CN112373374A - Unmanned aerial vehicle control system and unmanned aerial vehicle control method - Google Patents
Unmanned aerial vehicle control system and unmanned aerial vehicle control method Download PDFInfo
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- CN112373374A CN112373374A CN202011263804.2A CN202011263804A CN112373374A CN 112373374 A CN112373374 A CN 112373374A CN 202011263804 A CN202011263804 A CN 202011263804A CN 112373374 A CN112373374 A CN 112373374A
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000007689 inspection Methods 0.000 claims description 14
- 238000010191 image analysis Methods 0.000 abstract description 3
- 238000001514 detection method Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000005405 multipole Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/06—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles
- B60P3/11—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles for carrying aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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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
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U80/00—Transport or storage specially adapted for UAVs
- B64U80/80—Transport or storage specially adapted for UAVs by vehicles
- B64U80/86—Land vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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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
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an unmanned aerial vehicle control system and an unmanned aerial vehicle control method, wherein the unmanned aerial vehicle control system comprises a vehicle body and a control platform, the vehicle body is provided with an opening, the control platform is arranged in a carriage of the vehicle body and is respectively connected with an unmanned aerial vehicle and a central control system, the unmanned aerial vehicle is provided with a camera, and the unmanned aerial vehicle can fly away from the vehicle body from the opening. Through controlling platform and central management and control system connection, control the platform and can send the image that unmanned aerial vehicle shot to central management and control system, central management and control system can be according to image analysis unmanned aerial vehicle and wait to detect the relative position of thing to send the instruction to controlling the platform, according to the instruction that central management and control system sent, the personnel of patrolling and examining send the adjustment command to unmanned aerial vehicle through controlling the platform, unmanned aerial vehicle adjusts its flight attitude after receiving the adjustment command, has guaranteed unmanned aerial vehicle and the relative position of waiting to detect the thing, avoids appearing the condition of louing examining.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle control system and a method for using the same.
Background
At present, the high voltage cable is generally patrolled and examined the operation through the mode of artifical patrolling and examining, the personnel of patrolling and examining are patrolled and examined cable and high-voltage tower through controlling unmanned aerial vehicle at the scene, unmanned aerial vehicle carries out the image to cable and high-voltage tower respectively and shoots, gather cable and high-voltage tower and wait for the image of detection thing and carry out its in service behavior, need artifically carry out the analysis in order confirming unmanned aerial vehicle and wait the relative position of detection thing to patrol and examine the time, then send the order and adjust unmanned aerial vehicle flight direction, this kind relies on artificial mode of patrolling and examining not only to make the work load of patrolling and examining the operation personnel.
Disclosure of Invention
One object of an embodiment of the present invention is to: the utility model provides an unmanned aerial vehicle control system, it can reduce the personnel's of patrolling and examining the work load of patrolling and examining.
Another object of an embodiment of the present invention is to: the unmanned aerial vehicle control method is capable of improving the inspection efficiency of the unmanned aerial vehicle.
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, an unmanned aerial vehicle control system is provided, including the automobile body and control the platform, the automobile body is provided with the opening, it is in to control the platform setting in the carriage of automobile body, control the platform and be connected with unmanned aerial vehicle and central management and control system respectively, unmanned aerial vehicle is provided with the camera, unmanned aerial vehicle can follow the opening flies from the automobile body.
As an optimal scheme of an unmanned aerial vehicle control system, the console comprises an industrial control host, the industrial control host is connected with the central control system, and the industrial control host is used for receiving instructions of the central control system and sending routing inspection results to the central control system.
As a preferred solution of the drone operating system, the console includes a network connector for connecting with an external network.
As an optimized scheme of an unmanned aerial vehicle control system, a plurality of industrial control displays and a workbench are arranged on the control platform, and a control keyboard is arranged on the workbench.
As an optimal scheme of the unmanned aerial vehicle control system, the control keyboard is an industrial control track ball keyboard.
As an optimal scheme of the unmanned aerial vehicle control system, the unmanned aerial vehicle control system comprises an unmanned aerial vehicle management system, wherein the unmanned aerial vehicle management system comprises a power supply system, and the power supply system is connected with the control platform.
