CN105866780A - Unmanned aerial vehicle for searching and rescuing based on ultrasonic detection - Google Patents
Unmanned aerial vehicle for searching and rescuing based on ultrasonic detection Download PDFInfo
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- CN105866780A CN105866780A CN201610226696.9A CN201610226696A CN105866780A CN 105866780 A CN105866780 A CN 105866780A CN 201610226696 A CN201610226696 A CN 201610226696A CN 105866780 A CN105866780 A CN 105866780A
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- Prior art keywords
- braking
- brake
- unmanned plane
- fixed
- searching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C19/00—Aircraft control not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/10—Number of transducers
- G01N2291/106—Number of transducers one or more transducer arrays
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Computer Networks & Wireless Communication (AREA)
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Acoustics & Sound (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
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- General Health & Medical Sciences (AREA)
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention relates to an unmanned aerial vehicle for searching and rescuing based on ultrasonic detection. The unmanned aerial vehicle comprises a body, a supporting frame which is arranged below the body, a flying mechanism and an ultrasonic wave transceiver mechanism. The ultrasonic wave transceiver mechanism comprises a steering motor which is vertically arranged and an ultrasonic wave transceiver. The unmanned aerial vehicle for searching and rescuing based on ultrasonic detection perform remote control on the unmanned aerial vehicle by personnel through a wireless communication module, thereby improving intelligence of the unmanned aerial vehicle. In a signal acquisition module, through using the voltage of a follower circuit which mainly comprises a second operational amplifier as the reference voltage of a signal amplifying circuit, high impedance of the reference voltage is realized, thereby ensuring high interference resistance of the reference voltage and furthermore improving signal acquisition reliability. Furthermore, a driving wire is pulled through a braking motor and a braking arm is pulled by the driving wire for rotating, thereby realizing driving shaft braking by a braking sheet, performing speed reduction on flight of the unmanned aerial vehicle and improving efficiency in detecting, searching and rescuing of the unmanned aerial vehicle.
Description
Technical field
The present invention relates to a kind of unmanned plane for searching and rescuing based on ultrasonic listening.
Background technology
Along with the quickening of the economic construction of China, scientific and technological level the most constantly promotes, and unmanned plane is as section
The sophisticated industry learned a skill, it helps, for people, the space that also very high values must be developed.
Part unmanned plane is had to be applied to search and rescue field at present, during searching and rescuing, for the location that physical features is complicated,
Requirement for unmanned plane during flying is the highest, and the speed reduction brake mechanism of existing unmanned plane is considerably complicated, thus
Drastically increase the production cost of unmanned plane, reduce its market competitiveness；Moreover, at unmanned plane
After sending ultrasound wave, ultrasonic signal is received in gatherer process, due to the anti-interference energy of internal circuit
Power is poor, and reference voltage is interfered and offsets, thus reduces the reliability of detection, and due to
The structure of internal circuit is complicated, also improves the production cost of unmanned plane, reduces the practicality of unmanned plane.
Summary of the invention
The technical problem to be solved in the present invention is: in order to overcome prior art unmanned plane arrestment mechanism complicated and interior
Portion's circuit anti-interference ability, the deficiency that production cost is high, it is provided that a kind of based on ultrasonic listening being used for is searched
The unmanned plane rescued.
