CN114194386B - Rapid land area measurement device and measurement method based on unmanned aerial vehicle - Google Patents
Rapid land area measurement device and measurement method based on unmanned aerial vehicle Download PDFInfo
- Publication number
- CN114194386B CN114194386B CN202111678248.XA CN202111678248A CN114194386B CN 114194386 B CN114194386 B CN 114194386B CN 202111678248 A CN202111678248 A CN 202111678248A CN 114194386 B CN114194386 B CN 114194386B
- Authority
- CN
- China
- Prior art keywords
- aerial vehicle
- unmanned aerial
- vehicle body
- head
- mapping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000005259 measurement Methods 0.000 title claims description 8
- 238000000691 measurement method Methods 0.000 title claims description 8
- 238000013507 mapping Methods 0.000 claims abstract description 91
- 230000007246 mechanism Effects 0.000 claims abstract description 34
- 238000000034 method Methods 0.000 claims abstract description 3
- 238000006243 chemical reaction Methods 0.000 claims description 34
- 230000001681 protective effect Effects 0.000 claims description 34
- 230000000903 blocking effect Effects 0.000 claims description 13
- 239000000376 reactant Substances 0.000 claims description 13
- 238000012545 processing Methods 0.000 claims description 9
- 238000004519 manufacturing process Methods 0.000 claims description 6
- 230000001012 protector Effects 0.000 claims description 4
- 230000003139 buffering effect Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000003825 pressing Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 description 6
- 238000000605 extraction Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 2
- PXIPVTKHYLBLMZ-UHFFFAOYSA-N Sodium azide Chemical compound [Na+].[N-]=[N+]=[N-] PXIPVTKHYLBLMZ-UHFFFAOYSA-N 0.000 description 2
- 230000000740 bleeding effect Effects 0.000 description 2
- 239000000872 buffer Substances 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- FGIUAXJPYTZDNR-UHFFFAOYSA-N potassium nitrate Chemical compound [K+].[O-][N+]([O-])=O FGIUAXJPYTZDNR-UHFFFAOYSA-N 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052681 coesite Inorganic materials 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 229910052906 cristobalite Inorganic materials 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 235000010333 potassium nitrate Nutrition 0.000 description 1
- 239000000377 silicon dioxide Substances 0.000 description 1
- 235000012239 silicon dioxide Nutrition 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 229910052682 stishovite Inorganic materials 0.000 description 1
- 229910052905 tridymite Inorganic materials 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application relates to a quick land area measuring device and measuring method based on unmanned aerial vehicle relates to the technical field of unmanned aerial vehicle survey and drawing, including the unmanned aerial vehicle organism, be provided with mapping device on the unmanned aerial vehicle organism, mapping device includes: the main mapping head is arranged on the unmanned aerial vehicle body; a plurality of auxiliary mapping heads which are arranged on the unmanned aerial vehicle body; the controller is arranged on the unmanned aerial vehicle body and is electrically connected with the main mapping head and the auxiliary mapping head; the driving mechanism is arranged on the unmanned aerial vehicle body and used for driving the unmanned aerial vehicle body to move. This application shoots ground earlier through vice survey and drawing head, and then main survey and drawing head shoots ground, and the controller received behind the shooting data judge smooth or uneven ground, then detector control actuating mechanism control unmanned aerial vehicle's flight speed to unmanned aerial vehicle's survey and drawing efficiency has been improved.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicle mapping, in particular to a rapid land area measurement device and a measurement method based on an unmanned aerial vehicle.
Background
Currently, with the vigorous development of the geographic information industry, unmanned aerial vehicle mapping technology is widely applied to various fields such as land mapping as an important means for acquiring emerging spatial data.
The ground on land can have the unevenness and level two kinds of ground conditions, and the unevenness ground is the inclination, and the general horizontal direction that can remove when unmanned aerial vehicle flies, consequently in order to improve the mapping accuracy to the unevenness ground to lead to unmanned aerial vehicle moving speed slower, but unmanned aerial vehicle generally keeps unanimous to the speed of when surveying and mapping the ground of two kinds of conditions, consequently leads to unmanned aerial vehicle time longer spent when surveying and mapping to level ground, has reduced unmanned aerial vehicle's mapping efficiency.
Disclosure of Invention
In order to improve unmanned aerial vehicle's survey and drawing efficiency, this application provides a quick land area measuring device and measuring method based on unmanned aerial vehicle.
