CN210835732U - Beacon inspection device based on unmanned aerial vehicle - Google Patents
Beacon inspection device based on unmanned aerial vehicle Download PDFInfo
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- CN210835732U CN210835732U CN201921831352.6U CN201921831352U CN210835732U CN 210835732 U CN210835732 U CN 210835732U CN 201921831352 U CN201921831352 U CN 201921831352U CN 210835732 U CN210835732 U CN 210835732U
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Abstract
The utility model relates to a fairway buoy inspection device based on unmanned aerial vehicle comprises unmanned aerial vehicle, unmanned aerial vehicle remote control platform, LORA gateway terminal, LORA sub-station terminal, fairway buoy, and wherein, unmanned aerial vehicle and unmanned aerial vehicle remote control platform link to each other, and unmanned aerial vehicle remote control platform and LORA gateway terminal link to each other, and LORA sub-station terminal and fairway buoy link to each other. The unmanned aerial vehicle navigation mark inspection APP sends a command for controlling the unmanned aerial vehicle inspection mode to enter k navigation marks in the non-unmanned aerial vehicle inspection mode in n navigation marks in the LORA network; the APP checks the navigation mark i closest to the unmanned aerial vehicle at regular time, and prompts a user to take pictures or pick up pictures of the navigation mark i in the unmanned aerial vehicle inspection mode; the APP generates an instruction to control the unmanned aerial vehicle to take pictures or make a video. The beneficial effects of the utility model are that realized fairway buoy telemetering measurement and remote control function based on unmanned aerial vehicle, provide technical support for trade characteristic is used.
Description
Technical Field
The utility model relates to an unmanned air vehicle technique field, concretely relates to fairway buoy inspection device based on unmanned aerial vehicle.
Background
Unmanned Aerial Vehicles (UAVs), which are short for Unmanned aircraft, are Unmanned aircraft that are operated by radio remote control devices or self-contained program control devices. Month 9, 2018, world customs organization coordination system committee (HSC) meeting decision 62, categorized the drone as a "camera that will fly". As the camera in each country does not generally have special trade regulation requirements, the unmanned aerial vehicle is supervised in the form of a camera capable of flying according to the camera, and the rapid development of the unmanned aerial vehicle is promoted.
In recent years, unmanned aerial vehicle + industry application has promoted unmanned aerial vehicle to development such as portability good, function complete, dependable performance, and the whole trend is that a tractor serves several purposes, high reliability, wide range and platform are synthesized and are integrated. If in fields such as electric power inspection, remote sensing survey and drawing, navigation mark engineering, agricultural plant protection, express delivery transportation, disaster relief, movie & TV shooting, news report, greatly promoted unmanned aerial vehicle's development on the one hand, on the other hand has also promoted the application form of trade. If power patrol inspection: unmanned aerial vehicle fixes a position along the electric wire netting and independently cruises, and the image is shot in real-time conveying, and the control personnel can watch in step and control on the computer, compares that traditional artifical condition of patrolling the line is hard, characteristics such as inefficiency, and unmanned aerial vehicle has improved work efficiency, the security of patrolling and examining work. Such as remote sensing mapping: the unmanned aerial vehicle platform can acquire earth surface information fast, acquires ultrahigh-resolution digital images and high-precision positioning data, generates two-dimensional and three-dimensional visual data such as a DEM (digital elevation model), a three-dimensional orthophoto map, a three-dimensional landscape model and a three-dimensional earth surface model, and is convenient for development and application of application systems in various environments. Such as navigation mark engineering: in recent years, an active exploration stage is entered, an unmanned aerial vehicle is applied to links such as beacon distribution, beacon pile site selection, field management and the like to exert technical advantages such as vision, space and the like, the terrain and the landform around the site selection position of a project are rapidly acquired, an intuitive three-dimensional model is established by combining image data with design software, the design model is used for carrying out contrastive analysis, a ship route is simulated, and a design scheme is optimized; the unmanned aerial vehicle is applied to navigation mark inspection, the unmanned aerial vehicle inspects the navigation marks on the two sides of a navigation channel in the air along a preset flight path, the carried image acquisition equipment transmits inspection pictures to a navigation mark management department in real time, managers can comprehensively, clearly and accurately master the conditions of color coating, structure, mark position and the like of the navigation marks, after the unmanned aerial vehicle finds hidden dangers, the navigation mark managers remotely analyze and judge the abnormal conditions of the navigation marks, and if the reason of the abnormal conditions cannot be determined according to the acquired data, the navigation marks are dispatched to the site to inspect faults and solve problems; the unmanned aerial vehicle navigation mark inspection content comprises the steps of inspecting the appearance condition of the navigation mark, whether the navigation mark is shifted or not and the like, compared with the conventional ship inspection, the efficiency is improved, the flashing condition of each light buoy is smoothly monitored in night inspection, the night inspection efficiency of the navigation mark is greatly improved, and the appearance structure of the navigation mark can be clearly monitored at night by means of an infrared lens of a photoelectric pod; the unmanned aerial vehicle is applied to channel maintenance, channel facilities such as water areas and channel treatment buildings are subjected to camera shooting and collection, and then the required cruise data can be obtained by utilizing a computer to perform corresponding processing on data information.
