CN212512704U - Intelligent artificial precipitation-increasing hail-suppression rocket operation system - Google Patents
Intelligent artificial precipitation-increasing hail-suppression rocket operation system Download PDFInfo
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Abstract
The utility model discloses an intelligent artificial precipitation hail suppression rocket operation system, which comprises a launching controller, a launching rotary table and a launching frame, wherein the launching frame is arranged on the launching rotary table, and a launching control terminal is also in communication connection with a command center; the turntable comprises a servo controller; the transmitting control terminal is in communication connection with the servo controller; the servo controller bus is connected with an azimuth driver for adjusting the left-right rotation of the rotary table and a pitching driver for adjusting the pitching angle of the launcher; the servo controller is in signal connection with a position feedback unit, and the position feedback unit is arranged on the launching frame. The wireless transmitter is in wireless communication connection with the command center and the transmitting rotary table, and the transmitting rotary table is used as an intermediate information receiving feedback point, so that closed-loop control of information is realized, and intelligent automatic artificial rainfall is realized.
Description
Technical Field
The utility model belongs to the artificial rainfall field, concretely relates to intelligent artificial precipitation hail suppression rocket operating system.
Background
At present, weather-influenced (hereinafter referred to as 'figure') operation rocket projectiles and launching frames are various in types, different in form, more and more complex and long-term, form figure equipment industry barriers and local monopoly gradually, and are not beneficial to further development of the whole figure industry. In order to break through the situation, the discussion of realizing standardization and universalization of the rocket launcher and further realizing separation of the missile launcher in the whole figure industry has been long, and the universal rocket launcher has not been popularized in the ground for various reasons. In order to break the situation of ridge breaking and industry barriers of the figure equipment and the magazine rack, the magazine rack separation needs to be promoted, and the aim of more rapid development of the figure industry is promoted.
In order to solve the problems of various rocket projectiles and launching frames, different standards, large volume, heavy weight, large potential safety hazard, low operation efficiency and the like in the current figure operation, a standardized universal rocket launching frame is developed to serve the figure career.
SUMMERY OF THE UTILITY MODEL
The utility model provides an intelligent artificial precipitation hail suppression rocket operating system solves the problem of artificial rainfall.
The utility model discloses the technical scheme who adopts does:
an intelligent artificial precipitation and hail suppression rocket operation system comprises a launching controller, a launching rotary table and a launching frame, wherein the launching frame is installed on the launching rotary table, and a launching control terminal is also in communication connection with a command center; the turntable comprises a servo controller; the transmitting control terminal is in communication connection with the servo controller; the servo controller bus is connected with an azimuth driver for adjusting the left-right rotation of the rotary table and a pitching driver for adjusting the pitching angle of the launcher; the servo controller is in signal connection with a position feedback unit, and the position feedback unit is arranged on the launching frame. The wireless transmitter is in wireless communication connection with the command center and the transmitting rotary table, and the transmitting rotary table is used as an intermediate information receiving feedback point, so that closed-loop control of information is realized, and intelligent automatic artificial rainfall is realized.
Furthermore, the position feedback unit comprises a direction feedback unit and a geographic information feedback unit, the direction feedback unit is an electronic compass, and the geographic information feedback unit is a Beidou module or a GPS positioning module.
Furthermore, the servo controller is electrically connected with a displacement sensor for detecting the deformation quantity of the launcher track, the displacement sensor is positioned on the upper side and the lower side of the launcher track, and the top, the middle and the tail of the track are provided with detection points. Through all being provided with displacement sensor at orbital top, middle part and afterbody and detecting track deformation volume, when deformation volume exceeded prediction scope value, influence the transmission of rainfall bullet promptly, the affirmation is the card bullet, realizes orbital automated inspection to collect information through servo controller and pass to launch controller, realize intelligent fault detection.
