CN210706760U - Air-ground cooperative communication exploration device based on inertial navigation - Google Patents
Air-ground cooperative communication exploration device based on inertial navigation Download PDFInfo
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- CN210706760U CN210706760U CN201921360789.6U CN201921360789U CN210706760U CN 210706760 U CN210706760 U CN 210706760U CN 201921360789 U CN201921360789 U CN 201921360789U CN 210706760 U CN210706760 U CN 210706760U
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Abstract
The utility model discloses an air-ground cooperative communication exploration device based on be used to lead, the driver drive wheel subassembly is walked, the bumper shock absorber keeps the stationarity of platform, controller control platform's walking speed and direction, four of aircraft flying motor drives four the rotor flies, the locating component is used for gathering the location to the route and the position that the platform moved, has effectively solved traditional transfer receiving system bulky, the drawback that the mobility is poor, makes the platform can adapt to the stable quick crawl motion of various complicated topography and turn to nimble controllable, when meetting flat topography, then control platform switches to mecanum wheel and traveles, when meeting complicated topography, then control platform switches to the aircraft and surveys.
Description
Technical Field
The utility model relates to an exploration field especially relates to an air-ground cooperative communication exploration device based on be used to lead.
Background
At present, dangerous accidents often happen accidentally, a lot of time is wasted when search and rescue are carried out under the conditions of unfamiliar terrain and unknown terrain danger coefficients, various problems exist in the existing rescue platform, and the traditional command stand depends on a command center, a transfer receiving station and a detector to carry out detection in a three-in-one mode. Signals are seriously attenuated in closed environments such as buildings, tunnels, caves and the like, accurate positioning information cannot be provided under many conditions, a traditional transfer receiving system has the characteristics of large volume, high requirement on running of complex pavements and the like, the traditional transfer receiving system is not easy to be used in occasions with severe conditions, the damage to roads in a disaster area is serious, the rescue time is extremely urgent, and the terrain of parts of the areas is dangerous.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an air-ground cooperative communication exploration device based on be used to lead aims at solving traditional transfer receiving system among the prior art and has bulky, requires characteristics such as high to complicated road surface operation, is difficult for some harsh occasions of condition to fix a position and survey environmental information's technical problem.
In order to achieve the above object, the utility model discloses a ground and air cooperative communication exploration device based on inertial navigation, including walking structure, aircraft structure, data acquisition structure and repeater structure, the aircraft structure with walking structure rotate to be connected, and be located the top of walking structure, data acquisition structure with walking structure is connected, and be located the inside of walking structure, repeater structure with walking structure fixed connection, and be located walking structure is close to one side of aircraft structure, and keep away from the aircraft structure; the walking structure comprises a vehicle body, a wheel assembly, a stabilizing assembly and a controller, wherein the wheel assembly is rotatably connected with the vehicle body and is positioned at the bottom of the vehicle body, the stabilizing assembly comprises a driver and a shock absorber, the driver is fixedly connected with the vehicle body, is fixedly connected with the wheel assembly, is positioned at the bottom of the vehicle body and is close to the wheel assembly, the shock absorber is fixedly connected with the vehicle body and is positioned in the vehicle body, and the controller is fixedly connected with the vehicle body, is electrically connected with the driver and is positioned in the vehicle body; the aircraft structure includes flying motor and rotor, flying motor with the body coupling, and be located the upper surface of automobile body, and keep away from the repeater structure, the rotor with flying motor rotates to be connected, and is located flying motor's top.
The wheel assembly comprises a vehicle rod and a traveling wheel, the vehicle rod is rotatably connected with the vehicle body and is located at the bottom of the vehicle body, and the traveling wheel is fixedly connected with the vehicle rod and is located at the end of the vehicle rod and is located on the side face of the vehicle body.
The data acquisition structure comprises a wide-angle camera and an obstacle avoidance sensor, wherein the wide-angle camera is fixedly connected with the vehicle body, is positioned on the outer surface of the vehicle body and is positioned at the front end of the vehicle body, which is far away from the repeater structure; the obstacle avoidance sensor is positioned inside the vehicle body.