In a first aspect, the application provides a quick land area measuring device based on unmanned aerial vehicle adopts following technical scheme:
the utility model provides a quick land area measuring device based on unmanned aerial vehicle, includes the unmanned aerial vehicle organism, be provided with the surveying device that surveys and drawing to ground on the unmanned aerial vehicle organism, surveying device includes:
the main mapping head is arranged on the unmanned aerial vehicle body and is used for mapping the ground;
the auxiliary mapping heads are arranged on the unmanned aerial vehicle body and are positioned on the periphery of the main mapping head;
the controller is arranged on the unmanned aerial vehicle body, is electrically connected with the main mapping head and the auxiliary mapping head and is used for receiving data;
the driving mechanism is arranged on the unmanned aerial vehicle body and used for driving the unmanned aerial vehicle body to move and is electrically connected with the controller.
By adopting the technical scheme, the auxiliary mapping head shoots the ground firstly, then the main mapping head shoots the ground, the controller receives shooting data, the controller judges the height error between the auxiliary mapping head and the ground shot by the main mapping head according to the shot data so as to judge whether the ground is smooth or uneven, and then the detector controls the driving mechanism to control the flying speed of the unmanned aerial vehicle, so that the flying speed of the unmanned aerial vehicle is slowed down when the ground is smooth, the flying speed of the unmanned aerial vehicle is accelerated when the ground is smooth, and meanwhile, the data of the auxiliary mapping head and the main mapping head are returned, so that the flying time of the unmanned aerial vehicle is saved when the ground mapping precision is met, and the mapping efficiency of the unmanned aerial vehicle is improved;
simultaneously a plurality of vice survey and drawing heads are located main survey and drawing head week side, therefore unmanned aerial vehicle can both control unmanned aerial vehicle's speed when removing to a plurality of directions to further shortened unmanned aerial vehicle and carried out the time that surveys and draw spent, improved unmanned aerial vehicle's survey and drawing efficiency.
Optionally, the driving mechanism includes:
the motor is arranged on the unmanned aerial vehicle body;
the screw, the screw passes through coupling assembling and can dismantle the setting on motor output shaft.
By adopting the technical scheme, the motor is started to drive the propeller to rotate, and the propeller rotates to drive the unmanned aerial vehicle to move, so that the unmanned aerial vehicle is driven to move by the motor; meanwhile, the screw propeller is detached and installed through the connecting assembly, so that convenience in installation and transportation of the unmanned aerial vehicle is improved, convenience in using the unmanned aerial vehicle is improved, and mapping efficiency of the unmanned aerial vehicle is improved.
Optionally, the connection assembly includes:
the connecting sleeve is arranged on the motor output shaft and provided with a connecting hole;
the connecting rod is arranged on the propeller and is spliced on the connecting sleeve;
the positioning column is arranged on the connecting rod in a sliding manner;
and the two ends of the spring are respectively connected with the positioning column and the connecting rod, so that the positioning column is inserted and arranged on the connecting hole.
By adopting the technical scheme, the positioning column is pushed to be separated from the connecting hole, and then the screw propeller can be taken down to be placed separately; when needing to use unmanned aerial vehicle, extrude the reference column, then install the adapter sleeve with the connecting rod grafting for in the reference column gets into the adapter sleeve, make the reference column grafting install and fix a position on the connecting hole afterwards, so realize being convenient for dismantle and the location to the screw.
Optionally, be provided with a plurality of strutting arrangement who is used for supporting on the unmanned aerial vehicle organism, strutting arrangement includes:
the support rod is rotatably arranged on the unmanned aerial vehicle body through the mounting shaft, the support rod is supported on the ground when being in an upright state and is used for supporting the unmanned aerial vehicle, and the support rod can be conveniently placed after being rotated to be horizontal; a first supporting groove and a second supporting groove are formed in the unmanned aerial vehicle body in a circumferential array around the axis of the mounting shaft;
the positioning ball is arranged on the supporting rod and has elasticity, when the supporting rod is in a vertical state, the positioning ball is propped against the first supporting groove to position, and when the supporting rod is in a horizontal state, the positioning ball is propped against the second supporting groove to position;
the cushion pad is arranged on the supporting rod, is in contact with the ground and is used for buffering the unmanned aerial vehicle.