Further, the launcher comprises a plurality of rain bullet tracks, and each rain bullet track is provided with an independent igniter; each independent igniter is electrically connected with a relay, and the relay is electrically connected with a servo controller; the relay connected with each igniter is electrically connected with a booster circuit, and the booster circuit comprises an adjustable voltage-saving circuit, a booster circuit, a second relay, a high-voltage switch and a power supply which are sequentially and electrically connected; the adjustable voltage circuit is electrically connected with a relay connected with the igniter; the second relay is electrically connected with the servo controller.
Further, the output end of the booster circuit is electrically connected with a voltage detection sensor, and the voltage detection sensor is electrically connected with the servo controller.
Further, the emission controller comprises an industrial flat plate, and the industrial flat plate is electrically connected with a key collection plate; the industrial flat plate comprises a wireless module, a signal interface module, a 4G module, a processor, a screen and a camera module for scanning codes; the servo controller is electrically connected with a wireless module and a signal interface module; the industrial flat plate is in communication connection with a command center through a 4G module; the processor is respectively and electrically connected with the signal interface module, the 4G module and the camera module. Can scan the two-dimensional code on the rainfall bullet through the camera to read the basic information of rainfall bullet, whether discernment rainfall bullet is qualified, realize the automated inspection function of rainfall bullet.
Further, the transmitting rotary table is powered by a storage battery.
Furthermore, the launching rack adopts a launching rack with an adaptive trajectory. The launching cradle adopting the self-adaptive trajectory can be compatible to launch rocket projectiles of various models, one-cradle multi-projectile launching is realized, and different projectile varieties can be rapidly loaded through one-time operation by scanning two-dimensional codes. The launcher adopts the design of a self-adaptive bullet seed director, an automatic control rotary table and an intelligent launching controller, and the operation is convenient and fast.
An intelligent artificial rainfall enhancement and hail suppression rocket operation method adopts the intelligent artificial rainfall enhancement and hail suppression rocket operation system and comprises the following steps of scanning two-dimensional codes of rain shells by adopting a launching controller to judge rain shell information, loading the rain shells if the information meets a preset standard capable of being launched by the rain shells, and replacing the rain shells if the information does not meet the preset standard capable of being launched by the rain shells; when the information of the rainfall bomb meets the preset standard that the rainfall bomb can be launched, the launching controller sends a specification signal of the rainfall bomb to the servo controller, and the servo controller adjusts the trajectory size of the launching frame according to the specification of the rainfall bomb and then carries out loading; after the ammunition is loaded, the personnel evacuate to a safe area, and the position information, the direction and the pitching angle of the launching cradle transmitted from the launching turntable are received through the launching controller; turning the launching frame to a target pointing position; sending the boosting information to a servo controller through a transmitting controller; after the boosting is finished, transmitting information is sent to the servo controller through the transmitting controller to finish transmitting; and after the transmission is successful, the transmission controller generates a transmission log and sends the transmission log to the command center.
The utility model discloses have following advantage and beneficial effect:
1. the utility model connects the command center and the transmitting rotary table through wireless communication of the wireless transmitter, the transmitting rotary table is used as an intermediate information receiving feedback point, thereby realizing the closed-loop control of information and realizing intelligent automatic artificial rainfall;
2. the launching rack of the utility model adopts the launching rack with self-adaptive trajectory, and the design of the orientator, the automatic control turntable and the launching controller is adopted, so that the operation is convenient and fast;
3. the utility model discloses launcher operating system can swiftly, high-efficient, accurate, carry out artifical rain enhancement hail suppression operation safely.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
fig. 1 is a block diagram of the launcher operating system of the present invention.
Fig. 2 is a block diagram of the servo control system of the present invention.
Fig. 3 is a schematic block diagram of the servo control system of the present invention.
Fig. 4 is a schematic diagram of the ignition control circuit of the present invention.
Fig. 5 is a schematic diagram of the power distribution network of the present invention.
Fig. 6 is a schematic block diagram of the launch controller of the present invention.
Fig. 7 is a key arrangement diagram of the launch controller in accordance with an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the following examples and drawings, and the exemplary embodiments and descriptions thereof of the present invention are only used for explaining the present invention, and are not intended as limitations of the present invention.
