching gear and pops up parachute.
In some embodiments, the trigger control device includes:
Sensing module, for obtaining the state of flight information of unmanned plane；The state of flight information includes the unmanned plane
Posture information；
Trigger signal processing module, for judging whether the unmanned plane is in abnormal according to the state of flight information
State of flight triggers the ignition device in the case where the unmanned plane is in abnormal state of flight.
In some embodiments, the sensing module includes gyroscope；The gyroscope is for acquiring the unmanned plane
Posture information；The posture information includes degree information, acceleration information.
In some embodiments, the sensing module further includes the air pressure for obtaining the unmanned plane elevation information
Meter；The barometer is used to obtain the flying height information of unmanned plane；The trigger signal processing module is believed in conjunction with the height
Breath, the posture information, judge whether the unmanned plane is in abnormal state of flight.
In some embodiments, the ejection system further includes feedback device；The feedback device includes:
Photosensitive sensor, for detecting the optical signal of igniter；
Feedback signal processing module, for handling the optical signal, judge the igniter whether normal point
Fire determines the working condition of igniter；
Cue module, for prompting the working condition of the igniter.
In some embodiments, the photosensitive sensor is arranged on the pedestal of catapult-launching gear.
In some embodiments, the feedback device further includes heat-sensitive sensor；Heat-sensitive sensor is described for detecting
Pedestal, trigger control device, feedback signal processing module temperature；The feedback signal processing module is to the heat-sensitive sensor
The temperature of detection is analyzed and processed, and judges whether the pedestal, trigger control device, feedback signal processing module are in safety
State.
Since unmanned aerial vehicle ejecting apparatus and system provided by the utility model is by using lighting propellant for parachute bullet
Mode out, thus compared with the existing technology in using the scheme of spring for, the utility model unmanned aerial vehicle ejecting device and be
System can solve since catapult-launching gear is using spring, caused by unmanned plane space hold is excessive, weight increases and spring will
After parachute pop-up, the problem of balance of unmanned plane is affected.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawings and examples.Attached drawing be for provide to the utility model into
The understanding of one step, they are included and constitute part of this application, and attached drawing shows the embodiments of the present invention, and with this
Specification plays the role of explaining the utility model principle together.In attached drawing:
Fig. 1 is a kind of structural schematic diagram for unmanned aerial vehicle ejecting device that the utility model embodiment one provides；
Fig. 2 is the ignition control circuit in catapult-launching gear shown in FIG. 1；
Fig. 3 is a kind of schematic diagram for unmanned aerial vehicle ejecting system that the utility model embodiment two provides；
Schematic diagram of a scenario when Fig. 4 is system shown in Fig. 3 for unmanned plane after parachute pop-up.
Specific embodiment
The utility model is described in further detail combined with specific embodiments below.
Now according to the case study on implementation that the utility model is described in detail with reference to the attached drawings.In the case of any possible, in institute
The same or similar part will be indicated using identical label by having in attached drawing.In addition, although used in the utility model
Term is to select from public term, but some terms mentioned in the utility model specification may be Shen
It asks someone to carry out selection by his or her judgement, detailed meanings illustrate in the relevant portion of description herein.Furthermore, it is desirable that no
Only by used actual terms, and the meaning contained by each term is also to understand the utility model.