In the application deepening process of the unmanned aerial vehicle + industry, the innovative design needs to be developed aiming at specific problems to exert the platform advantage of the unmanned aerial vehicle. For example, document CN102183941B discloses an ultra-remote unmanned aerial vehicle control system based on a civil mobile phone network, which adopts the mobile phone network to realize ultra-remote control of the unmanned aerial vehicle, and overcomes the disadvantages of large volume, heavy weight, large power consumption and strong electromagnetic radiation of corresponding control equipment in the existing unmanned aerial vehicle technology; the document CN104537795B uses an unmanned aerial vehicle, a ground walking robot and a control center, the unmanned aerial vehicle flies in a range of 5-20m above vegetation, an imaging spectrometer shoots a hyperspectral image of the ground surface, and the hyperspectral image and positioning information are transmitted to the control center, so that the method for identifying and positioning forest underground fire based on the unmanned aerial vehicle is provided; document CN106828912B discloses a cruise detection unmanned aerial vehicle for forest fire, which can autonomously fly and detect the condition of a forest area, find a fire and project a locator for location; in order to overcome the problem that the unmanned aerial vehicle wastes time in the processes of point finding and focusing, document CN109000630A discloses an unmanned aerial vehicle inspection scale which is convenient to install, fast in speed, and capable of being installed and used in any terrain, and the unmanned aerial vehicle can accurately position and find points in the flying process; document CN109856686A provides a detection device for a drone for the lightbridge protocol of the drone; in order to realize rescue under the extreme environment condition that the conventional communication environment is lost or damaged, document CN109714747A discloses a method and system for collecting help-seeking information sent by an LoRa node through an LoRa communication device carried on an unmanned aerial vehicle platform, and further determining the state of a rescue target and constructing a communication channel with the target; document CN106927044A provides a beacon fleet system and a method for fleet monitoring of marine pollutants, a parking apron for parking an unmanned aerial vehicle is designed on a beacon lamp holder, a charging device for charging the unmanned aerial vehicle is arranged on the parking apron, a solar cell panel is connected with a power module, the power module comprises a storage battery and a charging power supply circuit, the unmanned aerial vehicle is provided with a charging receiving circuit, the beacon lamp holder is further provided with a wireless communication device and an image processor, each unmanned aerial vehicle starts a flight when receiving a takeoff instruction, an image signal of the image pickup device is transmitted to the image processor on the beacon lamp holder, and the image processor processes the image signal and then transmits the processed image signal to a shore-based control center; document CN204495346U provides a beacon monitoring device using unmanned aerial vehicle remote sensing, which includes an unmanned aerial vehicle and a ground monitoring station, the unmanned aerial vehicle is equipped with a flight control device, an image acquisition device and a communication device, the ground monitoring station is composed of a monitoring device and a remote control device, the image acquisition device acquires an image signal of the beacon, the monitoring device communicates with the image acquisition device through the communication device, and the remote control device communicates with the flight control device through the communication device; document CN204495345U uploads the image signal of the navigation mark to the server at the ground monitoring station based on document CN204495346U, and the client accesses the server through the local area network to obtain the image signal of the navigation mark; document CN109204705A discloses a buoy management method, in which an unmanned aerial vehicle is started to fly according to a preset route, images of a buoy device are recorded when the unmanned aerial vehicle flies above the buoy device, the overall structure and the operating state of a buoy are detected, the unmanned aerial vehicle is in communication connection with the buoy device, data records of the buoy device are read and stored, and the unmanned aerial vehicle returns to a management center to transmit the data records to a management terminal. The running state of the buoy can be conveniently detected, the data collected by the buoy are transmitted back, the missing detection rate is reduced, and the maintenance difficulty of the buoy is greatly reduced; document CN109911123A discloses a navigation buoy detection and maintenance system, including control center, unmanned aerial vehicle and fairway buoy, be equipped with fairway buoy position on the unmanned aerial vehicle and verify device and image acquisition device, communication connection between control center and unmanned aerial vehicle, unmanned aerial vehicle and the fairway buoy adopts position coordinate to maintain, and the accuracy is high, and need not carry out image acquisition with all fairway buoys in addition and send for control center, has alleviated transmission and storage pressure.