As an optimized scheme of the unmanned aerial vehicle control system, the power supply system comprises a micro generator, a storage battery and a power management module which are connected through cables, and the micro generator and the storage battery are connected with the control platform and the unmanned aerial vehicle lifting platform.
As an optimal scheme of the unmanned aerial vehicle control system, the unmanned aerial vehicle management system comprises an unmanned aerial vehicle lifting platform, and the unmanned aerial vehicle lifting platform is respectively connected with the control platform and the power supply system.
As an optimal scheme of the unmanned aerial vehicle control system, the opening is a skylight that can be opened and closed at the top of the vehicle body, and the skylight is matched with the unmanned aerial vehicle lifting platform.
In a second aspect, an unmanned aerial vehicle control method is provided, and the unmanned aerial vehicle control system further includes the following steps:
s100, moving the vehicle body along a specified path;
s200, the console sends a flying-off command to the unmanned aerial vehicle, and the unmanned aerial vehicle flies off the vehicle body;
s300, when the unmanned aerial vehicle reaches a specified position, shooting images of an object to be detected, and sending the images to the console;
step S400, the console receives the image and sends the image to the central control system, and the central control system sends an instruction to the console according to the image;
step S500, the console receives the instruction and sends an adjusting command to the unmanned aerial vehicle;
s600, the unmanned aerial vehicle receives the adjusting command and adjusts the flight attitude;
step S700, repeating the step S300 to the step S600 until the inspection operation is completed;
step S800, the console sends a fly-back command to the unmanned aerial vehicle, and the unmanned aerial vehicle flies back to the vehicle body.
The invention has the beneficial effects that: through will controlling the platform setting in the automobile body, the automobile body can drive and control the platform and freely remove to the assigned position or remove the control panel along assigned route, guarantees that unmanned aerial vehicle can receive the order of controlling the platform. Through controlling platform and central management and control system connection, control the platform and can send the image that unmanned aerial vehicle shot to central management and control system, central management and control system can be according to image analysis unmanned aerial vehicle and wait to detect the relative position of thing to send the instruction to controlling the platform, according to the instruction that central management and control system sent, the personnel of patrolling and examining send the adjustment command to unmanned aerial vehicle through controlling the platform, unmanned aerial vehicle adjusts its flight attitude after receiving the adjustment command, has guaranteed unmanned aerial vehicle and the relative position of waiting to detect the thing, avoids appearing the condition of louing examining.
Drawings
The invention is explained in more detail below with reference to the figures and examples.
Fig. 1 is a schematic view of a perspective of an unmanned aerial vehicle control system according to an embodiment of the present invention.
Fig. 2 is a schematic view of another view of the unmanned aerial vehicle control system according to the embodiment of the present invention.
Fig. 3 is a schematic view of a console of the unmanned aerial vehicle control system according to an embodiment of the present invention.
Fig. 4 is a schematic view of a console of the drone operating system according to an embodiment of the present invention from another view angle.
In the figure:
1. a vehicle body; 2. a console; 21. an industrial control display; 22. a work table; 23. a control keyboard; 24. an industrial control host; 25. a network connector; 3. a seat; 4. an unmanned aerial vehicle management system; 41. a fixed-wing unmanned aerial vehicle cabin; 42. a multi-rotor unmanned nacelle; 43. a standby cabin; 5. an unmanned aerial vehicle lifting platform; 6. a power supply system; 7. a skylight; 8. getting on the bus pedal.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 4, the unmanned aerial vehicle control system provided by the invention comprises a vehicle body 1 and a control platform 2, wherein the vehicle body 1 is provided with an opening, the control platform 2 is arranged in a carriage of the vehicle body 1, the control platform 2 is respectively connected with an unmanned aerial vehicle and a central control system, the unmanned aerial vehicle is provided with a camera, and the unmanned aerial vehicle can fly away from the vehicle body 1 from the opening of the vehicle body 1.