The relay structure comprises a relay support rod and a relay receiver, wherein the relay support rod is fixedly connected with the vehicle body, is positioned at the top of the vehicle body and is positioned at one end, far away from the aircraft structure, of the vehicle body; the relay receiver is fixedly connected with the relay supporting rod, electrically connected with the controller and located at one end, far away from the vehicle body, of the supporting rod.
The data acquisition structure further comprises a temperature and humidity sensor, wherein the temperature and humidity sensor is located in the vehicle body, located on the upper surface of the solar cell panel and located in the center of the vehicle body.
The data acquisition structure further comprises a flame sensor, wherein the flame sensor is located in the vehicle body, located on the upper surface of the solar cell panel and close to the side wall of the vehicle body.
The data acquisition structure further comprises a wireless charger and a solar panel, wherein the wireless charger is fixedly connected with the vehicle body, electrically connected with the wide-angle camera, electrically connected with the relay receiver and positioned at the bottom of the vehicle body; the solar cell panel is fixedly connected with the vehicle body, connected with the wireless charger and located inside the vehicle body.
The walking structure further comprises a radiator, and the radiator is fixedly connected with the automobile body and close to the driver.
The aircraft structure further comprises a positioning member, wherein the positioning member is fixedly connected with the vehicle body, electrically connected with the flying motor, positioned at the top of the vehicle body and close to the flying motor.
The aircraft structure further comprises a support, wherein the support is fixedly connected with the vehicle body and fixedly connected with the flying motor, is positioned above the vehicle body and is also positioned between the vehicle body and the flying motor.
The utility model discloses a ground and air cooperative communication exploration device based on be used to lead, the driver drive the wheel subassembly is walked, the bumper shock absorber keeps the stationarity of platform, controller control platform's walking speed and direction, four of aircraft flying motor drives four the rotor flies, the location component is used for gathering the location to the route and the position that the platform moved, has effectively solved the drawback that traditional transfer receiving system is bulky, the mobility is poor, makes the platform can adapt to the stable quick crawl motion of various complicated topography and turn to nimble controllable, when meetting flat topography, then control platform switches to mecanum wheel and traveles, when meeting complicated topography, then control platform switches to the aircraft and surveys.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic view of the external structure of the exploration device of the present invention.
Fig. 2 is a schematic structural diagram of the walking structure of the present invention.
Fig. 3 is a schematic structural diagram of the walking structure of the present invention.
Figure 4 is a schematic structural view of the aircraft structure of the present invention.
Fig. 5 is a schematic structural diagram of the data acquisition structure of the present invention.
Fig. 6 is a bottom view of the underbody of the present invention.
Fig. 7 is a schematic structural diagram of the repeater structure according to the present invention.
In the figure: the system comprises a vehicle body 1, a 2-walking structure, a 3-aircraft structure, a 4-data acquisition structure, a 5-repeater structure, a 6-wheel assembly, a 7-leveling assembly, a 21-vehicle rod, a 22-walking wheel, a 23-driver, a 24-shock absorber, a 25-controller, a 26-radiator, a 31-flying motor, a 32-rotor wing, a 33-positioning member, a 34-bracket, a 41-wide-angle camera, a 42-solar panel, a 43-wireless charger, a 51-repeater supporting rod, a 52-repeater receiver, a 100-inertial navigation-based ground-air cooperative communication exploration device, a 431-temperature and humidity sensor, a 432 obstacle avoidance sensor and a 433-flame sensor.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. In addition, in the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
Example 1:
referring to fig. 1 to 4, the utility model provides an air-ground cooperative communication exploration device based on inertial navigation, which includes a walking structure, an aircraft structure, a data acquisition structure and a relay structure, wherein the aircraft structure 3 is rotatably connected with the walking structure 2 and is located above the walking structure 2, the data acquisition structure 4 is connected with the walking structure 2 and is located inside the walking structure 2, and the relay structure 5 is fixedly connected with the walking structure 2 and is located on one side of the walking structure 2 close to the aircraft structure 3 and is far away from the aircraft structure 3; the walking structure 2 comprises a vehicle body 1, a wheel assembly 6, a leveling assembly 7 and a controller 25, wherein the wheel assembly 6 is rotatably connected with the vehicle body 1 and is positioned at the bottom of the vehicle body 1, the leveling assembly 7 comprises a driver 23 and a shock absorber 24, the driver 23 is fixedly connected with the vehicle body 1, is fixedly connected with the wheel assembly 6, is positioned at the bottom of the vehicle body 1 and is close to the wheel assembly 6, the shock absorber 24 is fixedly connected with the vehicle body 1 and is positioned inside the vehicle body 1, and the controller 25 is fixedly connected with the vehicle body 1, is electrically connected with the driver 23 and is positioned inside the vehicle body 1; aircraft structure 3 includes flying motor 31 and rotor 32, flying motor 31 with automobile body 1 is connected, and is located the upper surface of automobile body 1, and keep away from repeater structure 5, rotor 32 with flying motor 31 rotates to be connected, and is located flying motor 31's top.
