CN106741889B - Pocket type aircraft with catching and releasing functions - Google Patents
Pocket type aircraft with catching and releasing functions Download PDFInfo
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- CN106741889B CN106741889B CN201611065794.5A CN201611065794A CN106741889B CN 106741889 B CN106741889 B CN 106741889B CN 201611065794 A CN201611065794 A CN 201611065794A CN 106741889 B CN106741889 B CN 106741889B
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- 238000013459 approach Methods 0.000 claims abstract description 8
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 14
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 14
- 239000004917 carbon fiber Substances 0.000 claims description 14
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 14
- 239000000463 material Substances 0.000 claims description 11
- 229910000838 Al alloy Inorganic materials 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000007797 corrosion Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
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Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C15/00—Attitude, flight direction, or altitude control by jet reaction
- B64C15/02—Attitude, flight direction, or altitude control by jet reaction the jets being propulsion jets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
- B64D1/12—Releasing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Toys (AREA)
Abstract
The invention provides a pocket type aircraft with a capturing and releasing function, which comprises a propeller, a propeller mounting part, a machine head connecting piece, a connecting support piece, a capturing and releasing part and a sensor mounting part, wherein the propeller mounting part is used for mounting and fixing the propeller; the propeller mounting part is used for fixedly connecting the support piece; the plurality of connecting and supporting pieces are closed end to end through the plurality of propeller mounting parts to form a closed polygonal structure, namely a pocket structure; the machine head connecting piece is fixed on the connecting support piece; the sensor mounting component is used for mounting and fixing various sensors and is fixed on the connecting and supporting piece; the catching and placing parts are fixed on the connecting and supporting parts forming each side of the polygonal structure and are positioned in the center of the aircraft. The aircraft is controlled by a remote controller, the aircraft quickly approaches a target after vertical takeoff, and the target is fished into a catching and placing component of the aircraft in a manner of overturning the aircraft body; the aircraft is operated to return, thereby bringing the captured targets back to the ground.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a pocket type aircraft with a capturing and releasing function.
Background
In recent years, with the popularization of unmanned aerial vehicle technology, more and more unmanned aerial vehicles appear in people's daily life. However, because the unmanned aerial vehicle lacks effective supervision measures, the situation that the unmanned aerial vehicle flies into a relevant area under an unauthorized condition can often occur, and influences are brought to the work of relevant departments or the daily life of people. There is thus a need for a device that can capture drones.
Through retrieval, the invention provides a multi-rotor aircraft and a closed type frame (201510833372.7) thereof, and the invention provides the closed type frame of the multi-rotor aircraft, which can control the lift force of a rotor wing by changing the pitch; the invention provides a closed multi-rotor aircraft (201420329869.6), and the invention focuses on strengthening the stability and torsion resistance of a frame.
The above two closed aircrafts mainly aim at solving the problems occurring in the flight process of the aircraft.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a pocket type aircraft with a capturing and releasing function, which can fly at high speed, and can capture and release a target by utilizing the open structure of the pocket type aircraft.
In order to achieve the above object, the present invention provides a pocket type aircraft with a capturing and releasing function, comprising: propeller, propeller installation part, aircraft nose connecting piece, connection support piece, catch and put part and sensor installation part, wherein:
the propeller mounting part is used for mounting and fixing a propeller and fixedly connecting a support piece;
the plurality of connecting supporting pieces are closed end to end through the plurality of propeller mounting parts to form a closed polygonal structure, namely a pocket structure is formed;
the machine head connecting piece is positioned on the connecting support piece on one side of the polygonal structure;
the sensor mounting part is used for mounting and fixing various sensors and is fixed on the connecting and supporting piece;
the capturing and placing part is fixed on the connecting and supporting parts forming all sides of the polygonal structure and is positioned in the center of the aircraft.
Preferably, the propeller is a duct or a rotorcraft.