Because the operation scope of patrolling and examining is great, through will controlling platform 2 and set up in automobile body 1, automobile body 1 can drive and control platform 2 and freely remove to the assigned position or will control platform 2 and remove along the assigned route, guarantees that unmanned aerial vehicle can receive the order of controlling platform 2. Through controlling platform 2 and central management and control system connection, control platform 2 and can send the image that unmanned aerial vehicle shot to central management and control system, central management and control system can be according to image analysis unmanned aerial vehicle and wait to detect the relative position of thing to send the instruction to controlling platform 2, according to the instruction that central management and control system sent, the personnel of patrolling and examining send the adjustment command to unmanned aerial vehicle through controlling platform 2, unmanned aerial vehicle receives its flight attitude of adjustment after the adjustment command back adjustment, guaranteed unmanned aerial vehicle and wait to detect the relative position of thing, avoid appearing the condition of missed-checking.
Specifically, the console 2 includes an industrial control host 24, and the industrial control host 24 is connected to a central management and control system. The industrial personal computer 24 is used for receiving instructions of the central control system and sending images to the central control system. Compared with a common computer, the industrial control host 24 has the following characteristics: 1. the case is made of a steel structure, and has high magnetic, dust and impact resistance; 2. a special bottom plate is arranged in the case, and a PCI (Peripheral Component Interconnect) slot and an ISA (Industry Standard Architecture) slot are arranged on the bottom plate; 3. a special power supply is arranged in the case, and the power supply has stronger anti-interference capability; 4. has continuous long-time working capability.
In particular, the console 2 further comprises a network connector 25, the network connector 25 enabling the console 2 to be connected to an external network. By setting the network connector 25, the industrial personal computer 24 can establish a communication network with the central control system, so that information such as commands and images can be smoothly sent between the console 2 and the central control system.
Specifically, the console 2 is provided with a plurality of industrial monitors 21 and a workbench 22, and the workbench 22 is provided with a control keyboard 23. The industrial control display 21 can provide a visual interface for inspection personnel, is used for monitoring the inspection condition of each unmanned aerial vehicle and displaying aerial images and flight parameter information of the unmanned aerial vehicles; the flight parameter information refers to state parameter information of various airborne equipment in the flight process of the unmanned aerial vehicle.
Preferably, the control keypad 23 is an industrial control trackball keypad. The track ball occupies a small space, saves the space, and transmits rotating shafts in different directions through the motion of the roller, and sends signals to corresponding Hall elements through the rotation of the multi-pole magnetizing magnet fixed on the rotating shafts, thereby determining the motion track. The personnel of patrolling and examining just can control unmanned aerial vehicle through directly stirring the trackball with the hand, and convenient operation is simple, simultaneously, has also reduced the fatigue of personnel's wrist of patrolling and examining.
Specifically, in this embodiment, the unmanned aerial vehicle control system further includes an unmanned aerial vehicle management system 4, and the unmanned aerial vehicle management system 4 further includes a power supply system 6, and the power supply system 6 is connected with the console 2. Through setting up power supply system 6, power supply system 6 can be for controlling platform 2 power supply, has guaranteed to control the smooth operation of platform 2.
Specifically, power supply system 6 includes microgenerator, battery and power management module, microgenerator, pass through cable junction between battery and the power management module, microgenerator and battery all are used for controlling platform 2 and the 4 power supplies of unmanned aerial vehicle management system, power management module is used for controlling the power supply mode, accessible battery is for controlling platform 2 and the 4 power supplies of unmanned aerial vehicle management system when microgenerator is out of work, two kinds of different power supply modes pass through power management module control switch, it can not interrupt to have guaranteed to patrol and examine the in-process power.
Specifically, unmanned aerial vehicle management system 4 still includes unmanned aerial vehicle lift platform 5, and unmanned aerial vehicle lift platform 5 is connected with controlling platform 2 and power supply system 6 respectively. The opening of automobile body 1 is the skylight 7 that can open and shut that sets up at 1 tops of automobile body, and skylight 7 sets up with the cooperation of unmanned aerial vehicle lift platform 5. Through setting up unmanned aerial vehicle lift platform 5, the personnel of patrolling and examining can place unmanned aerial vehicle on unmanned aerial vehicle lift platform 5, and when 5 lifts of unmanned aerial vehicle lift platform to the high back with 7 parallel and level in skylight, the personnel of patrolling and examining can control the action of unmanned aerial vehicle through controlling platform 2.