Fig. 1 is a kind of structural schematic diagram for unmanned aerial vehicle ejecting device that the utility model embodiment one provides.Such as Fig. 1 institute
Show, which includes umbrella storehouse 3, igniter, propellant.The top in umbrella storehouse 3 is equipped with capping 1.Capping 1 passes through with umbrella storehouse 3
Velcro 2 connects.Parachute, the propellant are housed in umbrella storehouse 3.Bottom of the propellant under parachute, in umbrella storehouse 3
Portion.Umbrella storehouse 3 is fixed on bottom fixed board 11 through CNC firmware 10.Igniter includes arc generator, high voltage package, point fire control
Circuit processed.High voltage package is connect with ignition control circuit.Wherein, two electrodes of arc generator are fixed on umbrella storehouse 3 by pedestal 8
Bottom surface on.Ignition control circuit is included in circuits 5.The built-in circuit 5 is fixed under the bottom surface in umbrella storehouse 3
On bottom fixed board 11, between the bottom surface and bottom fixed board 11 in umbrella storehouse 3.Meeting the case where lighting a fire trigger condition
Under, ignition control circuit control arc generator lights propellant, and parachute is popped up umbrella storehouse by the gas that propellant combustion generates
3。
Further, igniter further includes battery core, by high voltage package by the voltage increase of battery core, and then generates high-temperature electric
Arc lights propellant.The voltage of 3.7v lithium cell is upgraded to 15kv for example, high voltage package can be used, high-temperature electric arc is generated, lights and push away
Into agent.
Further, ignition control circuit as shown in Figure 2, the ignition control circuit include control chip U1, resistance
R1, resistance R2, resistance R3, capacitor C1, capacitor C2, metal-oxide-semiconductor Q1, metal-oxide-semiconductor Q2.Wherein, the Vcc pin for controlling chip U1 connects height
Level, GND pin ground connection, Vd pin (i.e. in the case where meeting igniting trigger condition, are inputted for inputting outer triggering signal
Trigger signal.)；The PWR supervisor of control chip U1 connect with one end of resistance R3；The other end of resistance R3 is with resistance R2's
The grid connection of one end, metal-oxide-semiconductor Q2；The other end of resistance R2 is connect as voltage input end Vin for the anode with battery core；
The drain electrode of metal-oxide-semiconductor Q2 is connect with the grid of one end of resistance R1, metal-oxide-semiconductor Q1；The drain electrode of the other end and metal-oxide-semiconductor Q1 of resistance R1 connects
It connects, and selects a node as battery core voltage output end between the other end of resistance R1 and the drain electrode of metal-oxide-semiconductor Q1, be used for and battery
The voltage input end 2 for wrapping J2 connects, and exports battery core voltage Vbat to battery pack, voltage Vbat is used for after battery pack J1 amplification
Igniting generates high-temperature electric arc；The source electrode of metal-oxide-semiconductor Q1, one end of capacitor C1, capacitor C2 one end meet high level Vcc；Capacitor C1
The other end, the other end of capacitor C2, metal-oxide-semiconductor Q2 source grounding.
Optionally, the voltage value of Vcc can be 3.7V.An above-mentioned ignition control circuit provided through this embodiment, can
By the frequency modulation(PFM) of output voltage Vbat to 18KHz-20KHz, to improve the success rate of igniting, underfrequency is avoided to be easy to produce
Raw current interruption, leads to the problem that ignition success rate is low.
Further, this firing circuit constitutes multiple tube by using metal-oxide-semiconductor Q1, metal-oxide-semiconductor Q2, can amplify electric current, improves
Ignition success rate.
Optionally, the NMOS tube of depletion type can be used in metal-oxide-semiconductor Q1, metal-oxide-semiconductor Q2.
Optionally, STC 15w 402as can be used in control chip U1.
Further, the propellant in the present embodiment one can produce the solid combustible substance of bulk gas after burning can be used
(such as gunpowder, sodium azide) or gaseous state combustible (such as the fuel gas such as butane, methane, hydrogen).The present embodiment one
It is preferred that low nitrogen nitrocellulose, low nitrogen nitrocellulose is a kind of simple gunpowder, is occupied little space, and the generation that can burn rapidly is filled
The gas of foot, is a kind of propellant material for being highly suitable for unmanned plane.
Further, igniting trigger condition is that unmanned plane is in abnormality；The abnormality may include fall condition,
Runaway condition etc..
Further, arc generator is fixed on the center in umbrella orlop portion by pedestal 8, so that arc generator is being lighted
When propellant, propellant homogenous combustion generates uniform gas, it is ensured that parachute effectively pops up.
Further, pedestal 8 uses aluminium oxide ceramics pedestal, and does high temperature resistant processing, to reach insulation high-temperature-resistant performance,
It improves service life.