The technical solution adopted for the present invention to solve the technical problems is: a kind of based on ultrasonic listening be used for
The unmanned plane searched and rescued, including body, is arranged on the bracing frame below body, is arranged on the flight above body
Mechanism and ultrasonic transmission/reception mechanism, described ultrasonic transmission/reception mechanism include the steer motor that arranges straight up and
Ultrasonic transmitter-receiver, described steer motor is fixed on the upper surface of body, and described steer motor is by turning to electricity
The steering spindle of machine is in transmission connection with ultrasonic transmitter-receiver；
Described aviation mechanism includes two flight assemblies being positioned at body both sides, described flight assembly include pole,
Driving motor, drive shaft and the some horizontally disposed blades arranged straight up, one end of described pole is solid
Being scheduled on the upper surface of body, the other end of described pole is fixed on the bottom driving motor, described driving motor
By drive shaft drive blade rotate, each blade be positioned at drive shaft top and along drive shaft periphery circumference
It is uniformly distributed；
Described the internal reducing gear that is additionally provided with, described reducing gear includes drive mechanism and passes with drive mechanism
The arrestment mechanism being dynamically connected, described arrestment mechanism includes two brake assemblies being positioned at drive shaft both sides, described
Brake assemblies include brake(-holder) block, brake bar, brake arm and braking lead-in wire, the transverse interface of described brake arm in
Returning power mark shape, described time power target opening is provided with pin away from drive shaft, one end of described brake arm, institute
Stating brake arm and be fixed by a pin to the inside of body, the other end of described brake arm is provided with the first bearing pin, institute
Stating braking lead-in wire one end to be in transmission connection with drive mechanism, the other end of described braking lead-in wire is solid by the first bearing pin
Being scheduled on brake arm, described brake bar is fixed on brake arm and near one end of pin, and described brake(-holder) block is fixed
On brake bar and near drive shaft；
Described drive mechanism includes braking motor, brake axle, driving line and two drive rods, described drive rod
One end be provided with the second bearing pin, the quantity of described drive rod is consistent with the quantity of braking lead-in wire and one_to_one corresponding,
Described braking lead-in wire is connected with corresponding drive rod by the second bearing pin, and the other end of described drive rod is provided with solid
Dead axle, two drive rods are interconnected by fixing axle, and one end of described driving line is fixed on fixing axle,
The other end of described driving line is fixed on brake axle, and described braking motor is by brake axle and driving line transmission
Connect；
Described internal wireless communication module and the signal acquisition module of being provided with, described signal acquisition module includes letter
Number Acquisition Circuit, described signal acquisition circuit include the first operational amplifier, the second operational amplifier, first
Resistance, the second resistance, the 3rd resistance and the 4th resistance, the inverting input of described first operational amplifier with
First resistance connects, and the inverting input of described first operational amplifier is put by the second resistance and the first computing
The outfan of big device connects, the in-phase input end of described first operational amplifier and the second operational amplifier defeated
Going out end to connect, the inverting input of described second operational amplifier and the outfan of the second operational amplifier connect,
The in-phase input end of described second operational amplifier passes through the 3rd resistance external 3.3V DC voltage power supply, described
The in-phase input end of the second operational amplifier passes through the 4th resistance eutral grounding.
As preferably, utilize the feature that Serve Motor Control degree of accuracy is high, thus improve ultrasonic transmitter-receiver
The reliability that the accuracy of steering angle and reducing gear slow down, described steer motor and braking motor are to be watched
Take motor.
As preferably, utilize the feature that DC motor Driver ability is strong, thus ensure that unmanned plane during flying can
By property, described driving motor is direct current generator.
As preferably, in order to ensure that in unmanned plane, the brake arm of arrestment mechanism can reset, described arrestment mechanism
Side be provided with return mechanism, described return mechanism includes fixed plate and return spring, described return spring
One end is fixed in fixed plate, and the other end of described return spring is fixed on the first bearing pin.
As preferably, described return spring is in normal condition.
As preferably, in order to improve the reliability of braking, described braking lead-in wire and driving line are carbon element line.
As preferably, described body is provided with signal and receives window.
As preferably, described signal receives window and electrically connects with wireless communication module, described wireless communication module
Wireless signal is transmitted by WIFi.