Further, the wheel subassembly includes car pole 21 and walking wheel 22, car pole 21 with car body 1 rotates to be connected, and is located the bottom of car body 1, walking wheel 22 with car pole 21 fixed connection, and be located the tip of car pole 21, and be located the side of car body 1.
Further, the walking structure 2 further comprises a radiator 26, and the radiator 26 is fixedly connected with the vehicle body 1 and is close to the driver 23.
Further, the aircraft structure 3 further includes a positioning member 33, and the positioning member 33 is fixedly connected to the vehicle body 1, electrically connected to the flying motor 31, and located on the top of the vehicle body 1 and close to the flying motor 31.
Further, the aircraft structure 3 further includes a bracket 34, wherein the bracket 34 is fixedly connected to the vehicle body 1, fixedly connected to the flying motor 31, located above the vehicle body 1, and further located between the vehicle body 1 and the flying motor 31.
In this embodiment: the vehicle body 1 is a central platform of an exploration device, the chassis of the vehicle body 1 is rotatably connected with the vehicle rods 21, the vehicle rods 21 are two in number and are arranged at the front end and the rear end of the chassis in a divided manner, the traveling wheels 22 are Mecanum wheels and four in number and are arranged at the two ends of the vehicle rods 21 in a divided manner, the traveling wheels are driven by the vehicle rods 21 to rotate and are also arranged at the two sides of the vehicle body 1, the drivers 23 comprise wheel motors and speed reducers, the four traveling wheels are arranged at the side surfaces, close to the vehicle body 1, of the vehicle rods 21 respectively, the vehicle rods 21 are driven by the motors and the speed reducers to drive the traveling wheels 22 to perform a traveling function, the number of the radiators 26 is multiple, the radiators are fixed on the outer sides of the motors and the speed reducers in a threaded manner, the motors and the speed reducers are cooled by springs, and, the vehicle body is characterized in that the vehicle body is vertically arranged on the chassis of the vehicle body 1 and close to the end part of the vehicle body 1, the controller 25 is used for keeping the stability of a platform, the controller 25 is connected with the wheel motors and the speed reducer of the driver 23, the walking speed and the walking direction of the platform are further controlled, the number of the brackets 34 is four, the brackets are uniformly arranged at the top part of the vehicle body 1 in an annular mode, the end parts of the brackets 34 are provided with the flying motors 31 and the rotors 32, the number of the flying motors 31 is four, the flying motors 31 are respectively fixed at the free end parts of the four brackets 34, the four flying motors 31 are far away from each other, the number of the rotors 32 is also four, the rotors 31 are respectively connected with the four flying motors 31 and driven by the flying motors 31 and are positioned above the flying motors 31, the rotating planes of the rotors 32 are parallel to, the positioning component 33 is a positioning system composed of low-cost, low-power consumption and small-sized MEMS inertial navigation components, accelerometers, magnetometers and the like, and is fixed on the upper surface of the vehicle body 1, and can perform real-time monitoring and information feedback for the surrounding space, enhance safety and reliability, realize omnibearing monitoring of the dangerous area condition, and transmit specific data to a control end, if a dangerous condition is detected, the vehicle rod 21 fixes the traveling wheels 22, and then the vehicle rod 21 is driven by the driver 23 to drive the traveling wheels 22 to travel, the radiator 26 is used for ensuring continuous operation of the traveling function, the shock absorber 24 keeps the platform stable, the controller 25 controls the traveling speed and direction of the platform, and the four flight motors 31 of the aircraft are fixed by the four brackets 34, then four flying motor 31 drive four rotor 32 flies, locating component 33 is used for gathering the location to the route and the position that the platform moved, and the personnel of being convenient for exploring plan the route in this region, realizes tracing location record to the walking route of exploring search and rescue to and the all-round monitoring of dangerous need-cell condition, effectively solved traditional transfer receiving system bulky, the drawback that moving performance is poor, make the platform can adapt to various complicated topography and stabilize quick crawling motion and turn to nimble controllable, when meetting flat topography, then control platform switches to mecanum wheel and traveles, when meeting complicated topography, then control platform switches to the aircraft and surveys.