Further, capping 1 is connect with parachute, so that when the gas that propellant combustion generates will cover 1 pop-up, envelope
Lid 3 takes the parachute out of, further more effectively pops up parachute.
The present embodiment one is by using the mode of propellant, and in the case where meeting trigger condition, igniter, which is lighted, to be pushed away
Into agent, parachute is popped up by the gas that propellant generates, compared to the prior art for using spring ejection parachute at present
Speech saves space, and reduces unmanned plane volume and weight (unmanned plane increases weight because using spring).
Fig. 3 is a kind of schematic diagram for unmanned aerial vehicle ejecting system that the utility model embodiment two provides.As shown in figure 3, should
System includes trigger control device 210, catapult-launching gear shown in FIG. 1 220, feedback device 230.Wherein, trigger control device
210 are used to obtain the state of flight information of unmanned plane, and according to the state of flight information of unmanned plane, judge whether to meet igniting
Trigger condition, and in the case where meeting trigger condition, triggered ejection device 220 pops up parachute, as shown in Figure 4.Feedback
Device 230 is used to obtain the optical signal that igniter electric arc generates in catapult-launching gear 220, and handles the optical signal,
Judge igniter whether normal ignition, determine the working condition of igniter, and according to the working condition of igniter, into
The prompt of row working condition.
Specifically, trigger control device 210 includes sensing module 211, trigger signal processing module 212.Wherein, mould is perceived
Block 211 is used to acquire the state of flight information of unmanned plane.Trigger signal processing module 212 is used to be believed according to the state of flight
Breath, judges whether the unmanned plane is in abnormal state of flight.Control module 213 is used to be in abnormal flight in the unmanned plane
Under state, the ignition device in catapult-launching gear 220 is controlled.
Further, the state of flight information of unmanned plane includes posture information.Gyroscope can be used in sensing module 211, uses
In the posture information for obtaining unmanned plane；The posture information includes degree information, acceleration information.Trigger signal processing module 212
It can judge whether unmanned plane is in the abnormal flight shape such as fall, is out of control according to posture informations such as the flight degree of unmanned plane, acceleration
State (the case where except i.e. controllable attitude angle).When unmanned plane is in above-mentioned abnormal state of flight, trigger signal processing module 212
Trigger signal is exported, the ignition control circuit control arc generator of igniter generates electric arc in triggered ejection device, lights
Propellant.
Further, the state of flight information of unmanned plane may also include flying height information.Sensing module 211 can also wrap
Include the barometer for obtaining the unmanned plane elevation information.Trigger signal processing module 212 is high in combination with the flight of unmanned plane
The posture informations such as the variation (such as falling high) of degree, flight degree, acceleration, judge unmanned plane whether be in fall, be out of control etc. it is different
Normal state of flight.Further increase the triggering precision of trigger control device 210.
Further, the communication module of unmanned plane can receive in flight course from earth station or flight control unit
Various remote signals.Therefore, it can fall finding that unmanned plane is in or when equal exception state of flight out of control, pass through ground
It stands or flight control unit sends ejection to unmanned plane and controls signal, handled by the trigger signal in trigger control device 210
Module 212 controls signal according to the ejection, generates trigger signal, the ignition device in triggered ejection device 220, in turn
Propellant is lighted, parachute is popped up from umbrella storehouse 3, to ensure the safety of unmanned plane.
Specifically, feedback device 230 include photosensitive sensor 231, feedback signal processing module 232, cue module 233,
Heat-sensitive sensor 234.Wherein, photosensitive sensor 231 is used to detect the optical signal of the igniter.Feedback signal processing module
232 for handling the optical signal, judge igniter whether normal ignition, determine the working condition of igniter,
And according to the working condition of igniter, the working condition that cue module 233 prompts igniter is controlled.Heat-sensitive sensor 234
For detecting temperature, the temperature of trigger control device of the pedestal 8.Feedback signal processing module 212 is to heat-sensitive sensor 234
Whether the temperature of detection is analyzed and processed, judge whether the pedestal 8, trigger control device 210 are in a safe condition and (locate
Within the temperature range of trouble free service).With ensure unmanned plane in normal operating temperature, avoid influencing because temperature is excessively high
The normal work of each control circuit/device.