The invention has the beneficial effects as follows, channel radio should be passed through by the unmanned plane for searching and rescuing based on ultrasonic listening
News module ensures that staff carries out remote control to unmanned plane, thus improves the intellectuality of unmanned plane；Letter
In number acquisition module, by the base using the follow circuit of the second operational amplifier as signal amplification circuit
Quasi-voltage, it is achieved that the high impedance of reference voltage, thus ensure that the high anti-jamming capacity of reference voltage, enter
One step improves the reliability of signals collecting；Moreover, pull driving line by braking motor, then by driving
Moving-wire pulls the rotation of brake arm, it is achieved that the brake(-holder) block braking to drive shaft, subtracts unmanned plane during flying
Speed, improves the detection of unmanned plane and the efficiency of search and rescue.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the structural representation of the unmanned plane for searching and rescuing based on ultrasonic listening of the present invention；
Fig. 2 is that the structure for the reducing gear of the unmanned plane searched and rescued based on ultrasonic listening of the present invention is shown
It is intended to；
Fig. 3 is the electricity of the signal acquisition circuit of the unmanned plane for searching and rescuing based on ultrasonic listening of the present invention
Road schematic diagram；
In figure: 1. body, 2. signal receives window, 3. bracing frame, 4. steer motor, 5. ultrasonic transmitter-receiver,
6. pole, 7. driving motor, 8. drive shaft, 9. blade, 10. brake bar, 11. brake(-holder) blocks, 12. pins, 13.
Brake arm, 14. first bearing pins, 15. braking lead-in wires, 16. second bearing pins, 17. fix axle, 18. drive rods, and 19.
Drive line, 20. brake axles, 21. braking motors, 22. fixed plates, 23. return springs, U1. the first operation amplifier
Device, U2. the second operational amplifier, R1. the first resistance, R2. the second resistance, R3. the 3rd resistance, R4. the 4th
Resistance.
Detailed description of the invention
In conjunction with the accompanying drawings, the present invention is further detailed explanation.These accompanying drawings are the schematic diagram of simplification,
The basic structure of the present invention is described the most in a schematic way, and therefore it only shows the composition relevant with the present invention.
As shown in Figure 1-Figure 3, a kind of based on ultrasonic listening for search and rescue unmanned plane, including body 1,
It is arranged on the bracing frame 3 below body 1, is arranged on the aviation mechanism above body 1 and ultrasonic transmission/reception mechanism,
Described ultrasonic transmission/reception mechanism includes steer motor 4 and the ultrasonic transmitter-receiver 5 arranged straight up, described turn
Be fixed on the upper surface of body 1 to motor 4, described steer motor 4 by the steering spindle of steer motor 4 with
Ultrasonic transmitter-receiver 5 is in transmission connection；
Described aviation mechanism includes two flight assemblies being positioned at body 1 both sides, and described flight assembly includes propping up
Bar 6, the driving motor 7 arranged straight up, drive shaft 8 and some horizontally disposed blades 9, described
One end of bar 6 is fixed on the upper surface of body 1, and the other end of described pole 6 is fixed on and drives motor 7
Bottom, described driving motor 7 drives blade 9 to rotate by drive shaft 8, and each blade 9 is positioned at drive shaft 8
Top and be uniformly distributed along the periphery circumference of drive shaft 8；
Being additionally provided with reducing gear in described body 1, described reducing gear includes drive mechanism and and drive mechanism
The arrestment mechanism being in transmission connection, described arrestment mechanism includes two brake assemblies being positioned at drive shaft 8 both sides,
Described brake assemblies includes brake(-holder) block 11, brake bar 10, brake arm 13 and braking lead-in wire 15, described braking
The transverse interface of arm 13 is in returning power mark shape, and described time power target opening is away from drive shaft 8, described brake arm
One end of 13 is provided with pin 12, and described brake arm 13 is fixed on the inside of body 1 by pin 12, described
The other end of brake arm 13 is provided with the first bearing pin 14, and described braking lead-in wire 15 one end are with drive mechanism transmission even
Connecing, the other end of described braking lead-in wire 15 is fixed on brake arm 13 by the first bearing pin 14, described braking
Bar 10 is fixed on brake arm 13 and near one end of pin 12, and described brake(-holder) block 11 is fixed on brake bar 10
Upper and close drive shaft 8；