It should be understood that the terms first, second, etc. are used merely for distinguishing between descriptions and are not intended to indicate or imply relative importance. Although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of example embodiments of the present invention.
It should be understood that the term "and/or" herein is merely one type of association relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, B exists alone, and A and B exist at the same time, and the term "/and" is used herein to describe another association object relationship, which means that two relationships may exist, for example, A/and B, may mean: a alone, and both a and B alone, and further, the character "/" in this document generally means that the former and latter associated objects are in an "or" relationship.
It should be understood that in the description of the present invention, the terms "upper", "vertical", "inner", "outer", and the like, refer to the orientation or positional relationship that is conventionally used to place the product of the present invention, or that is conventionally understood by those skilled in the art, and are used merely to facilitate the description of the present invention and to simplify the description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered as limiting the present invention.
It will be understood that when an element is referred to as being "connected," "connected," or "coupled" to another element, it can be connected or coupled to the other element or intervening elements may be present. In contrast, when an element is referred to as being "directly adjacent" or "directly coupled" to another element, there are no intervening elements present. Other words used to describe the relationship between elements should be interpreted in a similar manner (e.g., "between … …" versus "directly between … …", "adjacent" versus "directly adjacent", etc.).
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes," and/or "including," when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, numbers, steps, operations, elements, components, and/or groups thereof.
Example 1:
as shown in fig. 1 and fig. 2, the present embodiment provides an intelligent artificial precipitation hail-suppression rocket operating system, which includes a launch controller, a launch turntable, a launch frame and a servo control system, where the servo control system includes a control arithmetic processing unit, a signal input unit, a state indication unit, a motor driving unit and a position feedback unit, the control arithmetic processing unit employs the servo controller, and the motor driving unit includes an azimuth driver and a pitch driver; the launching frame is arranged on the launching rotary table, and the launching control terminal is also in communication connection with the command center; the servo controller is arranged in the launching turntable; the transmitting control terminal is in communication connection with the servo controller; the servo controller bus is connected with an azimuth driver for adjusting the left-right rotation of the rotary table and a pitching driver for adjusting the pitching angle of the launcher; the pitching motor is a UI2486-98-5004A stepping motor of Shanghai Yoibubao intelligent robot science and technology company, and the maximum torque reaches 4.9 Nm; the azimuth motor is a stepping motor selected from UI2457-56-2804A of Shanghai Yoibubao intelligent robot science and technology company, and the maximum torque reaches 1.26 Nm; the servo controller is in signal connection with a position feedback unit, and the position feedback unit is arranged on the launching frame. The wireless transmitter is in wireless communication connection with the command center and the transmitting rotary table, and the transmitting rotary table is used as an intermediate information receiving feedback point, so that closed-loop control of information is realized, and intelligent automatic artificial rainfall is realized.
In specific implementation, as shown in fig. 3, the position feedback unit includes a direction feedback unit and a geographic information feedback unit, the direction feedback unit is an electronic compass, and the geographic information feedback unit is a Beidou module or a GPS positioning module. The position of the transmitting rotary table is positioned through the Beidou module or the GPS positioning module, when the transmitting rotary table is positioned in the forbidden area, the forbidden area is set through the display control interface of the transmitting controller, and the servo system does not respond to the forbidden area and transfers. The servo speed control adopts open-loop control of a stepping motor, the electronic compass outputs current angle pointing information of the director, and the servo controller completes the functions of controlling the motor, inputting and outputting communication of external data and the like according to the working requirements of the system. The wireless display control is realized through GPS/Beidou positioning and wireless network communication, and a wired communication connection mode is compatible during specific implementation. When the device is specifically implemented, the pitching rotation of the launcher can be realized by a stepping motor through a speed reducer through worm and gear transmission, and the azimuth rotation of the launcher can be realized through the stepping motor and a straight-tooth gear pair with a large reduction ratio; hand-operated handles are respectively arranged on the azimuth driving shaft and the pitching driving shaft, so that manual turning can be realized. And a GPSGPS/Beidou dual-mode positioning module of a punctual atom is selected to realize the detection of the longitude and latitude and the altitude of the rocket projectile launcher. The electronic compass is used for measuring the azimuth and the pitching angle of the emission bracket, and has an angle calibration compensation function. The installation position of the electronic compass and the launching tube of the launching frame form an angle of 55 degrees, so that the working angle of the electronic compass is always within 60 degrees within the working angle range of the launching frame, and the precision of the electronic compass is guaranteed. The Shenzhen Rifen science and technology company HCM375B type electronic compass is selected.