Through adopting above-mentioned technical scheme, when using unmanned aerial vehicle, rotate the bracing piece and drive the locating ball and break away from the second supporting groove, when the bracing piece changes to vertical state, the locating ball supports and presses and fix a position the bracing piece on first supporting groove, therefore a plurality of bracing pieces support subaerial, thereby be convenient for place unmanned aerial vehicle, then can assemble unmanned aerial vehicle, the convenience when having improved unmanned aerial vehicle and used, unmanned aerial vehicle's survey and drawing efficiency has been improved, but also the probability of damaging main survey and drawing head and vice survey and drawing head is knocked with and damages has been reduced, the blotter buffers main survey and drawing head and vice survey and drawing head when unmanned aerial vehicle falls from the sky simultaneously, thereby unmanned aerial vehicle's probability of damage has been reduced, unmanned aerial vehicle's life-span has been improved.
After the use is completed, the supporting rod is rotated to enable the positioning ball to be separated from the first supporting groove, and when the supporting rod rotates horizontally, the positioning ball is propped against the second supporting groove to be positioned, so that the occupied space during unmanned aerial vehicle transportation is reduced, and the convenience during unmanned aerial vehicle transportation is improved; and fix a position two kinds of states of bracing piece through first supporting groove and second supporting groove, improved the location effect to the bracing piece, and also reduced the probability that the locating ball warp when need not the location and support always to press on the unmanned aerial vehicle organism so that the locating ball, further improved the location effect of locating ball to the bracing piece, further improved unmanned aerial vehicle's life-span.
Optionally, be provided with the protector that protects main survey and drawing head and vice survey and drawing head on the unmanned aerial vehicle organism, protector includes:
the two protection rings are arranged on the unmanned aerial vehicle body, positioned on two sides of the auxiliary mapping head and positioned above the bottom ends of the main mapping head and the auxiliary mapping head;
one end of each protection air bag is arranged on the inner side wall of each protection ring;
the control mechanism is arranged on the unmanned aerial vehicle body and is used for inflating or exhausting the two protective airbags; when the control mechanism inflates the two protection air bags, the two protection air bags are propped together to form a hemispherical protection structure, the protection structure is used for wrapping the main mapping head and the auxiliary mapping head for protection, and when the control mechanism pumps the two protection air bags, the two protection air bags are respectively contracted into the two protection rings for placement.
Through adopting above-mentioned technical scheme, when unmanned aerial vehicle takes place unexpected fall, control mechanism starts to aerify two protection air bags, and two protection air bags are inflated and are extruded together after forming protective structure, and protective structure wraps up main survey and drawing head and vice survey and drawing head in to this protects main survey and drawing head and vice survey and drawing head, has reduced the impact strength to unmanned aerial vehicle after unmanned aerial vehicle drops, thereby has improved unmanned aerial vehicle's life-span; meanwhile, when the unmanned aerial vehicle falls on the water surface, the protection airbag can enable the unmanned aerial vehicle to float on the water surface, so that the service life of the unmanned aerial vehicle is further prolonged.
And unmanned aerial vehicle lands the back, control mechanism starts to bleed two protection air bags for two protection air bags shrink to place in two protection rings, with this realization carries out recycle to protection air bags, two protection air bags are located two protection rings moreover, thereby have reduced protection air bags and have produced the adverse effect that blocks when unmanned aerial vehicle survey and drawing, consequently also improved the precision when unmanned aerial vehicle survey and drawing when protecting main survey and drawing head and vice survey and drawing head simultaneously.
Optionally, the control mechanism includes:
the vacuum pump is arranged on the unmanned aerial vehicle body;
the exhaust pipe is arranged on the vacuum pump, is connected with the two protection air bags and is provided with an exhaust valve;
the gas generating assembly is arranged on the unmanned aerial vehicle body and is used for generating gas;
the air inlet pipe is arranged on the two protection air bags and is connected with the gas generating assembly.
Through adopting above-mentioned technical scheme, when needing to aerify, the extraction valve is closed, and gas production subassembly starts to produce gas, and gas passes through the intake pipe and gets into in two protection air bags and aerify the processing, and after the inflation was accomplished, gas production subassembly stopped the operation to this realizes that protection air bag protects main survey and drawing head and vice survey and drawing head, after the protection is accomplished, the extraction valve is opened, and the vacuum pump starts to carry out the processing of bleeding to protection air bag, so as to realize the operation of aerifing or bleeding in to protection air bag.
Optionally, the gas generating assembly includes:
the reaction chamber is arranged on the unmanned aerial vehicle body and filled with a mixed reactant of production gas, and is provided with a gas pipe communicated with the gas inlet pipe;
an igniter disposed on the reaction chamber;
the blocking film is arranged at the joint of the gas pipe and the reaction chamber and used for blocking the mixed reactant, and the gas generated in the reaction chamber can break through the blocking film and enter the gas pipe;
the ignition button is arranged on the ground and used for controlling a control panel of the unmanned aerial vehicle body, and after being pressed, the ignition button controls the igniter to start ignition.
