CN114137872A - Unmanned aerial vehicle airport control system - Google Patents
Unmanned aerial vehicle airport control system Download PDFInfo
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- CN114137872A CN114137872A CN202111390669.2A CN202111390669A CN114137872A CN 114137872 A CN114137872 A CN 114137872A CN 202111390669 A CN202111390669 A CN 202111390669A CN 114137872 A CN114137872 A CN 114137872A
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- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention discloses an airport control system of an unmanned aerial vehicle, which comprises: the system comprises a processor module, a 485 communication module, a network communication module, an airport equipment driving module and a charging management module; the processor module is in communication connection with the flight control center through the network communication module to exchange data and is used for receiving control information transmitted by the flight control center; the airport equipment driving module is in communication connection with the processor module through the 485 communication module, and the processor module controls the airport equipment driving module to act according to the received control information; the charging management module is connected with the processor module, and the processor module controls the charging management of the unmanned aerial vehicle parked in the airport. This unmanned aerial vehicle airport control system integrates circuit control system, need not industrial computer and PCL controller, has retrencied circuit design, and the wiring is simple, and occupation space is little, the reduction cost of very big degree.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle airport control system.
Background
With the development of wireless communication technology, GPS navigation positioning technology and automatic control technology, the unmanned aerial vehicle develops rapidly, benefits from the characteristics that the flight attitude is flexible and easy to control, and is widely applied to a plurality of fields such as infrastructure planning, line inspection, emergency response, topographic survey and the like. The unmanned aerial vehicle airport is used for carrying unmanned aerial vehicles, can satisfy unmanned aerial vehicle's free take-off and descending, has obtained wide application.
The existing airport circuit control system of the unmanned aerial vehicle adopts a PLC (programmable logic controller) scheme, so that the wiring is more and complicated, the wiring error is easy to cause the system to be incapable of running and the short circuit causes fire, the cost of the PLC is high, the number of output ports is fixed and limited, and an expansion module is generally matched to expand the number of the output ports during use, so that the circuit control system is more complicated; in addition, the PLC controller cannot directly communicate with the flight control center, and an industrial personal computer needs to be added to exchange data with the flight control center, so that the size and the cost of the airport are increased. Accordingly, there is a need for improvements in the art that overcome the deficiencies in the prior art.
Disclosure of Invention
In order to solve the technical problems, the invention provides the unmanned aerial vehicle airport control system, which integrates a circuit control system, simplifies the circuit design, has simple wiring and small volume, does not need an industrial personal computer and a PCL controller, and greatly reduces the cost.
The technical scheme adopted by the invention for solving the technical problem is as follows: an unmanned aerial vehicle airport control system, comprising: the system comprises a processor module, a 485 communication module, a network communication module, an airport equipment driving module and a charging management module;
the processor module is in communication connection with the flight control center through the network communication module to exchange data and is used for receiving control information transmitted by the flight control center;
the airport equipment driving module is in communication connection with the processor module through the 485 communication module, and the processor module manages and controls the airport equipment driving module through a 485 bus according to received control information;
the charging management module is connected with the processor module, and the processor module controls the charging management of the unmanned aerial vehicle parked in the airport.
As a further improvement of the present invention, the network communication module includes an ethernet communication module and a 4G/5G wireless communication module, and the flight control center is connected with the processor module through the ethernet communication module or the 4G/5G wireless communication module in a wired or wireless communication manner.
As a further improvement of the present invention, the ethernet communication module includes an RJ45 interface for accessing ethernet, a network transformer and a protection circuit module, and the RJ45 interface is connected to the processor module through the network transformer and the protection circuit module in sequence.
As a further improvement of the present invention, the 4G/5G wireless communication module comprises a 4G/5G processor module, and a subscriber identity module and an antenna connected to the 4G/5G processor module, wherein the 4G/5G processor module accesses a mobile network through the subscriber identity module and transmits and receives wireless signals through the antenna; the processor module is in communication connection with the 4G/5G processor module through a level conversion module.
As a further improvement of the invention, the unmanned aerial vehicle airport control system further comprises an environment monitoring and regulating module for monitoring environment element information and making corresponding regulation, wherein the environment monitoring and regulating module is connected with the processor module through the 485 communication module.