During concrete implementation, the servo controller is electrically connected with a displacement sensor used for detecting the track deformation of the launcher, the Shenzhen Milang science and technology limited company KTC2-mm-SL displacement sensor is selected for use during concrete implementation, the displacement sensor is located on the upper side and the lower side of the track of the launcher, and the top, the middle and the tail of the track are provided with detection points. Through all being provided with displacement sensor at orbital top, middle part and afterbody and detecting track deformation volume, when deformation volume exceeded prediction scope value, influence the transmission of rainfall bullet promptly, the affirmation is the card bullet, realizes orbital automated inspection to collect information through servo controller and pass to launch controller, realize intelligent fault detection. In specific implementation, the servo controller comprises a CPU processing module, an interface control module, an I/O control module, a power conversion module, a bottom plate and the like. The CPU processing module mainly comprises a DSP processor TMS320F28335 and an FPGA logic unit EP2C8T144I 8N. The DSP processor TMS320F28335 is mainly used for processing control commands of the handheld terminal and achieving rotary table transferring tasks. And the DSP realizes load rotation speed control through CAN communication. The FPGA logic unit realizes the data input and output interface processing and related logic control signal processing functions.
In specific implementation, the launching frame comprises a plurality of rainfall bullet tracks, and each rainfall bullet track is provided with an independent igniter; each independent igniter is electrically connected with a relay, and the relay is electrically connected with a servo controller; the relay connected with each igniter is electrically connected with a booster circuit, and the booster circuit comprises an adjustable voltage-saving circuit, a booster circuit, a second relay, a high-voltage switch and a power supply which are sequentially and electrically connected; as shown in fig. 4, the adjustable voltage circuit is electrically connected to a relay to which an igniter is connected; the second relay is electrically connected with the servo controller. The second relay is arranged on the boosting circuit and is electrically connected with the servo controller, the boosting command can be sent remotely through the transmitting controller, the servo controller receives the boosting command through wired communication or wireless communication, the second relay is controlled, and the boosting circuit is started to boost; after the boosting is completed, the transmitting controller sends a transmitting signal corresponding to the trajectory, and the servo controller receives the signal and then controls the relay of the corresponding trajectory to enable the igniter to ignite, so that independent ignition control of the trajectory is achieved, and the practicability is high. In specific implementation, after the launching controller scans the two-dimensional code of the rocket projectile, the servo system automatically acquires technical parameters of the rocket projectile and configures corresponding ignition conditions (ignition voltage, ignition current, ignition pulse duration and the like) for the rocket projectile according to the self-adaptive projectile ignition control circuit. The output voltage of the booster circuit is the highest emission voltage required by all rocket projectiles, and the emission voltages required by other projectile varieties can be output through the adjustable voltage circuit, so that the self-adaptive projectile ignition condition configuration is realized. After the boost button is pressed down, the boost relay is conducted, the voltage detection sensor detects whether the ignition voltage is normal or not and feeds the ignition voltage back to the controller, and after all the ignition voltages are normal, the corresponding relays are controlled to be conducted by pressing the emission keys of the four channels respectively, so that ignition can be realized.
When the voltage boosting circuit is specifically implemented, the output end of the voltage boosting circuit is electrically connected with a voltage detection sensor, and the voltage detection sensor is electrically connected with a servo controller. The voltage condition of the booster circuit is detected through the voltage detection sensor, the voltage condition is fed back to the servo controller, the servo controller transmits a signal to the transmitting controller, and whether boosting is ready or not is remotely checked.
