CN105923146B - A kind of high stability unmanned plane based on Internet of Things - Google Patents
A kind of high stability unmanned plane based on Internet of Things Download PDFInfo
- Publication number
- CN105923146B CN105923146B CN201610268374.0A CN201610268374A CN105923146B CN 105923146 B CN105923146 B CN 105923146B CN 201610268374 A CN201610268374 A CN 201610268374A CN 105923146 B CN105923146 B CN 105923146B
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- unmanned plane
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C17/00—Aircraft stabilisation not otherwise provided for
- B64C17/02—Aircraft stabilisation not otherwise provided for by gravity or inertia-actuated apparatus
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Toys (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The present invention relates to a kind of high stability unmanned plane based on Internet of Things, including main body and the aviation mechanism being arranged on above main body, the aviation mechanism includes being arranged on the propeller and upper rack posts above main body, the propeller is connected by upper rack posts with main body, and base and lower fulcrum bar are provided with below the main body；The high stability unmanned plane based on Internet of Things controls the first motor and the second motor to operate by PLC, and the first motor and the second motor drive the first balance weight and the second balance weight to slide into the position specified on dial respectively, realizes the balance control of unmanned plane；The change in resistance for the biasing circuit being made up of simultaneously IGCT and the 7th resistance, output voltage is adjusted by the second triode, so as to ensure that the stability of output voltage, and pass through the first triode and the switch on and off of the second triode, realize the effect to lowering and stabilizing blood pressure, the power consumption of circuit is greatly reduced, improves the practicality and reliability of unmanned plane.
Description
Technical field
The present invention relates to a kind of high stability unmanned plane based on Internet of Things.
Background technology
UAV, abbreviation unmanned plane, it is newly to remember aircraft with gratitude in developing rapidly a kind of, it has machine
Dynamic flexible, rapid reaction, unmanned flight, operation require the advantages of low.In today of scientific and technological high speed development, unmanned plane is civilian
More and more important effect is played with military domain, particularly in such as border patrol, nuclear radiation detection, Aerial photography, aviation
The fields such as mine locating, the condition of a disaster monitoring, traffic patrolling, security monitoring, agricultural irrigation, but most of existing unmanned plane uses spiral
Oar realizes lifting, inevitably increases the volume of unmanned plane, increases the contact area with air-flow, it is easy to by strong
The interference of other extraneous factors such as wind, heavy showers, unmanned plane produced inclination in flight course, even deviated from navigation channel, reduce
The stability of unmanned plane；Simultaneously in existing unmanned plane, its mu balanced circuit is all to use voltage stabilizing triode or voltage stabilizing two
Pole pipe carries out linear voltage stabilization, and the power consumption of such circuit is larger, so as to greatly reduce the practicality of mu balanced circuit, reduces nobody
The reliability of machine.
The content of the invention
The technical problem to be solved in the present invention is：In order to overcome flight stability difference and power circuit power consumption in the prior art
A kind of big deficiency, there is provided high stability unmanned plane based on Internet of Things.