As a further improvement of the present invention, the environment monitoring and controlling module includes a first environment monitoring module, a second environment monitoring module and an environment controlling module;
the first environment monitoring module is used for monitoring the external environment element information of the airport and sending the monitored external environment element information to the processor module through a 485 bus, and the processor module judges whether the unmanned aerial vehicle can execute an outbound task or not according to the acquired external environment element information;
the second environment monitoring module is used for monitoring the airport internal environment element information and sending the monitored internal environment element information to the processor module through a 485 bus, and the processor module controls the environment regulation and control module to regulate the airport internal environment according to the acquired internal environment element information.
As a further improvement of the present invention, there are two 485 communication modules, a first electrostatic protection module and a lightning protection module are connected between the first environment monitoring module and the environment regulation and control module, and one of the 485 communication modules, and a second electrostatic protection module is connected between the airport device driving module and the second environment monitoring module, and the other 485 communication module.
As a further improvement of the present invention, the charging management module includes a current detection module, a first charging control module and a first voltage detection module, and the power adapter of the airport sequentially charges the unmanned aerial vehicle parked in the airport through the current detection module, the first charging control module and the first voltage detection module;
the current detection module is used for detecting charging current information and feeding back the charging current information to the processor module, the first voltage detection module is used for detecting unmanned aerial vehicle battery voltage information and feeding back the charging current information and the battery voltage information to the processor module, and the processor module controls the charging of the unmanned aerial vehicle according to the acquired charging current information and the battery voltage information through the first charging control module.
As a further improvement of the invention, the unmanned aerial vehicle airport control system further comprises a standby power management module, wherein the standby power management module is connected with the processor module and is used for controlling charging management of standby batteries in the airport;
the standby power management module comprises a second charging control module, a charging management chip module and a second voltage detection module, the second voltage detection module is used for detecting voltage information of a standby battery and feeding the voltage information back to the processor module, and the processor module controls charging of the standby battery through the second charging control module according to the acquired voltage information of the standby battery;
the processor module can adjust the charging current of the standby battery through the charging management chip module.
As a further improvement of the invention, the unmanned aerial vehicle airport control system further comprises a log storage module connected with the processor module, and the log storage module is used for storing the operation information of the processor module and can be used for the flight control center to read and write.
The invention has the beneficial effects that:
1. the invention provides an unmanned aerial vehicle airport control system, which integrates a circuit control system, does not need an industrial personal computer and a PCL controller, simplifies the circuit design, has simple wiring and small occupied space, and greatly reduces the cost;
2. by adopting a 485 bus communication mode, the processor module is in communication connection with all the function modules in a 485 bus mode so as to realize the read-write control of the processor module on each function module, and any function module can be compatible in the 485 communication mode, does not need a port expansion module, is not limited by the number of output ports, is beneficial to the function expansion of an unmanned aerial vehicle airport and is convenient for wiring;
3. the system has Ethernet communication and 4G/5G wireless communication connection modes, realizes communication connection with a flight control center to realize data exchange, reads and writes airport system data and controls operation, and is beneficial to the back-end control, debugging and maintenance of an unmanned aerial vehicle airport;
4. the environment monitoring and regulating module can monitor the environment element information and correspondingly regulate the environment element information, so that the internal environment of the airport is in the optimal state, the unmanned aerial vehicle can execute the outbound task at any time, whether the external environment can execute the outbound task or not is judged, and the equipment safety is ensured;
5. the unmanned aerial vehicle battery and the standby battery are charged and controlled through the charging management module and the standby power management module, the battery is prevented from being fully charged or deeply discharged to influence the service life of the battery, and the standby battery can ensure that enough electric quantity is supplied for the whole circuit module when emergency occurs.
Drawings
FIG. 1 is a schematic block diagram of an unmanned aerial vehicle airport control system of the present invention;
FIG. 2 is a schematic block diagram of the connection of a processor module to a network communication module in accordance with the present invention;
FIG. 3 is a schematic block diagram of the connection of the processor module of the present invention with the airport device driver module and the environmental monitoring and control module via the 485 communication module;
fig. 4 is a schematic block diagram of the connection of the processor module, the charging management module and the standby power management module according to the present invention.