The on-site inspection mode of the navigation mark has obvious advantages, but has prominent defects, such as influence and restriction by meteorological conditions, the visual navigation mark needs to be simulated by marking and covering a lamp, the consumed time is long, the operating personnel are easy to be exhausted, and the danger coefficient is increased; the existing remote measurement and control routing inspection makes up a plurality of defects of field routing inspection, but still has the following defects: the coverage range is limited, false alarm and missed alarm are occasionally caused, and main body information such as the appearance of the navigation mark body and the like cannot be displayed. With the continuous improvement of the unmanned aerial vehicle technology, the bearing capacity is continuously enhanced, the battery endurance is improved, the unmanned aerial vehicle can greatly change the maintenance working form of the navigation mark industry, but if the requirement is only met on image acquisition and identification, the application depth is limited, the unmanned aerial vehicle technology is used as a platform, the interaction capacity of an unmanned aerial vehicle system and navigation mark equipment is enhanced, more characteristic application functions are realized, and better development can be promoted.
Disclosure of Invention
The utility model provides a to above-mentioned problem, establish a fairway buoy inspection device and method based on unmanned aerial vehicle, can realize carrying out data communication with the fairway buoy equipment, accomplish based on unmanned aerial vehicle's telemetering measurement data and remote control function, especially the fairway buoy dimension keeps characteristic function like the simulation of sealing the lamp etc. for unmanned aerial vehicle patrols and examines the fairway buoy, deepens the trade and uses and provide new technical support.
In order to achieve the above purpose, the design technical scheme of the utility model is that: the utility model provides a beacon inspection device and method based on unmanned aerial vehicle, comprises unmanned aerial vehicle, unmanned aerial vehicle remote control platform, LORA gateway terminal, LORA sub-station terminal, beacon, and wherein, unmanned aerial vehicle and unmanned aerial vehicle remote control platform link to each other, and unmanned aerial vehicle remote control platform and LORA gateway terminal link to each other, and LORA sub-station terminal and beacon link to each other.
Unmanned aerial vehicle constitute by GPS module, image acquisition module etc. the GPS module is used for acquireing unmanned aerial vehicle's positional data, image acquisition device is used for acquireing on-the-spot image data information or video data information.
Unmanned aerial vehicle remote control platform, constitute by Andriod panel computer, unmanned aerial vehicle remote controller, Andriod panel computer installs the unmanned aerial vehicle fairway buoy and patrols and examines APP, links to each other through bluetooth, WIFI, USB and LORA gateway terminal.
LORA gateway terminal, by gateway terminal embedded processor, gateway terminal LORA module, bluetooth module, WIFI module, gateway terminal RS485 module constitute, wherein, embedded processor links to each other with gateway terminal LORA module, bluetooth module, WIFI module, gateway terminal RS485 module respectively.
The LORA substation terminal comprises a substation terminal embedded processor, a substation terminal LORA module and a substation terminal RS485 module, wherein the substation terminal embedded processor is respectively connected with the substation terminal LORA module and the substation terminal RS485 module.
The navigation mark is composed of an embedded microprocessor, a GPS module, a MODEM module, an LED driving module, a sunlight value sensing module and a navigation mark RS485 module, wherein the embedded microprocessor is respectively connected with the GPS module, the MODEM module, the LED driving module, the sunlight value sensing module and the navigation mark RS485 module.