Example 2:
referring to fig. 1 to 7, the utility model provides an air-ground cooperative communication exploration device based on inertial navigation, which includes a walking structure, an aircraft structure, a data acquisition structure and a relay structure, wherein the aircraft structure 3 is rotatably connected with the walking structure 2 and is located above the walking structure 2, the data acquisition structure 4 is connected with the walking structure 2 and is located inside the walking structure 2, and the relay structure 5 is fixedly connected with the walking structure 2 and is located on one side of the walking structure 2 close to the aircraft structure 3 and is far away from the aircraft structure 3; the walking structure 2 comprises a vehicle body 1, a wheel assembly 6, a leveling assembly 7 and a controller 25, wherein the wheel assembly 6 is rotatably connected with the vehicle body 1 and is positioned at the bottom of the vehicle body 1, the leveling assembly 7 comprises a driver 23 and a shock absorber 24, the driver 23 is fixedly connected with the vehicle body 1, is fixedly connected with the wheel assembly 6, is positioned at the bottom of the vehicle body 1 and is close to the wheel assembly 6, the shock absorber 24 is fixedly connected with the vehicle body 1 and is positioned inside the vehicle body 1, and the controller 25 is fixedly connected with the vehicle body 1, is electrically connected with the driver 23 and is positioned inside the vehicle body 1; aircraft structure 3 includes flying motor 31 and rotor 32, flying motor 31 with automobile body 1 is connected, and is located the upper surface of automobile body 1, and keep away from repeater structure 5, rotor 32 with flying motor 31 rotates to be connected, and is located flying motor 31's top.
Further, the data acquisition structure 4 includes a wide-angle camera 41 and an obstacle avoidance sensor 432, the wide-angle camera 41 is fixedly connected with the vehicle body 1, and is located on the outer surface of the vehicle body 1, and is located at the front end of the vehicle body 1 far away from the repeater structure 5; the obstacle avoidance sensor 432 is located inside the vehicle body 1.
Further, the relay structure 5 comprises a relay support rod 51 and a relay receiver 52, wherein the relay support rod 51 is fixedly connected with the vehicle body 1, is located at the top of the vehicle body 1, and is located at one end of the vehicle body 1 far away from the aircraft structure 3; the relay receiver 52 is fixedly connected to the relay support rod 51, electrically connected to the controller 25, and located at one end of the support rod away from the vehicle body 1.
Further, the data acquisition structure 4 further includes a temperature and humidity sensor 431, and the temperature and humidity sensor 431 is located inside the vehicle body 1, on the upper surface of the solar cell panel 42, and in the center of the vehicle body 1.
Further, the data acquisition structure 4 further includes a flame sensor 433, the flame sensor 433 is located inside the vehicle body 1, and is located on the upper surface of the solar cell panel 42, and is close to the side wall of the vehicle body 1.
Further, the data acquisition structure 4 further includes a wireless charger 43 and a solar panel 42, the wireless charger 43 is fixedly connected with the vehicle body 1, electrically connected with the wide-angle camera 41, electrically connected with the relay receiver 52, and further located at the bottom of the vehicle body 1; the solar cell panel 42 is fixedly connected with the vehicle body 1, connected with the wireless charger 43, and located inside the vehicle body 1.