The technical solution adopted for the present invention to solve the technical problems is：A kind of high stability based on Internet of Things nobody
Machine, including main body and the aviation mechanism that is arranged on above main body, the aviation mechanism include being arranged on the propeller above main body
And upper rack posts, the base and lower fulcrum bar that the propeller is connected with main body by upper rack posts, is arranged on below main body, the base
It is connected by lower fulcrum bar with main body；
Balanced controls are provided with the main body, the balanced controls include the first motor, the second motor, the first driving tooth
Wheel, the second driving gear, horizontally disposed fixed bar shaped gear, the first pole being vertically arranged, the second pole being vertically arranged,
Dial, dividing plate, the first balance weight and the second balance weight, the dial and fixed bar shaped gear are horizontally disposed, the quarter
Scale is located at the top of fixed bar shaped gear, and the dividing plate is vertically arranged, and the dial is on where the central axis of dividing plate
Straight line it is symmetrical, the fixed bar shaped gear is symmetrical on the straight line where the central axis of dividing plate, first motor and
Two motors respectively positioned at the both sides of dial and symmetrical on the straight line where the central axis of dial, first motor and
Second motor is respectively positioned on the top of fixed bar shaped gear, and upward, first motor passes through to the tooth of the fixed bar shaped gear
The drive shaft of one motor is connected with the first driving gear, and the tooth of the tooth of first driving gear and fixed bar shaped gear is nibbled
Close, second motor is connected by the drive shaft of the second motor with the second driving gear, second driving gear
Tooth is engaged with the tooth of fixed bar shaped gear, and the top of first pole is fixed on the first motor, the bottom of first pole
End is fixedly connected with the first balance weight, and the top of second pole is fixed on the second motor, the bottom of second pole
It is fixedly connected with the second balance weight；
It is provided with Central Control Room in the main body, the Central Control Room includes PLC, and first motor and the second motor are and PLC
Electrical connection, is additionally provided with Voltage stabilizing module in the Central Control Room, and the Voltage stabilizing module includes mu balanced circuit, and the mu balanced circuit includes the
One electric capacity, the second electric capacity, the 3rd electric capacity, the 4th electric capacity, first resistor, second resistance, 3rd resistor, the 4th resistance, the 5th electricity
Resistance, the 6th resistance, the 7th resistance, the 8th resistance, the first triode, the second triode, inductance, voltage-regulator diode and IGCT,
The parallel circuit that the emitter stage of second triode is made up of the second electric capacity and the 6th resistance is grounded, second triode
Emitter stage be connected by the 5th resistance with the emitter stage of the first triode, the emitter stage of second triode passes through the 5th electricity
The series circuit that resistance and first resistor form is connected with the colelctor electrode of the second triode and the first transistor base respectively, and described the
The emitter stage of one triode is connected by second resistance with the base stage of the second triode, base stage and the brilliant lock of second triode
The series circuit that the negative electrode of pipe is connected and is made up of IGCT and the 7th resistance is grounded, and the colelctor electrode of first triode leads to
The anode for crossing 3rd resistor and IGCT connects, and the emitter stage of first triode is by the first capacity earth, and described first
The series circuit that the colelctor electrode of triode is made up of inductance, the 4th resistance and the 8th resistance is grounded, the 4th electric capacity and the
The series circuit of four resistance and the 8th resistance composition is in parallel, and the 3rd electric capacity and the 4th resistor coupled in parallel, the IGCT touch
Originator is connected with the 4th resistance and the 8th resistance respectively.
Preferably, in order to improve the practicality of balanced controls, weight and the second balance weight of first balance weight
It is equal in weight.
Preferably, because millimeter dial has larger accuracy, the stability of balanced controls, the quarter are improved
Scale is grade dial.
Preferably, the lower section of the main body is provided with loading cabin.
Preferably, the inside of the main body is provided with wireless communication module.
Preferably, in order to improve the stability of unmanned plane, spring is provided with the base.
The invention has the advantages that should high stability unmanned plane based on Internet of Things by PLC control the first motor and
Second motor operates, because the first driving gear and the second driving gear engage with fixed bar shaped gear, the first motor and the
Two motors drive the first balance weight and the second balance weight to slide into the position specified on dial respectively, realize the balance of unmanned plane
Control；The change in resistance for the biasing circuit being made up of simultaneously IGCT and the 7th resistance, by the second triode to output voltage
It is adjusted, so as to ensure that the stability of output voltage, and by the first triode and the switch on and off of the second triode,
The effect to lowering and stabilizing blood pressure is realized, greatly reduces the power consumption of circuit, improves the practicality and reliability of unmanned plane.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the structural representation of the high stability unmanned plane based on Internet of Things of the present invention；
Fig. 2 is the structural representation of the balanced controls of the high stability unmanned plane based on Internet of Things of the present invention；
Fig. 3 is the circuit theory diagrams of the mu balanced circuit of the high stability unmanned plane based on Internet of Things of the present invention；
In figure：1. main body, 2. upper rack posts, 3. propellers, 4. second balance weights, 5. lower fulcrum bars, 6. loading cabins, 7. bases,
8. the first motor, 9. second motors, 10. first driving gears, 11. second driving gears, 12. fixation bar shaped gears, 13. first
Pole, 14. second poles, 15. dials, 16. dividing plates, 17. first balance weights, the electric capacity of C1. first, the electric capacity of C2. second, C3.