The following description is made with reference to the accompanying drawings:
1. a processor module; 2. a 485 communication module; 3. a network communication module;
301. an Ethernet communication module; 302. a 4G/5G wireless communication module; 4. an airport device driver module; 5. a charging management module; 501. a current detection module; 502. a first charging control module; 503. a first voltage detection module; 6. an environment monitoring and regulating module; 601. a first environmental monitoring module; 602. a second environmental monitoring module; 603. an environment regulation module; 7. a first electrostatic protection module; 8. a lightning protection module; 9. a second electrostatic protection module; 10. a standby power management module; 1001. a second charging control module; 1002. a charging management chip module; 1003. a second voltage detection module; 11. and a log storage module.
Detailed Description
A preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings.
Referring to fig. 1, the present invention provides an unmanned aerial vehicle airport control system, comprising: processor module 1, 485 communication module 2, network communication module 3, airport equipment drive module 4, charge management module 5, environmental monitoring and regulation and control module 6, stand-by power supply management module 10 and log storage module 11, wherein processor module 1 adopts the MCU chip, for the core of unmanned aerial vehicle airport system for be responsible for handling each functional module's data, thereby control whole unmanned aerial vehicle airport system normal operating.
Referring to fig. 1 and 2, a processor module 1 is in data exchange with an airplane control center through a network communication module 3, and is used for receiving control information transmitted by the airplane control center. The network communication module 3 comprises an Ethernet communication module 301 and a 4G/5G wireless communication module 302, so that the flight control center is in wired communication connection with the processor module 1 through the Ethernet communication module 301 or in wireless communication connection with the processor module 1 through the 4G/5G wireless communication module 302, and the rear-end control, debugging and maintenance of an unmanned aerial vehicle airport are facilitated.
Specifically, the ethernet communication module 301 includes an RJ45 interface for accessing the ethernet, a network transformer, and a protection circuit module, and the ethernet is connected to the processor module 1 through the RJ45 interface and sequentially via the network transformer and the protection circuit module, so that the processor module 1 performs wired communication with the flight control center through the ethernet to implement data exchange, and performs reading and writing of airport system data and operation control. The network transformer adopted in the embodiment has the functions of signal transmission, impedance matching, waveform restoration, signal clutter suppression, high voltage isolation and the like, can enhance signals and improve the anti-interference capability, and increases the protection effect on the processor module 1 through the protection circuit module.
The 4G/5G wireless communication module 302 comprises a 4G/5G processor module, a user identification module, an antenna, a status indicator light and a voice module, wherein the user identification module is connected with the 4G/5G processor module, the processor module 1 is in communication connection with the 4G/5G processor module through a level conversion module, the 4G/5G processor module is accessed to a mobile network through the user identification module and receives and transmits wireless signals through the antenna so as to realize that the processor module 1 is in wireless connection with a flight control center to exchange data, and thus, the read-write and operation control of airport system data are carried out. The state indicator lamp is used for displaying the current network state, the user identification module state and the 4G/5G processor module working state; the voice module is used for realizing a voice broadcasting function.
Referring to fig. 1 and fig. 3, the airport device driver module 4 is in communication connection with the processor module 1 through one 485 communication module 2, and the processor module 1 controls the airport device driver module 4 to act through the 485 bus according to the received control information. The airport equipment driving module 4 can be driving equipment such as an airport internal motor, and the like, so that automatic operation such as opening doors, centering, lifting and the like of an airport can be realized.
The environment monitoring and regulating module 6 is used for monitoring environment element information and correspondingly making regulation, and the environment monitoring and regulating module 6 is connected with the processor module 1 through the 485 communication module 2. The environmental monitoring and control module 6 includes a first environmental monitoring module 601, a second environmental monitoring module 602, and an environmental control module 603. First environmental monitoring module 601 installs outside the airport, can adopt meteorological station etc. for real-time supervision airport external environment element information, information such as wind speed, wind direction, atmospheric pressure, rainfall, first environmental monitoring module 601 sends the external environment element information of monitoring to processor module 1 through the 485 bus, and processor module 1 handles the analysis to this external environment element information of receiving, judges whether unmanned aerial vehicle can carry out the task of drawing a plane. The second environment monitoring module 602 is installed inside the airport, and may employ a temperature and humidity sensor or the like, for monitoring information of environmental elements inside the airport in real time, such as temperature, humidity and the like. The internal environment element information that second environment monitoring module 602 will monitor sends to processor module 1 through the 485 bus, and processor module 1 carries out processing analysis to this internal environment element information that receives to judge whether surpass the threshold value of settlement, when surpassing the threshold value of settlement, processor module 1 carries out automatically regulated to airport internal environment through 485 bus control environment regulation and control module 603, makes airport internal environment reach the optimum state of unmanned aerial vehicle and battery work, ensures that unmanned aerial vehicle can carry out the task of going out the aircraft at any time. The environment control module 603 may be an air conditioner. By adopting the 485 communication module 2, the processor module 1 is in communication connection with all the functional modules in a 485 bus mode so as to realize the read-write control of the processor module 1 on each functional module, and any functional module can be compatible in the 485 communication mode and is not limited by the number of output ports.