The embedded microprocessor is internally provided with a working Mode unit Pharos _ Mode for storing three working modes of the navigation mark: the unmanned aerial vehicle inspection system comprises a normal Mode, namely Pharos _ Mode =0, a forced Mode, namely Pharos _ Mode =1, and an unmanned aerial vehicle inspection Mode, namely Pharos _ Mode =2, wherein the normal Mode indicates that the on-off state of a navigation mark (on at night and on-off at daytime) is controlled by a sunlight value, the forced Mode indicates that the on-off state of the navigation mark is controlled by an instruction instead of the sunlight value, the unmanned aerial vehicle inspection Mode indicates that the navigation mark enters a q-minute forced Mode after receiving an unmanned aerial vehicle inspection control instruction, the forced Mode exits after q minutes and is recovered to the previous working Mode, and generally, q is 1-30.
A timing unit UAV _ Timer is arranged in the embedded microprocessor, and the unit is second; when the navigation mark receives the unmanned aerial vehicle inspection mode message instruction, the embedded microprocessor assigns the UAV _ Timer to m, wherein the range of m is 60-1800.
The embedded microprocessor is internally provided with a Timer, the timing period is 1 second, when a 1-second interrupt service program is entered, whether the UAV _ Timer is 0 or not is checked, if the UAV _ Timer is not 0, the current value of Pharos _ Mode is firstly saved, then the Pharos _ Mode is assigned to be 2, the beacon enters an unmanned aerial vehicle inspection Mode, then the lamp is controlled to enter a bright state, then the UAV _ Timer unit is reduced by one, the interrupt service is exited, otherwise, the UAV _ Timer is 0, the Pharos _ Mode value is saved before recovery, the beacon exits the unmanned aerial vehicle inspection Mode, and the interrupt service is exited.
The device and the method for the navigation mark inspection based on the unmanned aerial vehicle further comprise the following steps:
(1) the LORA substation terminal sends a query message instruction to the navigation mark at regular time through the substation terminal RS485, and the navigation mark responds to the query message instruction to return data such as GPS data, voltage, current, working mode and the like of the navigation mark;
(2) when the LORA substation terminal receives an inquiry message instruction of the LORA gateway terminal, the GPS data, the voltage, the current, the working mode and other data of the navigation mark obtained in the step (1) are returned; when the LORA substation terminal receives a control message instruction of the LORA gateway terminal, the control message instruction is immediately sent to the navigation mark through the substation terminal RS485, and the navigation mark responds to the instruction and returns the GPS data, the voltage, the current, the working mode and other data of the navigation mark;
(3) the LORA gateway terminal sends received navigation mark data returned by the n LORA substation terminals, namely n navigation marks in the LORA network, to an android tablet personal computer of the unmanned aerial vehicle remote control platform through Bluetooth, WIFI and USB, and displays data such as GPS data, voltage, current, working modes and the like of the n navigation marks in the LORA network on the unmanned aerial vehicle navigation mark inspection APP;
(4) the LORA gateway terminal sends a query message instruction to the LORA substation terminal in a timed and autonomous manner;
(5) the unmanned aerial vehicle navigation mark inspection APP sends a command for controlling the unmanned aerial vehicle inspection mode to enter k navigation marks in the non-unmanned aerial vehicle inspection mode in n navigation marks in the LORA network;
(6) the unmanned aerial vehicle navigation mark inspection APP regularly inspects a navigation mark i which is closest to the unmanned aerial vehicle, if the distance is less than M meters, usually M is 10-50 meters, a user is prompted to take pictures or make a video recording for the navigation mark i in the unmanned aerial vehicle inspection mode; the unmanned aerial vehicle navigation mark inspection APP generates an instruction to control the unmanned aerial vehicle to shoot or make a video recording through the unmanned aerial vehicle remote controller.
In the timing service program, firstly, calculating and analyzing GPS data of an unmanned aerial vehicle and GPS data of n beacons in an LORA network, when the position of the unmanned aerial vehicle is close to the position of a certain beacon i, if the beacon i is not in an unmanned aerial vehicle inspection mode state, generating a message instruction for controlling the beacon i to enter an unmanned aerial vehicle inspection mode, sending the message instruction to an LORA gateway terminal through Bluetooth, WIFI and USB, then sending the message instruction to an LORA substation terminal through the LORA gateway terminal, and finally sending the message instruction to the beacon i through the LORA substation terminal; secondly, a beacon i controlled to enter an unmanned aerial vehicle inspection mode sends back a corresponding response message, the response message is sent back to an android tablet personal computer of an unmanned aerial vehicle remote control platform through an LORA substation terminal and an LORA gateway terminal, and the response message is displayed on an unmanned aerial vehicle beacon inspection APP; then, the unmanned aerial vehicle fairway buoy patrols and examines APP interface and reminds the user to shoot or make a video recording the information to the fairway buoy i that is in the unmanned aerial vehicle mode of patrolling and examining, and the unmanned aerial vehicle fairway buoy patrols and examines APP and produce the instruction and control unmanned aerial vehicle through the unmanned aerial vehicle remote controller and shoot or make a video recording.