3rd electric capacity, the electric capacity of C4. the 4th, R1. first resistors, R2 second resistances, R3. 3rd resistors, the resistance of R4. the 4th, the electricity of R5. the 5th
Resistance, the resistance of R6. the 6th, the resistance of R7. the 7th, the resistance of R8. the 8th, the triodes of Q1. first, the triodes of Q2. second, L1. inductance,
D1. voltage-regulator diode, N1. IGCTs.
Embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These accompanying drawings are simplified schematic diagram, only with
Illustration illustrates the basic structure of the present invention, therefore it only shows the composition relevant with the present invention.
As shown in Figure 1-Figure 3, a kind of high stability unmanned plane based on Internet of Things, including main body 1 and setting are on the body 1
The aviation mechanism of side, the aviation mechanism include the propeller 3 and upper rack posts 2 for being arranged on the top of main body 1, and the propeller 3 is logical
Base 7 and lower fulcrum bar 5 that upper rack posts 2 are connected with main body 1, are arranged on the lower section of main body 1 are crossed, the base 7 passes through lower fulcrum bar 5 and master
Body 1 connects；
Balanced controls are provided with the main body 1, the balanced controls include the first motor 8, the second motor 9, first actively
Gear 10, the second driving gear 11, horizontally disposed fixed bar shaped gear 12, the first pole 13 being vertically arranged, it is vertically arranged
The second pole 14, dial 15, dividing plate 16, the first balance weight 17 and the second balance weight 4, the dial 15 and fixed bar shaped
Gear 12 is horizontally disposed, and the dial 15 is located at the top of fixed bar shaped gear 12, and the dividing plate 16 is vertically arranged, described
Dial 15 is symmetrical on the straight line where the central axis of dividing plate 16, center of the fixed bar shaped gear 12 on dividing plate 16
Straight line where axis is symmetrical, and the motor 9 of the first motor 8 and second is respectively positioned at the both sides of dial 16 and on dial
Straight line where 16 central axis is symmetrical, and the motor 9 of the first motor 8 and second is respectively positioned on the upper of fixed bar shaped gear 12
Side, upward, first motor 8 passes through the drive shaft and the first driving tooth of the first motor 8 to the tooth of the fixed bar shaped gear 12
The drive connection of wheel 10, the tooth of first driving gear 10 engage with the tooth of fixed bar shaped gear 12, and second motor 9 passes through
The drive shaft of second motor 9 is connected with the second driving gear 11, the tooth of second driving gear 11 and fixed bar shaped tooth
The tooth engagement of wheel 12, the top of first pole 13 are fixed on the first motor 8, the bottom and first of first pole 13
Balance weight 17 is fixedly connected, and the top of second pole 14 is fixed on the second motor 9, the bottom of second pole 14 with
Second balance weight 4 is fixedly connected；
Be provided with Central Control Room in the main body 1, the Central Control Room includes PLC, the motor 9 of the first motor 8 and second with
PLC is electrically connected, and is additionally provided with Voltage stabilizing module in the Central Control Room, the Voltage stabilizing module includes mu balanced circuit, the mu balanced circuit bag
Include the first electric capacity C1, the second electric capacity C2, the 3rd electric capacity C3, the 4th electric capacity C4, first resistor R1, second resistance R2,3rd resistor
R3, the 4th resistance R4, the 5th resistance R5, the 6th resistance R6, the 7th resistance R7, the 8th resistance R8, the first triode Q1, the two or three
Pole pipe Q2, inductance L1, voltage-regulator diode D1 and IGCT N1, the second triode Q2 emitter stage by the second electric capacity C2 and
The parallel circuit ground connection of 6th resistance R6 compositions, the emitter stage of the second triode Q2 pass through the 5th resistance R5 and the one or three pole