Described drive mechanism includes braking motor 21, brake axle 20, drives line 19 and two drive rods 18,
One end of described drive rod 18 is provided with the second bearing pin 16, the quantity of described drive rod 18 and braking lead-in wire 15
Quantity is consistent and one_to_one corresponding, and described braking lead-in wire 15 is by the second bearing pin 16 and corresponding drive rod 18 company
Connecing, the other end of described drive rod 18 is provided with fixing axle 17, and two drive rods 18 are mutual by fixing axle 17
Connecting, one end of described driving line 19 is fixed on fixing axle 17, and the other end of described driving line 19 is fixed
On brake axle 20, described braking motor 21 is in transmission connection with driving line 19 by brake axle 20；
Being provided with wireless communication module and signal acquisition module in described body 1, described signal acquisition module includes
Signal acquisition circuit, described signal acquisition circuit include the first operational amplifier U1, the second operational amplifier U2,
First resistance R1, the second resistance R2, the 3rd resistance R3 and the 4th resistance R4, described first operational amplifier
The inverting input of U1 and the first resistance R1 connect, and the inverting input of described first operational amplifier U1 leads to
The outfan crossing the second resistance R2 and the first operational amplifier U1 connects, described first operational amplifier U1's
The outfan of in-phase input end and the second operational amplifier U2 connects, and described second operational amplifier U2's is anti-
The outfan of phase input and the second operational amplifier U2 connects, the homophase of described second operational amplifier U2
Input passes through the 3rd resistance R3 external 3.3V DC voltage power supply, and described second operational amplifier U2's is same
Phase input passes through the 4th resistance R4 ground connection.
As preferably, utilize the feature that Serve Motor Control degree of accuracy is high, thus improve ultrasonic transmitter-receiver 5
The reliability that the accuracy of steering angle and reducing gear slow down, described steer motor 4 and braking motor 21 are equal
For servomotor.
As preferably, utilize the feature that DC motor Driver ability is strong, thus ensure that unmanned plane during flying can
By property, described driving motor 7 is direct current generator.
As preferably, in order to ensure that the brake arm 13 of arrestment mechanism in unmanned plane can reset, described brake
The side of structure is provided with return mechanism, and described return mechanism includes fixed plate 22 and return spring 23, described return
One end of spring 23 is fixed in fixed plate 22, and the other end of described return spring 23 is fixed on the first bearing pin
On 14.
As preferably, described return spring 23 is in normal condition.
As preferably, in order to improve the reliability of braking, described braking lead-in wire 15 and driving line 19 are carbon
Element line.
As preferably, described body 1 is provided with signal and receives window 2.
As preferably, described signal receives window 2 and electrically connects with wireless communication module, described wireless telecommunications mould
Block transmits wireless signal by WIFi.
Should be based on ultrasonic listening in the unmanned plane of search and rescue, bracing frame 3 is for ensureing the peace of unmanned plane
Full landing；Aviation mechanism, for realizing the reliable flight of unmanned plane, wherein drives motor 7 by drive shaft 8
Blade 9 is driven to rotate, it is ensured that the reliable flight of unmanned plane,；Ultrasonic transmission/reception mechanism is used for receiving and dispatching ultrasound wave,
The ultrasonic listening realizing unmanned plane is searched and rescued, and wherein steer motor 4 is controlled by the steering spindle of steer motor 4
Ultrasonic transmitter-receiver 5 rotates, it is ensured that the scope of unmanned plane detection and the reliability of search and rescue；Reducing gear is used
Slow down during ensureing unmanned plane during flying, further increase the detection of unmanned plane and the efficiency of search and rescue,
Wherein, braking motor 21 pulls driving line 19 by brake axle 20, then drive line 19 will pull drive rod
18, corresponding brake arm 13 is done work, owing to brake arm 13 passes through by drive rod 18 by braking lead-in wire 15
Pin 12 is fixing and the transverse interface of brake arm 13 is in returning power mark shape, described time power target opening away from
Drive shaft 8, then the brake bar 10 on brake arm 13 will promote brake(-holder) block 11 close towards drive shaft 8,
It is achieved thereby that the braking to drive shaft 8, unmanned plane during flying is slowed down.