In this embodiment, the 485 communication modules 2 are provided with two paths, which are respectively used for realizing communication between the processor module 1 and the external functional modules in the airport. Specifically, the first environment monitoring module 601 and the environment regulation and control module 603 are in communication connection with one 485 communication module 2 through the first electrostatic protection module 7 and the lightning protection module 8, so as to achieve the effects of electrostatic protection and lightning protection. The airport equipment driving module 4 and the second environment monitoring module 602 are in communication connection with another 485 communication module 2 through a second electrostatic protection module 9 so as to play a role of electrostatic protection.
Referring to fig. 4, the charging management module 5 is connected to the processor module 1, and the processor module 1 controls charging management of the unmanned aerial vehicle parked in the airport. The charging management module 5 comprises a current detection module 501, a first charging control module 502 and a first voltage detection module 503, and the power adapter of the airport charges the unmanned aerial vehicle parked in the airport sequentially through the current detection module 501, the first charging control module 502 and the first voltage detection module 503. The current detection module 501 is used for detecting charging current information and feeding the charging current information back to the processor module 1, and the processor module 1 processes the received charging current information and compares the charging current information with a set charging current threshold; when the detected charging current value exceeds the charging current threshold value, the charging of the battery of the unmanned aerial vehicle is stopped under the control of the first charging control module 502. The first voltage detection module 503 is used for detecting battery voltage information of the unmanned aerial vehicle and feeding the battery voltage information back to the processor module 1, the processor module 1 processes the received battery voltage information to obtain the current battery power state of the unmanned aerial vehicle, compares the current battery power state with a set battery power threshold of the unmanned aerial vehicle, and controls the charging of the unmanned aerial vehicle through the first charging control module 502. It is understood that the battery charge threshold may be set according to actual requirements, for example, when the detected battery charge of the drone is lower than 40%, the charging of the drone battery is started by controlling the first charging control module 502; when the unmanned aerial vehicle battery electric quantity that detects is higher than 80%, then stop to charge the unmanned aerial vehicle battery through controlling first charging control module 502, and then avoid the battery to be full of electricity or degree of depth discharge and influence the battery life.
Referring to fig. 1 and 4, in order to enable an airport to cope with emergency situations such as power failure, a standby battery is further arranged inside the airport in the embodiment, the standby battery is connected with the processor module 1 through an inverter, when a power supply is disconnected, the standby battery supplies power, the processor module 1 sends power supply abnormality reminding to the flight control center, and the processor module 1 controls charging management of the standby battery through the standby power supply management module 10. The standby power management module 10 includes a second charging control module 1001, a charging management chip module 1002, and a second voltage detection module 1003, and the power source sequentially passes through the second charging control module 1001, the charging management chip module 1002, and the second voltage detection module 1003 to charge the standby battery. The second voltage detection module 1003 is used for detecting voltage information of the standby battery and feeding the voltage information back to the processor module 1, the processor module 1 processes the acquired voltage information of the standby battery to obtain the current electric quantity state of the standby battery, compares the current electric quantity state with a set electric quantity threshold of the standby battery, and controls charging of the standby battery through the second charging control module 1001. It is understood that the backup battery charge threshold may be set according to actual requirements, for example, when the detected backup battery charge is lower than 40%, the second charging control module 1001 is controlled to start charging the backup battery; when the detected standby battery power is higher than 80%, the standby battery is charged all the time by controlling the second charging control module 1001, and the standby battery can ensure that enough power is supplied for the whole circuit module when an emergency occurs. In addition, the processor module 1 can also adjust the charging current of the backup battery through the charging management chip module 1002 according to the actual requirement.