Pipe Q1 emitter stage connects, and the emitter stage of the second triode Q2 passes through the series connection that the 5th resistance R5 and first resistor R1 is formed
Circuit is connected with the second triode Q2 colelctor electrode and the first triode Q1 base stages respectively, the emitter stage of the first triode Q1
It is connected by second resistance R2 with the second triode Q2 base stage, the base stage of the second triode Q2 and IGCT N1 negative electrode
The series circuit for connecting and being made up of IGCT N1 and the 7th resistance R7 is grounded, and the colelctor electrode of the first triode Q1 passes through
3rd resistor R3 is connected with IGCT N1 anode, and the emitter stage of the first triode Q1 is grounded by the first electric capacity C1, institute
State the series circuit ground connection that the first triode Q1 colelctor electrode is made up of inductance L1, the 4th resistance R4 and the 8th resistance R8, institute
It is in parallel with the series circuit that the 4th resistance R4 and the 8th resistance R8 is formed to state the 4th electric capacity C4, the electricity of the 3rd electric capacity C3 and the 4th
It is in parallel to hinder R4, the triggering end of the IGCT N1 is connected with the 4th resistance R4 and the 8th resistance R8 respectively.
Preferably, in order to improve the practicality of balanced controls, the weight of first balance weight 17 and the second balance weight 4
Be equal in weight.
Preferably, because millimeter dial has larger accuracy, the stability of balanced controls, the quarter are improved
Scale 15 is grade dial.
Preferably, the lower section of the main body 1 is provided with loading cabin 6.
Preferably, the inside of the main body 1 is provided with wireless communication module.
Preferably, in order to improve the stability of unmanned plane, spring is provided with the base 7.
The operation principle of the high stability unmanned plane based on Internet of Things is：The top both ends of main body 1 are provided with upper rack posts 2, on
The propeller 3 of the one end of pole 2 makes the unmanned plane realize lifting by high speed rotation；When main body 1 receives external force effect run-off the straight
When, it is arranged on the balanced controls inside main body 1 and starts working, PLC controls the first motor 8 to operate, and is arranged in the first motor 8
First driving gear 10 engages with being arranged on the fixation bar shaped gear 12 of the lower section of the first fixation motor 8, the first motor 8 by with its
The first pole 13 the first balance weight 17 of drive being fixedly connected slides into the position of dial 15 of indication；PLC controls simultaneously second
Motor 9 operates, fixed strip of the second driving gear 11 being arranged in the second motor 9 with being arranged on the lower section of the second fixation motor 9
Shape gear 12 engages, and the second motor 9 drives the second balance weight 4 to slide into indication by being secured to the second pole 14 of connection
The position of dial 15, counterbalance effect is reached, improve the stability of the unmanned plane；Simultaneously when the unmanned plane is in state of flight feelings
Under condition, when output voltage changes, then the bleeder circuit of the 4th resistance R4 and the 8th resistance R8 compositions will be adopted to it
Sample, then by triggering IGCT N1 conducting, then sent out by the resistance of IGCT N1 and the 7th resistance the R7 biasing circuit formed
Changing, output voltage is adjusted by the second triode Q2, so as to ensure that the stability of output voltage.Wherein, pass through
First triode Q1 and the second triode Q2 switch on and off, realize the effect to lowering and stabilizing blood pressure, greatly reduce circuit
Power consumption, improve the practicality and reliability of mu balanced circuit.