Compared with the prior art, the beneficial effects of the utility model are that: the unmanned aerial vehicle-based navigation mark remote measurement and remote control function is realized, and technical support is provided for industry characteristic application.
The objects, features and advantages of the present invention will be described in detail by way of examples with reference to the accompanying drawings.
Drawings
FIG. 1 is a topological structure diagram of the present invention;
fig. 2 is a block diagram of the LORA gateway terminal of the present invention;
FIG. 3 is a block diagram of the LORA substation terminal of the present invention;
FIG. 4 is a block diagram of the beacon assembly of the present invention;
FIG. 5 is the APP control flow chart for the unmanned aerial vehicle beacon patrol inspection;
fig. 6 is a flow chart of the timed interrupt service of the embedded microprocessor in the navigation mark of the present invention.
Detailed Description
In fig. 1, 101 is a drone, 102 is a drone remote control platform, 103 is a LORA gateway terminal, 104 is a LORA substation terminal, and 105 is a beacon, where 101 is connected to 102, 102 and 103, 103 is connected to 104, and 104 is connected to 105.
In fig. 2, 201 is a gateway terminal embedded processor, 202 is a gateway terminal LORA module, 203 is a gateway terminal RS485, 204 is a WIFI module, and 205 is a bluetooth module, wherein the gateway terminal embedded processor (201) is respectively connected to the gateway terminal LORA module (202), the gateway terminal RS485 (203), the WIFI module (204), and the bluetooth module (205).
In fig. 3, 301 is a substation terminal embedded processor, 302 is a substation terminal LORA module, 303 is a substation terminal RS485, wherein the substation terminal embedded processor (301) is connected to the substation terminal LORA module (302) and the substation terminal RS485 (303), respectively.
In fig. 4, 401 is an embedded microprocessor, 402 is a GPS module, 403 is a MODEM module, 404 is an LED driving module, 405 is a daylight value sensing module, and 406 is a beacon RS485 module, wherein the embedded microprocessor (401) is respectively connected to the GPS module (402), the MODEM module (403), the LED driving module (404), the daylight value sensing module (405), and the beacon RS485 module (406).
In order to further explain the specific implementation manner of the present invention, the flow charts shown in fig. 5 and fig. 6 are combined to specifically describe the navigation mark inspection device and method based on the unmanned aerial vehicle, which includes the following steps:
step 500: starting timing interrupt service of an Unmanned Aerial Vehicle (UAV) navigation mark inspection APP, and executing step 501;
step 501: sending an instruction for controlling to enter an unmanned aerial vehicle inspection mode to k beacons in a non-unmanned aerial vehicle inspection mode in the n beacons in the LORA network, and executing step 502;
step 502: calculating the distance D meters between the unmanned aerial vehicle and n navigation marks in the LORA network, and executing a step 503;
step 503: searching the ith navigation mark with the minimum distance D, and executing the step 504;
step 504: checking whether the ith navigation mark distance D is less than M meters, wherein M is 10-50 meters generally, if so, executing a step 505, otherwise, executing a step 511;
step 505: reading the ith navigation mark state data, and executing step 506;
step 506: checking the unmanned aerial vehicle inspection mode in the ith beacon state, if so, executing a step 507, otherwise, executing a step 508;
step 507: the APP prompts the operation to control the unmanned aerial vehicle to take a picture or make a video shot, and step 510 is executed;
step 508: organizing and controlling the ith beacon to enter an unmanned aerial vehicle inspection mode message instruction, and executing step 509;
step 509: sending the control message to the LORA gateway terminal, and executing step 511;
step 510: the APP control generates an instruction to control the unmanned aerial vehicle to take a picture or make a video recording, and step 511 is executed;
step 511: and (6) exiting.