Preferably, when the propeller is a duct, the propeller is located inside or outside the propeller mounting part, wherein: the inboard side refers to the direction inside the closed polygon structure of the aircraft, and the outboard side refers to the direction outside the closed polygon structure of the aircraft.
Preferably, when the propeller is a rotary wing power unit, the propeller is located above or below the propeller mounting member, wherein: the upper direction refers to the vertical upward direction of the plane of the closed polygonal structure of the aircraft, and the lower direction refers to the vertical downward direction of the plane of the closed polygonal structure of the aircraft.
Preferably, the aircraft nose connecting piece is provided with a flight control device, a GPS receiver and a data transmission module.
Preferably, the sensors comprise ultrasonic, optical flow, infrared, barometer, visual sensors.
Preferably, the connecting support material is carbon fiber or aluminum alloy. The carbon fiber is a novel non-metallic material, has excellent characteristics of high specific strength, high specific modulus, corrosion resistance and small thermal expansion coefficient, is suitable for bearing load as a structural material, and can be used as a model selection material of a machine body when meeting the characteristic requirements. Of course, aluminum alloy materials may also be suitable.
Preferably, the aircraft is manually controlled by a remote controller, or automatically controlled by a flight control device and a sensor carried by the aircraft:
when the aircraft captures the target by hand control, the remote controller is arranged to control the aircraft to approach the target after vertical takeoff, the target is fished into a capturing and placing component of the aircraft, then the aircraft is controlled to return to the air, and the captured target is brought back to the ground together; when the aircraft is automatically controlled, after a sensor on the aircraft senses and captures a target, the sensor is autonomously controlled by a flight control device and approaches the target, and the target is captured and brought back to the ground;
when the target launching device is used for launching a target, the target to be launched is placed in the capturing and releasing component, the aircraft with the target vertically takes off and then moves to a destination, the target and the aircraft slowly land in a vertical landing mode, and the aircraft is controlled to return after the target is moved away from the aircraft.
Furthermore, the polygonal structure can be a multilayer structure, and the multilayer polygonal structure is connected through the connecting support rods in the vertical direction to form a multilayer three-dimensional structure with a certain depth, so that the mechanical strength of the aircraft can be improved.
The aircraft of the invention can be used in the occasions including but not limited to unmanned plane capture, and can also be used in the occasions for capturing air flyers (such as birds) or carrying out short-distance and light material operation by utilizing a pocket type aircraft with a capture and release function. The present invention includes, but is not limited to, enabling capture of multiple drone targets.
Compared with the prior art, the invention has the following beneficial effects:
1. structurally, different with many rotor unmanned aerial vehicle of tradition: the unmanned aerial vehicle flight control system is characterized in that the traditional multi-rotor unmanned aerial vehicle flight control system is arranged at the gravity center position, the unmanned aerial vehicle flight control system is arranged on a connecting support piece of a pocket type aircraft, and a space is reserved in the center for placing a catching and placing component and a catching/releasing target.
2. The capture means is safe and reliable: compared with a landing mode, the landing capturing unmanned aerial vehicle can prevent safety accidents caused by falling of the landing capturing unmanned aerial vehicle, and the captured unmanned aerial vehicle is protected to the greatest extent; compared with the mode that a plurality of unmanned aerial vehicles capture the unmanned aerial vehicles in a coordinated net hanging manner, the unmanned aerial vehicle capturing system can capture only by operating one unmanned aerial vehicle, and is easy to control and cruise at high speed.