Further, photosensitive sensor 231 may be provided near 220 pedestal 8 of catapult-launching gear, be located at one convenient for detection electricity
Position (the example position shown in appended drawing reference 4 as shown in figure 1 of arc.), it can specifically select according to the actual situation.
Further, heat-sensitive sensor 234 may be provided at position shown in appended drawing reference 9 as shown in figure 1, be located at base of ceramic
Inside 8, between the two poles of the earth of arc generator.
Further, the triggering in the feedback signal processing module 231 and trigger control device 210 in feedback device 230
The mode of hardware circuit can be respectively adopted to realize in signal processing module 212, or integrates and pass through software in a processor
The mode of program realizes that the processor can be the Master control chip of unmanned plane, is also possible to be different from unmanned plane main control
Other processors of chip.
Further, indicator light can be used in cue module 233.The mountable position for being convenient for observation on umbrella storehouse 3 of indicator light,
Example position shown in appended drawing reference 7 as shown in figure 1.
Catapult-launching gear of the present embodiment two based on embodiment one, by being touched in conjunction with trigger control device to catapult-launching gear
Hair ejection, to realize that automatic trigger or combined ground station/flight control unit control signal are triggered, and passes through feedback
The working condition of igniter in catapult-launching gear is monitored by device, to ensure to launch effective implementation of control.
The above is only embodiments herein, are not intended to limit this application.To those skilled in the art,
Various changes and changes are possible in this application.It is all within the spirit and principles of the present application made by any modification, equivalent replacement,
Improve etc., it should be included within the scope of the claims of this application.
Claims (17)
1. a kind of unmanned aerial vehicle ejecting device, which is characterized in that described device includes umbrella storehouse, propellant, igniter；The umbrella storehouse
Top be equipped with capping；The bottom in the umbrella storehouse is arranged in the igniter；The umbrella storehouse includes drop for the object of receiving
Fall umbrella, the propellant；The propellant is located at the bottom in the umbrella storehouse；In the case where meeting igniting trigger condition, institute
It states igniter and lights the propellant, the gas that the propellant combustion generates pops up the parachute.
2. catapult-launching gear according to claim 1, which is characterized in that the propellant is solid matter, is generated for burning
Gas.
3. catapult-launching gear according to claim 2, which is characterized in that the propellant is low nitrogen nitrocellulose or Azide
Sodium.
4. catapult-launching gear according to claim 1, which is characterized in that the igniting trigger condition is that unmanned plane is in abnormal shape
State；The abnormality includes fall condition, runaway condition.
5. catapult-launching gear according to claim 1, which is characterized in that the igniter is arc ignition device.
6. catapult-launching gear according to claim 5, which is characterized in that the arc ignition device includes arc generator.
7. catapult-launching gear according to claim 6, which is characterized in that two electrodes of the arc generator are solid by pedestal
It is scheduled on umbrella orlop face, is located at umbrella orlop face center.
8. catapult-launching gear according to claim 7, which is characterized in that the pedestal mainly uses aluminium oxide ceramics to make.