In this embodiment, the command platform is a command center, a transfer receiving platform, and a detector, and includes a set of positioning and real-time environment data acquisition system integrated by an inertial navigation chip, a camera and various sensors, a positioning system integrated by MEMS inertial navigation components, accelerometers, magnetometers, and the like, and a wide-angle camera 41 and various sensors, which can perform real-time monitoring and information feedback for the surrounding space, enhance safety and reliability, realize omnibearing monitoring of the dangerous area condition, and transmit specific data to a control end, the control end draws an environment data real-time display interface, graphical interface display, and touch screen control, the wide-angle camera 41 can perform road condition shooting and image sampling for the dangerous area environment at 360 degrees without dead angles, the obstacle avoidance sensor 432 is E18-D80NK-N, detect the barrier around the platform through the infrared ray, and pass through these information relay receiver transmits, shows on camera display screen through imaging technology, makes operating personnel more accurately know the situation in danger area, conveniently rescues, tracks the location record to the walking route that the platform was visited for rescue simultaneously, the data acquisition structure contains temperature and humidity sensor 431 keep away barrier sensor 432 with flame sensor 433, temperature and humidity sensor 431's model is: the model of the flame sensor 433 is FFS05, the multiple sensors sense the surrounding environment of the platform and transmit signals to a control end; the system comprises a solar panel 42 and a relay platform comprising a relay receiver 52 and a relay support rod 51, wherein the relay rod is fixed on the upper surface of the vehicle body 1 and is close to the rear side of the vehicle body 1 to upwardly support the relay receiver 52, the relay platform is small in size, the relay platform is used as a carrier for unmanned aerial vehicle searching, the signal can be easily enhanced by a transmitting tower according to the road conditions with bad conditions, the information transmission range can be enlarged, the detection precision is high, the solar panel 42 is matched with the wireless charger 43, the solar panel can increase the running time of the relay platform, the energy utilization rate is improved, the energy loss can be supplemented at any time, the wireless charger 43 provides a wider charging mode for the relay platform, under the mutual work and cooperation of the solar cell panel 42, the relay platform can be more efficiently powered, the technical problems of large power consumption, difficult electric energy supply and the like of the platform are solved, and the problems of low measurement and control and communication coverage rate of the traditional relay platform can be fundamentally solved.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (10)
1. An air-ground cooperative communication exploration device based on inertial navigation is characterized by comprising a walking structure, an aircraft structure, a data acquisition structure and a repeater structure,
the aircraft structure is rotatably connected with the walking structure and is positioned above the walking structure, the data acquisition structure is connected with the walking structure and is positioned in the walking structure, and the repeater structure is fixedly connected with the walking structure, is positioned on one side of the walking structure close to the aircraft structure and is far away from the aircraft structure;
the walking structure comprises a vehicle body, a wheel assembly, a stabilizing assembly and a controller, wherein the wheel assembly is rotatably connected with the vehicle body and is positioned at the bottom of the vehicle body, the stabilizing assembly comprises a driver and a shock absorber, the driver is fixedly connected with the vehicle body, is fixedly connected with the wheel assembly, is positioned at the bottom of the vehicle body and is close to the wheel assembly, the shock absorber is fixedly connected with the vehicle body and is positioned in the vehicle body, and the controller is fixedly connected with the vehicle body, is electrically connected with the driver and is positioned in the vehicle body;
the aircraft structure includes flying motor and rotor, flying motor with the body coupling, and be located the upper surface of automobile body, and keep away from the repeater structure, the rotor with flying motor rotates to be connected, and is located flying motor's top.
2. The inertial navigation-based ground-air cooperative communication exploration device according to claim 1,
the wheel subassembly includes car pole and walking wheel, the car pole with the automobile body rotates to be connected, and is located the bottom of automobile body, the walking wheel with car pole fixed connection, and be located the tip of car pole, and be located the side of automobile body.
3. The inertial navigation-based ground-air cooperative communication exploration device according to claim 1,
the data acquisition structure comprises a wide-angle camera and an obstacle avoidance sensor, wherein the wide-angle camera is fixedly connected with the vehicle body, is positioned on the outer surface of the vehicle body and is positioned at the front end of the vehicle body far away from the repeater structure; the obstacle avoidance sensor is positioned inside the vehicle body.