The invention utilizes the middle of the pocket type aircraft to install the catching net to catch the unmanned aerial vehicle which flies illegally, namely, the catching net is installed in the middle of the pocket type aircraft by utilizing the open structure of the pocket type aircraft, so that the catching net can be used for catching the unmanned aerial vehicle; meanwhile, the aircraft can adopt a rotor wing and a duct.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic plan view of an embodiment of the present invention;
FIG. 2 is a schematic perspective view of embodiment 1 of the present invention;
FIG. 3 is a schematic perspective view of embodiment 2 of the present invention;
in the figure: the device comprises a propeller 1, a propeller mounting part 2, a machine head connecting piece 3, a sensor mounting part 4, a connecting support part 5 and a capturing and placing part 6.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
Example 1
As shown in fig. 1 and fig. 2, a pocket type aircraft with a capturing and releasing function is used for capturing a target unmanned aerial vehicle; the method comprises the following steps: the propeller 1, the propeller mounting part 2, the nose connector 3, the sensor mounting part 4, the connecting support 5, and the capturing and placing part 6, it should be noted that: the propeller 1 is a ducted motor, the propeller mounting part 2 is a ducted motor mounting plate, the connecting support piece 5 is a carbon fiber rod, and the catching and releasing part 6 is a catching net; wherein:
duct motor mounting panel 2 falls into two upper and lower mounting panels for fixed duct motor 1 and carbon fiber pole 5, wherein: the ducted motor mounting plate 2 is provided with an arc part for placing and fixing the ducted motor 1;
the carbon fiber rods 5 are connected end to end through the ducted motor mounting plate 2 to form a polygonal structure, and pipe clamps penetrate through holes in the carbon fiber plates 5 to clamp and fix the carbon fiber rods, so that a main frame of the 'pocket-type' aircraft is formed;
two ends of the machine head connecting piece 3 are fixed with the carbon fiber rod 5 on one side of the polygonal structure through pipe clamps; the machine head connecting piece 3 is used for fixing the flight control device, the GPS receiver and the data transmission module;
the sensor mounting plate 4 is fixed on the carbon fiber rod 5 and is positioned opposite to the machine head connecting piece 3 (two opposite edges in the polygonal structure);
the catching net 6 is fixed to the carbon fibre rods 5 forming the sides of the polygonal structure and is located in the centre of the aircraft.
As a preferred embodiment, the machine head connecting piece 3 is divided into an upper plate and a lower plate, and the left side and the right side of the upper plate and the lower plate are respectively provided with a plurality of mounting holes for being fixed on the carbon fiber rod 5 through pipe clamps; and a GPS receiver is arranged above the upper plate, and the spare parts of the upper plate and the lower plate are used for installing a flight control system and a data transmission module. In other embodiments, any rigid portion of the aircraft may serve as a mounting location for a flight control system, a GPS receiver, and a data transmission module.
Furthermore, the pipe clamp is used as a mechanical component, and the material can be carbon fiber or aluminum alloy, so that the pipe clamp plays a role in connection and fixation; specifically, the pipe clamp is used for connecting the ducted motor mounting part and the carbon fiber rod on one hand, and is used for connecting the machine head connecting piece and the carbon fiber rod on the other hand.
As a preferred embodiment, the sensor comprises an ultrasonic, optical flow, infrared, barometer, visual sensor.
In a preferred embodiment, the aircraft can be manually controlled by arranging a remote controller, and can be automatically controlled by a self-mounted flight control device and a sensor.
When the aircraft captures the target by hand control, the remote controller is arranged to control the aircraft to approach the target after vertical takeoff, the target is fished into a capturing net 6 of the aircraft, then the aircraft is controlled to return to the air, and the captured target is brought back to the ground together; when the aircraft is automatically controlled, after the sensor on the aircraft senses and captures the target, the sensor is autonomously controlled by the flight control device and approaches the target, and the target is captured and brought back to the ground. In some preferred embodiments, the aircraft may scoop targets into the net 6 by tilting the fuselage as it approaches the target drone.
When the target launching control system is used for launching a target, the target to be launched is placed in the capture net 6, the aircraft with the target vertically takes off and then moves to a destination, the target and the aircraft slowly land in a vertical landing mode, and the aircraft is controlled to return after the target is moved away from the aircraft.
Example 2
As shown in fig. 1 and 3, a pocket type aircraft with a capturing and releasing function is provided, wherein a propeller 1 adopts a rotor power device, namely, the pocket type aircraft with a rotor as a power device.