In this embodiment, the log storage module 11 is connected to the processor module 1, and is configured to store the operation information of the processor module 1 and provide the operation information for the flight control center to read and write, and the PC end may download, retrieve, and perform data reading and writing and operation control through the ethernet communication module 301 and the 4G/5G wireless communication module 302. The log storage module 11 may adopt an EPROM chip, a Flash chip, or other memory chips.
Therefore, the unmanned aerial vehicle airport control system integrates the circuit control system, an industrial personal computer and a PCL controller are not needed, the circuit design is simplified, the wiring is simple, the occupied space is small, and the cost is greatly reduced; by adopting a 485 bus communication mode, the processor module is in communication connection with all the function modules in a 485 bus mode so as to realize the read-write control of the processor module on each function module, and any function module can be compatible in the 485 communication mode, does not need a port expansion module, is not limited by the number of output ports, is beneficial to the function expansion of an unmanned aerial vehicle airport and is convenient for wiring; the system has Ethernet communication and 4G/5G wireless communication connection modes, realizes communication connection with a flight control center to realize data exchange, reads and writes airport system data and controls operation, and is beneficial to the back-end control, debugging and maintenance of an unmanned aerial vehicle airport; the environment monitoring and regulating module can monitor the environment element information and correspondingly regulate the environment element information, so that the internal environment of the airport is in the optimal state, the unmanned aerial vehicle can execute the outbound task at any time, whether the external environment can execute the outbound task or not is judged, and the equipment safety is ensured; the unmanned aerial vehicle battery and the standby battery are charged and controlled through the charging management module and the standby power management module, the battery is prevented from being fully charged or deeply discharged to influence the service life of the battery, and the standby battery can ensure that enough electric quantity is supplied for the whole circuit module when emergency occurs.
In the previous description, numerous specific details were set forth in order to provide a thorough understanding of the present invention. The foregoing description is only a preferred embodiment of the invention, which can be embodied in many different forms than described herein, and therefore the invention is not limited to the specific embodiments disclosed above. And that those skilled in the art may, using the methods and techniques disclosed above, make numerous possible variations and modifications to the disclosed embodiments, or modify equivalents thereof, without departing from the scope of the claimed embodiments. Any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention are within the scope of the technical solution of the present invention.
Claims (10)
1. An unmanned aerial vehicle airport control system, comprising: the system comprises a processor module (1), a 485 communication module (2), a network communication module (3), an airport equipment driving module (4) and a charging management module (5);
the processor module (1) is in communication connection with the flight control center through the network communication module (3) to exchange data and is used for receiving control information transmitted by the flight control center;
the airport equipment driving module (4) is in communication connection with the processor module (1) through the 485 communication module (2), and the processor module (1) controls the airport equipment driving module (4) through a 485 bus according to received control information;
the charging management module (5) is connected with the processor module (1), and the processor module (1) controls the charging management of the unmanned aerial vehicle parked in the airport.
2. The unmanned aerial vehicle airport control system of claim 1, wherein: the network communication module (3) comprises an Ethernet communication module (301) and a 4G/5G wireless communication module (302), and the flight control center is in wired or wireless communication connection with the processor module (1) through the Ethernet communication module (301) or the 4G/5G wireless communication module (302).
3. The unmanned aerial vehicle airport control system of claim 2, wherein: the Ethernet communication module (301) comprises an RJ45 interface used for accessing an Ethernet, a network transformer and a protection circuit module, wherein the RJ45 interface is connected with the processor module (1) through the network transformer and the protection circuit module in sequence.
4. The unmanned aerial vehicle airport control system of claim 2, wherein: the 4G/5G wireless communication module (302) comprises a 4G/5G processor module, a subscriber identity module and an antenna, wherein the subscriber identity module and the antenna are connected with the 4G/5G processor module, and the 4G/5G processor module is accessed to a mobile network through the subscriber identity module and transmits and receives wireless signals through the antenna; the processor module (1) is in communication connection with the 4G/5G processor module through a level conversion module.