Further, unmanned aerial vehicle management system 4 still includes fixed wing unmanned aerial vehicle cabin 41, many rotor unmanned aerial vehicle cabin 42 and reserve tank 43, wherein, fixed wing unmanned aerial vehicle cabin 41 is used for storing the power of fixed wing unmanned aerial vehicle and management fixed wing unmanned aerial vehicle, many rotor unmanned aerial vehicle cabin 42 is used for storing many rotor unmanned aerial vehicle and manages the power of many rotor unmanned aerial vehicle, reserve tank 43 is used for storing reserve unmanned aerial vehicle and manages reserve unmanned aerial vehicle's power, fixed wing unmanned aerial vehicle cabin 41, all be provided with the management module that charges in many rotor unmanned aerial vehicle cabin 42 and the reserve tank 43, the management module that charges is used for managing fixed wing unmanned aerial vehicle, the battery of many rotor unmanned aerial vehicle and reserve unmanned aerial vehicle charges. The inspection personnel call different unmanned aerial vehicles according to different inspection instructions, and when the long-distance cable is inspected, the fixed-wing unmanned aerial vehicle is called to inspect according to the planned path; when the suspected fault point found in the inspection process of the fixed-wing unmanned aerial vehicle needs to be further inspected, the multi-rotor unmanned aerial vehicle can be called to go to the suspected fault point for further shooting and evidence obtaining, and the suspected fault point is inspected in order not to influence the normal inspection of the fixed-wing unmanned aerial vehicle.
Referring to fig. 1 and 2, further, an upper step 8 is disposed below a compartment door of the vehicle body 1, and a seat 3 is disposed in front of the console 2; get on the bus footboard 8 can be convenient for patrolling and examining personnel business turn over carriage.
The invention also provides an unmanned aerial vehicle control method, which uses the unmanned aerial vehicle control system and comprises the following steps (the reference numbers refer to fig. 1 to 4):
step S100, the vehicle body 1 moves along a specified path;
s200, the control platform 2 sends a flying-off command to the unmanned aerial vehicle, and the unmanned aerial vehicle flies off the vehicle body 1;
s300, when the unmanned aerial vehicle reaches a specified position, shooting images of an object to be detected, and sending the images to the console 2;
step S400, the console 2 receives the images and sends the images to the central control system, and the central control system sends instructions to the console 2 according to the images;
step S500, the console 2 receives the instruction and sends an adjusting command to the unmanned aerial vehicle;
s600, receiving an adjusting command and adjusting a flight attitude by the unmanned aerial vehicle;
step S700, repeating the step S300 to the step S600 until the inspection operation is completed;
step S800, the control platform 2 sends a fly-back instruction to the unmanned aerial vehicle, and the unmanned aerial vehicle flies back to the vehicle body 1.
According to the method, the relative positions of the unmanned aerial vehicle and the object to be detected can be directly analyzed according to the image through the central control system, and the instruction is sent, so that the inspection personnel can further control the flight attitude of the unmanned aerial vehicle according to the instruction, and the inspection efficiency of the unmanned aerial vehicle is improved.
Specifically, step S100 further includes:
step S110, the unmanned aerial vehicle is placed on the unmanned aerial vehicle lifting platform 5, the console 2 sends a command to the unmanned aerial vehicle lifting platform 5, and the unmanned aerial vehicle lifting platform 5 is lifted to be flush with the skylight 7. Through setting up step S110, unmanned aerial vehicle lift platform 5 can move unmanned aerial vehicle to automobile body 1 outside in advance, has reduced unmanned aerial vehicle' S the degree of difficulty of taking off.
Specifically, step S800 includes:
step S810, the unmanned aerial vehicle descends to the unmanned aerial vehicle lifting platform 5 which is parallel and level with the height of the skylight 7, and the unmanned aerial vehicle lifting platform 5 is recovered to the carriage of the vehicle body 1. Through setting up step S810, unmanned aerial vehicle can descend earlier to unmanned aerial vehicle lift platform 5, then brings into by unmanned aerial vehicle lift platform 5 and retrieve to the carriage in, has reduced unmanned aerial vehicle' S the descending degree of difficulty.