Compared with prior art, it is somebody's turn to do the high stability unmanned plane based on Internet of Things and passes through PLC the first motors 8 and second of control
Motor 9 operates, because the first driving gear 10 and the second driving gear 11 engage with fixed bar shaped gear 12, the first motor 8
The first balance weight 17 is driven respectively with the second motor 9 and the second balance weight 4 slides on dial 15 position specified, and realizes nothing
Man-machine balance control；Simultaneously by the change in resistance of IGCT N1 and the 7th resistance R7 biasing circuits formed, by the two or three
Pole pipe Q2 is adjusted to output voltage, so as to ensure that the stability of output voltage, and passes through the first triode Q1 and
Two triode Q2 switch on and off, realizes the effect to lowering and stabilizing blood pressure, greatly reduces the power consumption of circuit, improves unmanned plane
Practicality and reliability.
It is complete by above-mentioned description, relevant staff using the above-mentioned desirable embodiment according to the present invention as enlightenment
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property scope is not limited to the content on specification, it is necessary to determines its technical scope according to right.
Claims (6)
1. a kind of high stability unmanned plane based on Internet of Things, it is characterised in that including main body (1) and be arranged in main body (1)
The aviation mechanism of side, the aviation mechanism include being arranged on the propeller (3) and upper rack posts (2) above main body (1), the spiral
Oar (3) is connected by upper rack posts (2) with main body (1), and base (7) and lower fulcrum bar (5), the bottom are provided with below the main body (1)
Seat (7) is connected by lower fulcrum bar (5) with main body (1)；
Balanced controls are provided with the main body (1), the balanced controls include the first motor (8), the second motor (9), the first master
Moving gear (10), the second driving gear (11), horizontally disposed fixed bar shaped gear (12), the first pole being vertically arranged
(13) the second pole (14), dial (15), dividing plate (16), the first balance weight (17) and the second balance weight, being vertically arranged
(4), the dial (15) and fixed bar shaped gear (12) are horizontally disposed, and the dial (15) is located at fixed bar shaped gear
(12) top, the dividing plate (16) are vertically arranged, and the dial (15) is on straight where the central axis of dividing plate (16)
Line is symmetrical, and the fixed bar shaped gear (12) is symmetrical on the straight line where the central axis of dividing plate (16), first motor
(8) and the second motor (9) is respectively positioned at the both sides of dial (15) and on straight where the central axis of dial (15)
Line is symmetrical, and first motor (8) and the second motor (9) are respectively positioned on the top of fixed bar shaped gear (12), the fixed bar shaped
Upward, first motor (8) is driven the tooth of gear (12) by the drive shaft of the first motor (8) with the first driving gear (10)
Connection, the tooth of first driving gear (10) engage with the tooth of fixation bar shaped gear (12), and second motor (9) passes through the
The drive shaft of two motors (9) is connected with the second driving gear (11), the tooth and fixed strip of second driving gear (11)
The tooth engagement of shape gear (12), the top of first pole (13) are fixed on the first motor (8), first pole (13)
Bottom be fixedly connected with the first balance weight (17), the top of second pole (14) is fixed on the second motor (9), described
The bottom of second pole (14) is fixedly connected with the second balance weight (4)；
Central Control Room is provided with the main body (1), the Central Control Room includes PLC, and first motor (8) and the second motor (9) are equal
Electrically connected with PLC, Voltage stabilizing module is additionally provided with the Central Control Room, the Voltage stabilizing module includes mu balanced circuit, the mu balanced circuit
Including the first electric capacity (C1), the second electric capacity (C2), the 3rd electric capacity (C3), the 4th electric capacity (C4), first resistor (R1), second resistance
(R2), 3rd resistor (R3), the 4th resistance (R4), the 5th resistance (R5), the 6th resistance (R6), the 7th resistance (R7), the 8th electricity
(R8), the first triode (Q1), the second triode (Q2), inductance (L1), voltage-regulator diode (D1) and IGCT (N1) are hindered, it is described
The parallel circuit that the emitter stage of second triode (Q2) is made up of the second electric capacity (C2) and the 6th resistance (R6) is grounded, and described the
The emitter stage of two triodes (Q2) is connected by the 5th resistance (R5) with the emitter stage of the first triode (Q1), the two or three pole
Manage (Q2) emitter stage by the 5th resistance (R5) and first resistor (R1) composition series circuit respectively with the second triode
(Q2) colelctor electrode and the connection of the first triode (Q1) base stage, the emitter stage of first triode (Q1) passes through second resistance
(R2) base stage with the second triode (Q2) is connected, and the base stage of second triode (Q2) is connected with the negative electrode of IGCT (N1)
And the series circuit being made up of IGCT (N1) and the 7th resistance (R7) is grounded, the colelctor electrode of first triode (Q1) leads to
The anode that 3rd resistor (R3) is crossed with IGCT (N1) is connected, and the emitter stage of first triode (Q1) passes through the first electric capacity
(C1) it is grounded, the colelctor electrode of first triode (Q1) passes through inductance (L1), the 4th resistance (R4) and the 8th resistance (R8) group
Into series circuit ground connection, the series circuit of the 4th electric capacity (C4) and the 4th resistance (R4) and the 8th resistance (R8) composition is simultaneously
Connection, the 3rd electric capacity (C3) is in parallel with the 4th resistance (R4), the triggering end of the IGCT (N1) respectively with the 4th resistance
(R4) connected with the 8th resistance (R8).