Should be used for ensureing work people by the wireless communication module in the unmanned plane of search and rescue based on ultrasonic listening
Member carries out remote control to unmanned plane, thus improves the intellectuality of unmanned plane；Signal acquisition module is for right
Ultrasonic signal detects, wherein by carrying out based on the signal amplification circuit of the first operational amplifier U1
Amplify, thus ensure that the reliability of signals collecting, simultaneously by based on the second operational amplifier U2 with
With circuit as the reference voltage of signal amplification circuit, it is achieved that the high impedance of reference voltage, thus ensure that
The high anti-jamming capacity of reference voltage, further increases the reliability of signals collecting, thus improves unmanned
The reliability that machine is searched and rescued.
Compared with prior art, wireless telecommunications mould should be passed through by the unmanned plane for searching and rescuing based on ultrasonic listening
Block ensures that staff carries out remote control to unmanned plane, thus improves the intellectuality of unmanned plane；Signal is adopted
In collection module, by the benchmark using the follow circuit of the second operational amplifier U2 as signal amplification circuit
Voltage, it is achieved that the high impedance of reference voltage, thus ensure that the high anti-jamming capacity of reference voltage, enter one
Step improves the reliability of signals collecting；Moreover, pulled by braking motor 21 and drive line 19, then by
Line 19 is driven to pull the rotation of brake arm 13, it is achieved that the brake(-holder) block 11 braking to drive shaft 8, to unmanned
Machine flight is slowed down, and improves the detection of unmanned plane and the efficiency of search and rescue.
With the above-mentioned desirable embodiment according to the present invention for enlightenment, by above-mentioned description, related work
Personnel can carry out various change and amendment completely in the range of without departing from this invention technological thought.
The content that the technical scope of this invention is not limited in description, it is necessary to according to right
Determine its technical scope.
Claims (8)
1. one kind based on ultrasonic listening for search and rescue unmanned plane, it is characterised in that include body (1),
It is arranged on the bracing frame (3) of body (1) lower section, is arranged on the aviation mechanism and ultrasonic of body (1) top
Ripple receives and dispatches mechanism, and described ultrasonic transmission/reception mechanism includes steer motor (4) and the ultrasound wave arranged straight up
Transceiver (5), described steer motor (4) is fixed on the upper surface of body (1), described steer motor (4)
It is in transmission connection with ultrasonic transmitter-receiver (5) by the steering spindle of steer motor (4)；
Described aviation mechanism includes two flight assemblies being positioned at body (1) both sides, and described flight assembly includes
Pole (6), the driving motor (7) arranged straight up, drive shaft (8) and some horizontally disposed blades
(9), one end of described pole (6) is fixed on the upper surface of body (1), another of described pole (6)
End is fixed on the bottom driving motor (7), and described driving motor (7) drives blade by drive shaft (8)
(9) rotate, each blade (9) be positioned at drive shaft (8) top and along drive shaft (8) periphery week
To being uniformly distributed；
Be additionally provided with reducing gear in described body (1), described reducing gear include drive mechanism and with driving machine
The arrestment mechanism that structure is in transmission connection, described arrestment mechanism includes two braking groups being positioned at drive shaft (8) both sides
Part, described brake assemblies includes brake(-holder) block (11), brake bar (10), brake arm (13) and braking lead-in wire
(15), the transverse interface of described brake arm (13) is in returning power mark shape, and described time power target opening is away from driving
Moving axis (8), one end of described brake arm (13) is provided with pin (12), and described brake arm (13) passes through pin
Nail (12) is fixed on the inside of body (1), and the other end of described brake arm (13) is provided with the first bearing pin (14),
Described braking lead-in wire (15) one end is in transmission connection with drive mechanism, the other end of described braking lead-in wire (15)
Being fixed on brake arm (13) by the first bearing pin (14), brake arm (13) fixed by described brake bar (10)
One end of upper and close pin (12), it is upper and close that described brake(-holder) block (11) is fixed on brake bar (10)
Drive shaft (8)；
Described drive mechanism includes that braking motor (21), brake axle (20), driving line (19) and two drive
Lever (18), one end of described drive rod (18) is provided with the second bearing pin (16), described drive rod (18)