Claims (10)
1. The utility model provides an unmanned aerial vehicle control system, its characterized in that includes the automobile body and controls the platform, the automobile body is provided with the opening, it is in to control the platform setting in the carriage of automobile body, control the platform and be connected with unmanned aerial vehicle and central management and control system respectively, unmanned aerial vehicle is provided with the camera, unmanned aerial vehicle can follow the opening flies from the automobile body.
2. The unmanned aerial vehicle control system of claim 1, wherein the console comprises an industrial control host, the industrial control host is connected with the central control system, and the industrial control host is configured to receive the instruction of the central control system and send the inspection result to the central control system.
3. The drone console system of claim 1, wherein the console includes a network connector for connecting with an external network.
4. The unmanned aerial vehicle control system of claim 1, wherein the console is provided with a plurality of industrial control displays and a workbench, and the workbench is provided with a control keyboard.
5. The unmanned aerial vehicle control system of claim 4, wherein the control keypad is an industrial control trackball keypad.
6. The drone operating system of claim 1, comprising a drone management system including a power supply system connected with the console.
7. The drone operating system of claim 6, wherein the power supply system includes a micro-generator, a battery, and a power management module connected by a cable, the micro-generator and the battery both being connected with the console and the drone lifting platform.
8. The drone operating system of claim 6, wherein the drone management system includes a drone lift platform connected to the console and the power supply system, respectively.
9. The unmanned aerial vehicle control system of claim 8, wherein the opening is a skylight that is openable and closable at the top of the vehicle body, and the skylight is arranged in cooperation with the unmanned aerial vehicle lifting platform.
10. A drone steering method, characterized in that, using the drone steering system according to any one of claims 1 to 9, it further comprises the steps of:
s100, moving the vehicle body along a specified path;
s200, the console sends a flying-off command to the unmanned aerial vehicle, and the unmanned aerial vehicle flies off the vehicle body;
s300, when the unmanned aerial vehicle reaches a specified position, shooting images of an object to be detected, and sending the images to the console;
step S400, the console receives the image and sends the image to the central control system, and the central control system sends an instruction to the console according to the image;
step S500, the console receives the instruction and sends an adjusting command to the unmanned aerial vehicle;
s600, the unmanned aerial vehicle receives the adjusting command and adjusts the flight attitude;
step S700, repeating the step S300 to the step S600 until the inspection operation is completed;
step S800, the console sends a fly-back command to the unmanned aerial vehicle, and the unmanned aerial vehicle flies back to the vehicle body.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011263804.2A CN112373374A (en) | 2020-11-12 | 2020-11-12 | Unmanned aerial vehicle control system and unmanned aerial vehicle control method |
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| CN202011263804.2A CN112373374A (en) | 2020-11-12 | 2020-11-12 | Unmanned aerial vehicle control system and unmanned aerial vehicle control method |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208827690U (en) * | 2018-07-24 | 2019-05-07 | 武汉高德安信科技有限公司 | A kind of vehicle carrying unmanned plane |
| CN110103800A (en) * | 2019-04-30 | 2019-08-09 | 江苏方天电力技术有限公司 | Suitable for the UAV Intelligent inspection Operation Van of transmission line of electricity and method for inspecting |
| CN210882677U (en) * | 2019-09-19 | 2020-06-30 | 中国航空工业集团公司西安飞行自动控制研究所 | Vehicle-mounted unmanned aerial vehicle control and transportation integrated station |
-
2020
- 2020-11-12 CN CN202011263804.2A patent/CN112373374A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208827690U (en) * | 2018-07-24 | 2019-05-07 | 武汉高德安信科技有限公司 | A kind of vehicle carrying unmanned plane |
| CN110103800A (en) * | 2019-04-30 | 2019-08-09 | 江苏方天电力技术有限公司 | Suitable for the UAV Intelligent inspection Operation Van of transmission line of electricity and method for inspecting |
| CN210882677U (en) * | 2019-09-19 | 2020-06-30 | 中国航空工业集团公司西安飞行自动控制研究所 | Vehicle-mounted unmanned aerial vehicle control and transportation integrated station |
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Application publication date: 20210219 |
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