In order to improve the mechanical strength of the aircraft, a double-layer structure is adopted on the basis of the embodiment 1, wherein the layered structure refers to a structure that a plurality of connecting supporting pieces are closed end to end through a plurality of propeller mounting parts to form a closed polygonal structure, and the two layers refer to a structure that two layers are arranged in the vertical direction, and the structure is shown in figure 3.
The rotor power plant is located above or below the propeller mounting part 2, wherein: the upper part refers to the vertical upward direction of the plane of the aircraft closed polygonal structure, and the lower part refers to the vertical downward direction of the plane of the aircraft closed polygonal structure.
The pocket type aircraft of the rotor wing power device has the characteristics of large thrust and strong maneuverability.
On the premise that the thrust meets the requirement, in order to further improve the mechanical strength of the fuselage, the aluminum alloy can also be used as a mechanical material of the fuselage, and has the characteristics of excellent processability, light material and strong corrosion resistance, so the aluminum alloy is used as the fuselage material of the aircraft in the example.
Example 3
In order to improve the capturing capability of the aircraft, an ultrasonic sensor or a visual sensor is mounted on the sensor mounting plate 4 for sensing the terrain and objects around the aircraft. As shown in fig. 2, only one side of the sensor mounting plate 4 is shown; in the specific implementation process, a plurality of sensor mounting plates 4 are arranged on each side of the polygonal structure according to requirements and used for carrying a plurality of ultrasonic sensors or visual sensors, and the ability of the sensors for sensing the periphery is enhanced.
In order to achieve the height-fixing capability of the aircraft, an air pressure sensor can also be mounted on the sensor mounting plate 4.
Example 4
In temporary and emergency requirements, the aircraft may also be used to capture non-unmanned objects, such as birds. The aircraft is controlled by an operator to take off vertically, and after approaching a target, the target is determined and captured by a sensor carried on the sensor mounting plate 4, so that the target is captured in the capture net.
Example 5
The application of the aircraft can be used for capturing flying objects (such as birds) in the air by one or more unmanned aerial vehicles, and can also be used for short-distance and light material operation.
The aircraft in embodiment 1 is adopted for material throwing, the aircraft is controlled by a remote controller, at the moment, a target to be thrown is placed in the catching and releasing part 6, and the catching and releasing part 6 can also adopt a catching net; the aircraft moves to a destination after taking off the target vertically, and the target and the aircraft land slowly in a vertical landing mode. And after the target is moved away from the aircraft, controlling the aircraft to return.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (5)
1. The utility model provides a pocket type aircraft of function is put in area, its characterized in that includes: propeller, propeller installation part, aircraft nose connecting piece, connection support piece, catch and put part and sensor installation part, wherein:
the propeller mounting part is used for mounting and fixing a propeller and fixedly connecting a support piece;
the plurality of connecting supporting pieces are closed end to end through the plurality of propeller mounting parts to form a closed polygonal structure, namely a pocket structure is formed;
the machine head connecting piece is positioned on the connecting support piece on one side of the polygonal structure;
the sensor mounting part is used for mounting and fixing various sensors and is fixed on the connecting and supporting piece;
the capturing and placing part is fixed on the connecting and supporting parts forming all sides of the polygonal structure and is positioned in the center of the aircraft.
2. The pocket type aircraft with the catching and releasing function as claimed in claim 1, wherein said propeller is a duct or a rotor power device.
3. The pocket type aircraft with the capturing and releasing functions as claimed in claim 1, wherein the aircraft nose connecting piece is loaded with a flight control device, a GPS receiver and a data transmission module.
4. The pocket type aircraft with the capturing and releasing function as claimed in claim 1, wherein the connecting support material is carbon fiber or aluminum alloy.