Quantity and braking lead-in wire (15) quantity is consistent and one_to_one corresponding, described braking lead-in wire (15) passes through the
Two bearing pins (16) connect with corresponding drive rod (18), and the other end of described drive rod (18) is provided with solid
Dead axle (17), two drive rods (18) are interconnected by fixing axle (17), described driving line (19)
One end be fixed on fixing axle (17), the other end of described driving line (19) is fixed on brake axle (20)
On, described braking motor (21) is in transmission connection with driving line (19) by brake axle (20)；
Wireless communication module and signal acquisition module, described signal acquisition module bag it is provided with in described body (1)
Including signal acquisition circuit, described signal acquisition circuit includes the first operational amplifier (U1), the second operation amplifier
Device (U2), the first resistance (R1), the second resistance (R2), the 3rd resistance (R3) and the 4th resistance (R4),
The inverting input of described first operational amplifier (U1) and the first resistance (R1) connect, described first fortune
Calculate the inverting input of amplifier (U1) by the second resistance (R2) and the first operational amplifier (U1)
Outfan connects, the in-phase input end of described first operational amplifier (U1) and the second operational amplifier (U2)
Outfan connect, the inverting input of described second operational amplifier (U2) and the second operational amplifier (U2)
Outfan connect, the in-phase input end of described second operational amplifier (U2) pass through the 3rd resistance (R3)
External 3.3V DC voltage power supply, the in-phase input end of described second operational amplifier (U2) is by the 4th electricity
Resistance (R4) ground connection.
2. the unmanned plane for searching and rescuing based on ultrasonic listening, it is characterised in that
Described steer motor (4) and braking motor (21) are servomotor.
3. the unmanned plane for searching and rescuing based on ultrasonic listening, it is characterised in that
Described driving motor (7) is direct current generator.
4. the unmanned plane for searching and rescuing based on ultrasonic listening, it is characterised in that
The side of described arrestment mechanism is provided with return mechanism, and described return mechanism includes fixed plate (22) and return bullet
Spring (23), one end of described return spring (23) is fixed in fixed plate (22), described return spring (23)
The other end be fixed on the first bearing pin (14).
5. the unmanned plane for searching and rescuing based on ultrasonic listening, it is characterised in that
Described return spring (23) is in normal condition.
6. the unmanned plane for searching and rescuing based on ultrasonic listening, it is characterised in that
Described braking lead-in wire (15) and driving line (19) are carbon element line.
7. the unmanned plane for searching and rescuing based on ultrasonic listening, it is characterised in that
Described body (1) is provided with signal and receives window (2).
8. the unmanned plane for searching and rescuing based on ultrasonic listening, it is characterised in that
Described signal receives window (2) and electrically connects with wireless communication module, and described wireless communication module passes through WIFi
Transmission wireless signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610226696.9A CN105866780A (en) | 2016-04-12 | 2016-04-12 | Unmanned aerial vehicle for searching and rescuing based on ultrasonic detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610226696.9A CN105866780A (en) | 2016-04-12 | 2016-04-12 | Unmanned aerial vehicle for searching and rescuing based on ultrasonic detection |
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| Publication Number | Publication Date |
|---|---|
| CN105866780A true CN105866780A (en) | 2016-08-17 |
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ID=56637750
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610226696.9A Pending CN105866780A (en) | 2016-04-12 | 2016-04-12 | Unmanned aerial vehicle for searching and rescuing based on ultrasonic detection |
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| Country | Link |
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| CN (1) | CN105866780A (en) |
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| CN108100232A (en) * | 2018-02-28 | 2018-06-01 | 朱承启 | A kind of unmanned plane for search and rescue based on ultrasonic listening |
| CN108563596A (en) * | 2018-04-18 | 2018-09-21 | 天津津航计算技术研究所 | A kind of acquisition of Portable aircraft 1188A interface signals and detection device |
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| CN108563596B (en) * | 2018-04-18 | 2021-06-08 | 天津津航计算技术研究所 | Portable airplane 1188A interface signal acquisition and detection device |
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Application publication date: 20160817 |
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