4. The inertial navigation-based ground-air cooperative communication exploration device according to claim 3,
the relay structure comprises a relay support rod and a relay receiver, wherein the relay support rod is fixedly connected with the vehicle body, is positioned at the top of the vehicle body and is positioned at one end, far away from the aircraft structure, of the vehicle body; the relay receiver is fixedly connected with the relay supporting rod, electrically connected with the controller and located at one end, far away from the vehicle body, of the supporting rod.
5. The inertial navigation-based ground-air cooperative communication exploration device according to claim 4,
the data acquisition structure further comprises a wireless charger and a solar panel, wherein the wireless charger is fixedly connected with the vehicle body, electrically connected with the wide-angle camera, electrically connected with the relay receiver and positioned at the bottom of the vehicle body; the solar cell panel is fixedly connected with the vehicle body, connected with the wireless charger and located inside the vehicle body.
6. The inertial navigation-based ground-air cooperative communication exploration device according to claim 5,
the data acquisition structure further comprises a flame sensor, wherein the flame sensor is located in the vehicle body, located on the upper surface of the solar cell panel and close to the side wall of the vehicle body.
7. The inertial navigation-based ground-air cooperative communication exploration device according to claim 6,
the data acquisition structure further comprises a temperature and humidity sensor, wherein the temperature and humidity sensor is located in the vehicle body, located on the upper surface of the solar cell panel and located at the center of the vehicle body.
8. The inertial navigation-based ground-air cooperative communication exploration device according to claim 2,
the walking structure further comprises a radiator, and the radiator is fixedly connected with the vehicle body and close to the driver.
9. The inertial navigation-based ground-air cooperative communication exploration device according to claim 8,
the aircraft structure further comprises a positioning member, wherein the positioning member is fixedly connected with the vehicle body, electrically connected with the flying motor, positioned at the top of the vehicle body and close to the flying motor.
10. The inertial navigation-based ground-air cooperative communication exploration device according to claim 9,
the aircraft structure still includes the support, the support with automobile body fixed connection, and with flying motor fixed connection, and be located the top of automobile body still is located the automobile body with between the flying motor.
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| CN201921360789.6U CN210706760U (en) | 2019-08-21 | 2019-08-21 | Air-ground cooperative communication exploration device based on inertial navigation |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111806685A (en) * | 2020-06-23 | 2020-10-23 | 亚投中财(北京)科技开发有限公司 | Green photoelectric sensing system for integrated application of suspension type vehicle-mounted three-dimensional monitoring aircraft |
| CN112729247A (en) * | 2020-12-15 | 2021-04-30 | 李艳 | Ground-air complementary remote sensing measurement method based on computer communication |
| CN112729243A (en) * | 2020-12-15 | 2021-04-30 | 李艳 | Ground-air complementary remote sensing measuring device based on computer communication |
| CN114394238A (en) * | 2022-02-08 | 2022-04-26 | 山西工程职业学院 | Intelligent oiling robot and method for unmanned aerial vehicle throwing |
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2019
- 2019-08-21 CN CN201921360789.6U patent/CN210706760U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111806685A (en) * | 2020-06-23 | 2020-10-23 | 亚投中财(北京)科技开发有限公司 | Green photoelectric sensing system for integrated application of suspension type vehicle-mounted three-dimensional monitoring aircraft |
| CN112729247A (en) * | 2020-12-15 | 2021-04-30 | 李艳 | Ground-air complementary remote sensing measurement method based on computer communication |
| CN112729243A (en) * | 2020-12-15 | 2021-04-30 | 李艳 | Ground-air complementary remote sensing measuring device based on computer communication |
| CN112729247B (en) * | 2020-12-15 | 2022-09-30 | 李艳 | Ground-air complementary remote sensing measurement method based on computer communication |
| CN114394238A (en) * | 2022-02-08 | 2022-04-26 | 山西工程职业学院 | Intelligent oiling robot and method for unmanned aerial vehicle throwing |
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