5. The pocket type aircraft with the catching and releasing functions as claimed in any one of claims 1 to 4, wherein the aircraft is manually controlled by a remote controller, or automatically controlled by a flight control device and a sensor carried by the aircraft:
when the aircraft captures the target by hand control, the remote controller is arranged to control the aircraft to approach the target after vertical takeoff, the target is fished into a capturing and placing component of the aircraft, then the aircraft is controlled to return to the air, and the captured target is brought back to the ground together; when the aircraft is automatically controlled, after a sensor on the aircraft senses and captures a target, the sensor is autonomously controlled by a flight control device and approaches the target, and the target is captured and brought back to the ground;
when the target launching device is used for launching a target, the target to be launched is placed in the capturing and releasing component, the aircraft with the target vertically takes off and then moves to a destination, the target and the aircraft slowly land in a vertical landing mode, and the aircraft is controlled to return after the target is moved away from the aircraft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611065794.5A CN106741889B (en) | 2016-11-28 | 2016-11-28 | Pocket type aircraft with catching and releasing functions |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611065794.5A CN106741889B (en) | 2016-11-28 | 2016-11-28 | Pocket type aircraft with catching and releasing functions |
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| Publication Number | Publication Date |
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| CN106741889A CN106741889A (en) | 2017-05-31 |
| CN106741889B true CN106741889B (en) | 2020-07-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611065794.5A Active CN106741889B (en) | 2016-11-28 | 2016-11-28 | Pocket type aircraft with catching and releasing functions |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108502176A (en) * | 2018-03-25 | 2018-09-07 | 景遥（上海）信息技术有限公司 | A kind of Intelligent unattended machine catching bird system |
| CN108674628B (en) * | 2018-04-18 | 2021-07-23 | 佛山世寰智能科技有限公司 | Annular structure tailstock type vertical take-off and landing unmanned aerial vehicle |
| CN110182390B (en) * | 2019-05-05 | 2021-02-05 | 北京空间飞行器总体设计部 | Reusable space debris flexible catching cloth bag device and catching method |
| GB2598796B (en) * | 2020-09-15 | 2023-07-26 | Livelink Aerospace Ltd | Aerial drone |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000199699A (en) * | 1999-01-04 | 2000-07-18 | Yoshio Abe | Flying body catcher employing several sheets of net |
| CN204548516U (en) * | 2015-04-24 | 2015-08-12 | 马鞍山市赛迪智能科技有限公司 | A kind of fixed point air-drop unmanned vehicle system |
| CN105314112A (en) * | 2015-05-13 | 2016-02-10 | 安徽中森管理咨询有限公司 | A multifunctional unmanned aerial vehicle used for fishery |
| CN105501436A (en) * | 2016-03-10 | 2016-04-20 | 上海仪耐新材料科技有限公司 | Portable intelligent anti-unmanned aerial vehicle interception net system |
| DE102015003323A1 (en) * | 2015-03-17 | 2016-09-22 | Bunolma GmbH & Co. KG | Device for catching a flying unmanned aerial vehicle |
-
2016
- 2016-11-28 CN CN201611065794.5A patent/CN106741889B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000199699A (en) * | 1999-01-04 | 2000-07-18 | Yoshio Abe | Flying body catcher employing several sheets of net |
| DE102015003323A1 (en) * | 2015-03-17 | 2016-09-22 | Bunolma GmbH & Co. KG | Device for catching a flying unmanned aerial vehicle |
| CN204548516U (en) * | 2015-04-24 | 2015-08-12 | 马鞍山市赛迪智能科技有限公司 | A kind of fixed point air-drop unmanned vehicle system |
| CN105314112A (en) * | 2015-05-13 | 2016-02-10 | 安徽中森管理咨询有限公司 | A multifunctional unmanned aerial vehicle used for fishery |
| CN105501436A (en) * | 2016-03-10 | 2016-04-20 | 上海仪耐新材料科技有限公司 | Portable intelligent anti-unmanned aerial vehicle interception net system |
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| CN106741889A (en) | 2017-05-31 |
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