2. the high stability unmanned plane based on Internet of Things as claimed in claim 1, it is characterised in that first balance weight
(17) weight is equal in weight with the second balance weight (4).
3. the high stability unmanned plane based on Internet of Things as claimed in claim 1, it is characterised in that the dial (15) is
Grade dial.
4. the high stability unmanned plane based on Internet of Things as claimed in claim 1, it is characterised in that under the main body (1)
Side is provided with loading cabin (6).
5. the high stability unmanned plane based on Internet of Things as claimed in claim 1, it is characterised in that the main body (1) it is interior
Portion is provided with wireless communication module.
6. the high stability unmanned plane based on Internet of Things as claimed in claim 1, it is characterised in that set in the base (7)
There is spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610268374.0A CN105923146B (en) | 2016-04-26 | 2016-04-26 | A kind of high stability unmanned plane based on Internet of Things |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610268374.0A CN105923146B (en) | 2016-04-26 | 2016-04-26 | A kind of high stability unmanned plane based on Internet of Things |
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| Publication Number | Publication Date |
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| CN105923146A CN105923146A (en) | 2016-09-07 |
| CN105923146B true CN105923146B (en) | 2017-12-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610268374.0A Active CN105923146B (en) | 2016-04-26 | 2016-04-26 | A kind of high stability unmanned plane based on Internet of Things |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107172927A (en) * | 2017-05-08 | 2017-09-19 | 深圳市雷凌广通技术研发有限公司 | A kind of Intelligent unattended machine for agricultural production |
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| CN204236769U (en) * | 2014-11-10 | 2015-04-01 | 成都好飞机器人科技有限公司 | A kind of agricultural many rotor wing unmanned aerial vehicles |
| CN105292452A (en) * | 2015-10-28 | 2016-02-03 | 南昌航空大学 | Four-axis tilting system based on singlechip control |
| CN105292454A (en) * | 2015-11-06 | 2016-02-03 | 极翼机器人(上海)有限公司 | Multi-rotor-wing unmanned plane |
| US9266609B1 (en) * | 2014-10-20 | 2016-02-23 | Insitu, Inc | Dual mode flight vehicle |
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2016
- 2016-04-26 CN CN201610268374.0A patent/CN105923146B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9266609B1 (en) * | 2014-10-20 | 2016-02-23 | Insitu, Inc | Dual mode flight vehicle |
| CN204236769U (en) * | 2014-11-10 | 2015-04-01 | 成都好飞机器人科技有限公司 | A kind of agricultural many rotor wing unmanned aerial vehicles |
| CN105292452A (en) * | 2015-10-28 | 2016-02-03 | 南昌航空大学 | Four-axis tilting system based on singlechip control |
| CN105292454A (en) * | 2015-11-06 | 2016-02-03 | 极翼机器人(上海)有限公司 | Multi-rotor-wing unmanned plane |
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| CN105923146A (en) | 2016-09-07 |
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