In specific implementation, as shown in fig. 6, the emission controller includes an industrial flat plate electrically connected to a key collection plate; the industrial flat plate comprises a wireless module, a signal interface module, a 4G module, a processor, a screen and a camera module for scanning codes; the servo controller is electrically connected with a wireless module and a signal interface module; the industrial flat plate is in communication connection with a command center through a 4G module; the processor is respectively and electrically connected with the signal interface module, the 4G module and the camera module. The two-dimensional code on the rainfall bomb can be scanned through the camera to read the basic information of the rainfall bomb, whether the rainfall bomb is qualified is identified, the automatic detection function of the rainfall bomb is achieved, and during specific implementation, the detection content comprises the date of rainfall, and whether the rainfall bomb is an overdue bomb or a problem bomb is judged. In specific implementation, the keyboard design is performed as shown in fig. 7. Interpretation of key indicator:
channel 1-4 indicator lights: the resistance value of the rocket projectile is normally displayed in green, and if the resistance value exceeds the range, the rocket projectile is displayed in red;
under-power indicator lamp: the key acquisition board is in a green and normal state when the power supply indication is indicated, and the power supply is abnormal when the key acquisition board is turned off or flickers;
the boost indicator light: displaying green when servo boosting is successful, and displaying red when servo boosting is failed;
an emission indicator light: when the emission is normal, the green color is displayed, and the red color is displayed abnormally;
orientation key-press: four mutually exclusive keys are adopted, and when one key is pressed, the other three keys automatically bounce; the high, medium and low mean that the rotation can be performed at three speeds of 40 °/s at a high speed, 20 °/s at a medium speed and 5 °/s at a low speed in the azimuth plane, respectively.
Pitching key: three mutually exclusive keys are adopted, and high and low indicate that the rotation is carried out at two speeds of 10 degrees/s at high speed and 2.5 degrees/s at low speed on a pitching surface;
emergency key-press: two mutually exclusive keys are adopted for cutting off or turning on a system power supply in emergency;
detecting a key: the servo system detects the resistance values of the 4-channel rocket projectiles when the self-resetting key is pressed;
a pressure-rising key: a self-reset key is adopted to carry out one-key voltage boosting on the igniter;
a launch key: and a self-reset key is adopted to execute the launching operation of the rocket projectile, and the four launching channels are independently controlled.
In specific implementation, the transmitting rotary table is powered by a 24V storage battery. The specific implementation is shown in fig. 5.
In specific implementation, the launching frame adopts a launching frame with a self-adaptive trajectory. The launcher is provided with a contact type igniter and a wiring type ignition, and is suitable for rainfall bombs with various ignition modes.
In specific implementation, the automatic control function comprises:
1) the space between the launching tracks is automatically controlled to adapt to different bullet types;
2) automatically controlling the orientation/pitch angle of the launcher;
3) the method is characterized in that the method is adaptive to bullet ignition control, a servo system automatically acquires technical parameters of a rocket bullet and configures corresponding ignition conditions, ignition voltage, ignition current, ignition pulse duration and the like.
Example 2:
an intelligent artificial rainfall enhancement and hail suppression rocket operation method adopts the intelligent artificial rainfall enhancement and hail suppression rocket operation system and comprises the following steps of scanning two-dimensional codes of rain shells by adopting a launching controller to judge rain shell information, loading the rain shells if the information meets a preset standard capable of being launched by the rain shells, and replacing the rain shells if the information does not meet the preset standard capable of being launched by the rain shells; when the information of the rainfall bomb meets the preset standard that the rainfall bomb can be launched, the launching controller sends a specification signal of the rainfall bomb to the servo controller, and the servo controller adjusts the trajectory size of the launching frame according to the specification of the rainfall bomb and then carries out loading; after the ammunition is loaded, the personnel evacuate to a safe area, and the position information, the direction and the pitching angle of the launching cradle transmitted from the launching turntable are received through the launching controller; turning the launching frame to a target pointing position; sending the boosting information to a servo controller through a transmitting controller; after the boosting is finished, transmitting information is sent to the servo controller through the transmitting controller to finish transmitting; and after the transmission is successful, the transmission controller generates a transmission log and sends the transmission log to the command center.