Step 601: the embedded microprocessor 1s in the navigation mark starts the timed interrupt service, and step 602 is executed;
step 602: checking whether a timing unit UAV _ Timer is 0, if so, executing a step 606, otherwise, executing a step 603;
step 603: setting the navigation mark as an unmanned aerial vehicle inspection mode, and executing step 604;
step 604: controlling the navigation mark LED to be bright, and executing step 605;
step 605: performing a decrement operation on the UAV _ Timer unit, and performing step 607;
step 606: the navigation mark exits the unmanned aerial vehicle inspection mode, and step 607 is executed;
step 607: and (6) exiting.
Although particular embodiments of the present invention have been described, it will be understood by those skilled in the art that the specific embodiments described are illustrative only and are not limiting to the scope of the invention, and that any equivalent modifications and variations as taught by the technical spirit of the present invention are intended to be covered by the scope of the appended claims.
Claims (6)
1. The utility model provides a beacon inspection device based on unmanned aerial vehicle, its characterized in that beacon inspection device, constitute by unmanned aerial vehicle, unmanned aerial vehicle remote control platform, LORA gateway terminal, LORA sub-station terminal, beacon, wherein, unmanned aerial vehicle and unmanned aerial vehicle remote control platform link to each other, unmanned aerial vehicle remote control platform and LORA gateway terminal link to each other, LORA gateway terminal and LORA sub-station terminal link to each other, LORA sub-station terminal and beacon link to each other.
2. The unmanned aerial vehicle-based beacon inspection device according to claim 1, wherein the unmanned aerial vehicle comprises a GPS module and an image acquisition module, the GPS module is used for acquiring position data of the unmanned aerial vehicle, and the image acquisition device is used for acquiring on-site image data information or video data information.
3. The unmanned aerial vehicle-based beacon inspection device according to claim 1, wherein the unmanned aerial vehicle remote control platform comprises an android tablet computer and an unmanned aerial vehicle remote controller, and is connected through bluetooth, WIFI, USB and LORA gateway terminals.
4. The unmanned aerial vehicle-based beacon inspection device according to claim 1, wherein the LORA gateway terminal comprises a gateway terminal embedded processor, a gateway terminal LORA module, a Bluetooth module, a WIFI module, and a gateway terminal RS485 module, wherein the embedded processor is respectively connected with the gateway terminal LORA module, the Bluetooth module, the WIFI module, and the gateway terminal RS485 module.
5. The beacon inspection device based on the unmanned aerial vehicle of claim 1, wherein the LORA sub-station terminal comprises a sub-station terminal embedded processor, a sub-station terminal LORA module, and a sub-station terminal RS485 module, wherein the sub-station terminal embedded processor is respectively connected with the sub-station terminal LORA module and the sub-station terminal RS485 module.
6. The unmanned aerial vehicle-based beacon inspection device according to claim 1, wherein the beacon is composed of an embedded microprocessor, a GPS module, a MODEM module, an LED driving module, a sunlight value sensing module and a beacon RS485 module, and the embedded microprocessor is respectively connected with the GPS module, the MODEM module, the LED driving module, the sunlight value sensing module and the beacon RS485 module.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112053591A (en) * | 2020-08-24 | 2020-12-08 | 大连海事大学 | Offshore three-dimensional linkage networking and channel supervision system of unmanned aerial vehicle group cooperative intelligent navigation mark |
| CN113204245A (en) * | 2021-05-19 | 2021-08-03 | 广州海事科技有限公司 | Navigation mark inspection method, system, equipment and storage medium based on unmanned aerial vehicle |
| CN113989682A (en) * | 2021-12-29 | 2022-01-28 | 天津天元海科技开发有限公司 | Navigation mark inspection system and inspection method based on unmanned aerial vehicle remote sensing |
-
2019
- 2019-10-29 CN CN201921831352.6U patent/CN210835732U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112053591A (en) * | 2020-08-24 | 2020-12-08 | 大连海事大学 | Offshore three-dimensional linkage networking and channel supervision system of unmanned aerial vehicle group cooperative intelligent navigation mark |
| CN113204245A (en) * | 2021-05-19 | 2021-08-03 | 广州海事科技有限公司 | Navigation mark inspection method, system, equipment and storage medium based on unmanned aerial vehicle |
| CN113989682A (en) * | 2021-12-29 | 2022-01-28 | 天津天元海科技开发有限公司 | Navigation mark inspection system and inspection method based on unmanned aerial vehicle remote sensing |
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