5. The unmanned aerial vehicle airport control system of claim 1, wherein: the environment monitoring and regulating system is characterized by further comprising an environment monitoring and regulating module (6) which is used for monitoring environment element information and correspondingly regulating the environment element information, wherein the environment monitoring and regulating module (6) is connected with the processor module (1) through the 485 communication module (2).
6. The unmanned aerial vehicle airport control system of claim 5, wherein: the environment monitoring and regulating module (6) comprises a first environment monitoring module (601), a second environment monitoring module (602) and an environment regulating module (603);
the first environment monitoring module (601) is used for monitoring the external environment element information of the airport and sending the monitored external environment element information to the processor module (1) through a 485 bus, and the processor module (1) judges whether the unmanned aerial vehicle can execute the outbound task according to the acquired external environment element information;
the second environment monitoring module (602) is used for monitoring the airport internal environment element information and sending the monitored internal environment element information to the processor module (1) through a 485 bus, and the processor module (1) controls the environment regulation and control module (603) to regulate the airport internal environment according to the acquired internal environment element information.
7. The unmanned aerial vehicle airport control system of claim 6, wherein: 485 communication module (2) are provided with two, first environmental monitoring module (601) with environment regulation and control module (603) and one of them be connected with first electrostatic protection module (7) and lightning protection module (8) between 485 communication module (2), airport equipment drive module (4) with second environmental monitoring module (602) and another be connected with second electrostatic protection module (9) between 485 communication module (2).
8. The unmanned aerial vehicle airport control system of claim 1, wherein: the charging management module (5) comprises a current detection module (501), a first charging control module (502) and a first voltage detection module (503), and a power adapter of the airport charges the unmanned aerial vehicle parked in the airport sequentially through the current detection module (501), the first charging control module (502) and the first voltage detection module (503);
the unmanned aerial vehicle charging control system is characterized in that the current detection module (501) is used for detecting charging current information and feeding back the charging current information to the processor module (1), the first voltage detection module (503) is used for detecting unmanned aerial vehicle battery voltage information and feeding back the charging current information to the processor module (1), and the processor module (1) controls the charging of the unmanned aerial vehicle through the first charging control module (502) according to the acquired charging current information and the battery voltage information.
9. The unmanned aerial vehicle airport control system of claim 1, wherein: the system is characterized by further comprising a standby power management module (10), wherein the standby power management module (10) is connected with the processor module (1), and the processor module (1) controls charging management of standby batteries in the airport;
the standby power management module (10) comprises a second charging control module (1001), a charging management chip module (1002) and a second voltage detection module (1003), the second voltage detection module (1003) is used for detecting voltage information of a standby battery and feeding the voltage information back to the processor module (1), and the processor module (1) controls charging of the standby battery through the second charging control module (1001) according to the acquired voltage information of the standby battery;
wherein the processor module (1) can adjust the backup battery charging current through the charging management chip module (1002).
10. The unmanned aerial vehicle airport control system of claim 1, wherein: the flight control system is characterized by further comprising a log storage module (11) connected with the processor module (1) and used for storing the operation information of the processor module (1) and allowing the flight control center to read and write.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111390669.2A CN114137872A (en) | 2021-11-23 | 2021-11-23 | Unmanned aerial vehicle airport control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111390669.2A CN114137872A (en) | 2021-11-23 | 2021-11-23 | Unmanned aerial vehicle airport control system |
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| CN114137872A true CN114137872A (en) | 2022-03-04 |
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| CN202111390669.2A Withdrawn CN114137872A (en) | 2021-11-23 | 2021-11-23 | Unmanned aerial vehicle airport control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115743661A (en) * | 2022-11-17 | 2023-03-07 | 广州优飞智能设备有限公司 | Unmanned aerial vehicle battery replacement airport, unmanned aerial vehicle battery replacement method and storage medium |
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2021
- 2021-11-23 CN CN202111390669.2A patent/CN114137872A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115743661A (en) * | 2022-11-17 | 2023-03-07 | 广州优飞智能设备有限公司 | Unmanned aerial vehicle battery replacement airport, unmanned aerial vehicle battery replacement method and storage medium |
| CN115743661B (en) * | 2022-11-17 | 2023-06-16 | 广州优飞智能设备有限公司 | Unmanned aerial vehicle power conversion airport, unmanned aerial vehicle power conversion method and storage medium |
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