When the method is implemented specifically, the code scanning function is as follows: and scanning the projectile body two-dimensional code to automatically acquire information such as the type, length, diameter and overdue/problem projectile of the rocket projectile.
The above-mentioned embodiments, further detailed description of the objects, technical solutions and advantages of the present invention, it should be understood that the above description is only the embodiments of the present invention, and is not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. The utility model provides an intelligent artificial precipitation hail suppression rocket operating system which characterized in that: the system comprises a launching controller, a launching rotary table and a launching frame, wherein the launching frame is arranged on the launching rotary table, and the launching control terminal is also in communication connection with a command center; the turntable comprises a servo controller; the transmitting control terminal is in communication connection with the servo controller; the servo controller bus is connected with an azimuth driver for adjusting the left-right rotation of the rotary table and a pitching driver for adjusting the pitching angle of the launcher; the servo controller is in signal connection with a position feedback unit, and the position feedback unit is arranged on the launching frame.
2. An intelligent artificial precipitation hail suppression rocket operating system according to claim 1, wherein: the position feedback unit comprises a direction feedback unit and a geographic information feedback unit, the direction feedback unit is an electronic compass, and the geographic information feedback unit is a Beidou module or a GPS positioning module.
3. An intelligent artificial precipitation hail suppression rocket operating system according to claim 1, wherein: the servo controller is electrically connected with displacement sensors used for detecting deformation of the launcher track, the displacement sensors are located on the upper side and the lower side of the launcher track, and detection points are arranged at the top, the middle and the tail of the track.
4. An intelligent artificial precipitation hail suppression rocket operating system according to claim 1, wherein: the launcher comprises a plurality of rainfall bullet tracks, and each rainfall bullet track is provided with an independent igniter; each independent igniter is electrically connected with a relay, and the relay is electrically connected with a servo controller; the relay connected with each igniter is electrically connected with a booster circuit, and the booster circuit comprises an adjustable voltage-saving circuit, a booster circuit, a second relay, a high-voltage switch and a power supply which are sequentially and electrically connected; the adjustable voltage circuit is electrically connected with a relay connected with the igniter; the second relay is electrically connected with the servo controller.
5. An intelligent artificial precipitation hail suppression rocket operating system according to claim 4, wherein: and the output end of the booster circuit is electrically connected with a voltage detection sensor, and the voltage detection sensor is electrically connected with a servo controller.
6. An intelligent artificial precipitation hail suppression rocket operating system according to claim 1, wherein: the emission controller comprises an industrial flat plate, and the industrial flat plate is electrically connected with a key acquisition plate; the industrial flat plate comprises a wireless module, a signal interface module, a 4G module, a processor, a screen and a camera module for scanning codes; the servo controller is electrically connected with a wireless module and a signal interface module; the industrial flat plate is in communication connection with a command center through a 4G module; the processor is respectively and electrically connected with the signal interface module, the 4G module and the camera module.
7. An intelligent artificial precipitation hail suppression rocket operating system according to claim 1, wherein: the transmitting rotary table is powered by a storage battery.
8. An intelligent artificial precipitation hail suppression rocket operating system according to claim 1, wherein: the launcher adopts a launcher with a self-adaptive trajectory.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111854526A (en) * | 2020-03-10 | 2020-10-30 | 成都润联科技开发有限公司 | Intelligent artificial precipitation enhancement and hail suppression rocket operation system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111854526A (en) * | 2020-03-10 | 2020-10-30 | 成都润联科技开发有限公司 | Intelligent artificial precipitation enhancement and hail suppression rocket operation system and method |
| CN111854526B (en) * | 2020-03-10 | 2024-01-26 | 成都润联科技开发有限公司 | Intelligent artificial precipitation hail suppression rocket operation system and method |
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