9. catapult-launching gear according to claim 6, which is characterized in that the arc ignition device includes ignition control circuit；
The ignition control circuit includes control chip (U1), first resistor (R1), second resistance (R2), 3rd resistor (R3), first
Capacitor (C1), the second capacitor (C2), the first metal-oxide-semiconductor (Q1), the second metal-oxide-semiconductor (Q2)；Wherein, the Vcc pin of chip (U1) is controlled
High level is connect, GND pin ground connection, Vd pin is for inputting outer triggering signal；Control PWR supervisor and the third electricity of chip (U1)
Hinder one end connection of (R3)；The other end of 3rd resistor (R3) and the one end of second resistance (R2), the grid of the second metal-oxide-semiconductor (Q2)
Connection；The other end of second resistance (R2) is connect as voltage input end (Vin) with the anode of battery core；Second metal-oxide-semiconductor (Q2)
Drain electrode is connect with the grid of one end of first resistor (R1), the first metal-oxide-semiconductor (Q1)；The other end and first of first resistor (R1)
The drain electrode of metal-oxide-semiconductor (Q1) connects；Node between the drain electrode of the other end and the first metal-oxide-semiconductor (Q1) of first resistor (R1) is as electricity
Core voltage output end is connect with the voltage input end (2) of battery pack (J2)；The source electrode of first metal-oxide-semiconductor (Q1), first capacitor (C1)
One end, the second capacitor (C2) one end meet high level Vcc；The other end of first capacitor (C1), the second capacitor (C2) it is another
One end, the second metal-oxide-semiconductor (Q2) source grounding.
10. catapult-launching gear according to claim 1, which is characterized in that the capping is connect with the parachute.
11. a kind of unmanned aerial vehicle ejecting system, which is characterized in that the system comprises trigger control device (210), right 1-10 to appoint
Catapult-launching gear (220) described in one；The trigger control device (210) is used to obtain the state of flight information of unmanned plane, with
And the state of flight information according to unmanned plane, judge whether to meet igniting trigger condition, and in the case where meeting trigger condition,
The catapult-launching gear is triggered to pop up parachute.
12. ejection system according to claim 11, which is characterized in that the trigger control device (210) includes:
Sensing module (211), for obtaining the state of flight information of unmanned plane；The state of flight information includes the unmanned plane
Posture information；
Trigger signal processing module (212), for judging whether the unmanned plane is in abnormal according to the state of flight information
State of flight triggers the ignition device in the case where the unmanned plane is in abnormal state of flight.
13. ejection system according to claim 12, which is characterized in that the sensing module (211) includes gyroscope；It is described
Gyroscope is used to acquire the posture information of the unmanned plane；The posture information includes degree information, acceleration information.
14. 3 ejection system according to claim 1, which is characterized in that the sensing module (211) further includes for obtaining
The barometer of the unmanned plane elevation information；The barometer is used to obtain the flying height information of unmanned plane；The triggering letter
Number processing module (212) judges whether the unmanned plane is in abnormal flight shape in conjunction with the elevation information, the posture information
State.
15. any one of 1-14 ejection system according to claim 1, which is characterized in that the ejection system further includes feedback
Device (230)；The feedback device (230) includes:
Photosensitive sensor (232), for detecting the optical signal of igniter；
Feedback signal processing module (231), for handling the optical signal, judge the igniter whether normal point
Fire determines the working condition of igniter；
Cue module (233), for prompting the working condition of the igniter.
16. ejection system according to claim 15, which is characterized in that the base of catapult-launching gear is arranged in the photosensitive sensor
On seat.
17. ejection system according to claim 15, which is characterized in that the feedback device further includes heat-sensitive sensor
(234)；Heat-sensitive sensor (234) is for detecting the pedestal, trigger control device (210), feedback signal processing module (231)
Temperature；The temperature that the feedback signal processing module (231) detects the heat-sensitive sensor (234) is analyzed and processed,
Judge whether the pedestal, trigger control device (210), feedback signal processing module (231) are in a safe condition.
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| CN201821644615.8U CN209112455U (en) | 2018-10-10 | 2018-10-10 | A kind of unmanned aerial vehicle ejecting apparatus and system |
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| CN201821644615.8U CN209112455U (en) | 2018-10-10 | 2018-10-10 | A kind of unmanned aerial vehicle ejecting apparatus and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109094788A (en) * | 2018-10-10 | 2018-12-28 | 常州市小域智能科技有限公司 | A kind of unmanned aerial vehicle ejecting apparatus and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109094788A (en) * | 2018-10-10 | 2018-12-28 | 常州市小域智能科技有限公司 | A kind of unmanned aerial vehicle ejecting apparatus and system |
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