By adopting the technical scheme, when accidental falling occurs, the ignition button is pressed, and the ignition button controls the igniter to perform ignition, so that mixed reactants in the reaction chamber react to generate gas, and the gas breaks through the blocking film and then enters the protective air bag through the air inlet pipe, so that the gas is added into the protective air bag; meanwhile, the gas generated by the reaction of the reactants is quicker, so that the timeliness of adding the gas into the protective air bag is improved, and the protective effect on the unmanned aerial vehicle is further improved; the blocking film can block the reactant, so that the reactant can be blocked and the inflation can be realized when the inflation is needed.
Optionally, be provided with the speed detector that detects unmanned aerial vehicle organism and be connected with the igniter electricity on the unmanned aerial vehicle organism.
Through adopting above-mentioned technical scheme, when the speed detector detects that unmanned aerial vehicle moves down's speed is too big to be different from the speed of moving down in the time of the flat time, speed detector control igniter ignites, consequently ignition button also can realize protecting unmanned aerial vehicle when can not controlling the igniter, has further improved the protection effect of protection gasbag to unmanned aerial vehicle.
Optionally, the joint groove has been seted up on the unmanned aerial vehicle organism, the reaction chamber joint sets up on the joint groove, be provided with the elastic piece of support pressure on the reaction chamber on the unmanned aerial vehicle organism, the gas-supply pipe is contradicted in the intake pipe and is rotated the cover and be equipped with the thread bush with the intake pipe screw thread, the thread bush of connection.
Through adopting above-mentioned technical scheme, twist thread bush and intake pipe and break away from, then stir the elastic sheet and keep away from the reaction chamber, take off the reaction chamber and renew the gas production subassembly that is then carried out, then install the joint with the reaction chamber joint on the joint groove, loosen the elastic sheet, the elastic sheet supports under the elastic force and presses and fix a position on the reaction chamber, and the gas-supply pipe is contradicted with the intake pipe, twist thread bush threaded connection to the intake pipe, thereby realize changing the reaction chamber, thereby the gas production subassembly can continue to aerify protective airbag, consequently, improved protective airbag to unmanned aerial vehicle's protection effect.
In a second aspect, the present application provides a fast land area measurement method based on an unmanned aerial vehicle, which adopts the following technical scheme:
a rapid land area measurement method based on an unmanned aerial vehicle comprises the following steps:
s1, starting an unmanned aerial vehicle, and starting the unmanned aerial vehicle to rise to a specified height;
s2, maintaining a horizontal plane of the unmanned plane, and recording data of the horizontal flight of the unmanned plane;
s3, processing the data, and recording the result obtained by processing the data.
Through adopting above-mentioned technical scheme, unmanned aerial vehicle starts to rise to appointed height, then unmanned aerial vehicle keeps horizontal flight, and unmanned aerial vehicle shoots ground data and stores, carries out the record after processing the result to the data at last to this realizes the measurement to land area.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the ground is shot through the auxiliary mapping head, then the ground is shot by the main mapping head, the controller receives shooting data and then judges whether the ground is smooth or uneven, and then the detector controls the driving mechanism to control the flight speed of the unmanned aerial vehicle, so that the mapping efficiency of the unmanned aerial vehicle is improved.
Drawings
FIG. 1 is a schematic perspective view of the present application;
FIG. 2 is a schematic view of the support device of the present application, wherein the support rod, the positioning ball and the cushion are exploded;
FIG. 3 is a partial exploded view of the present application, primarily showing the connection assembly;
FIG. 4 is a schematic cross-sectional view of A-A of FIG. 3;
FIG. 5 is a schematic view of the protective device of the present application, wherein the protective airbag is in an inflated state;
FIG. 6 is an enlarged schematic view of the portion B of FIG. 5;
FIG. 7 is a schematic view of the structure of the gas generating assembly of the present application;
fig. 8 is a schematic cross-sectional view of C-C of fig. 7.
Reference numerals: 1. an unmanned aerial vehicle body; 11. a main body; 12. a support column; 13. a mounting base; 131. a mounting groove; 132. a mounting shaft; 133. a first support groove; 134. a second support groove; 14. a clamping seat; 141. a clamping groove; 15. an elastic sheet; 2. a support device; 21. a support rod; 22. a positioning ball; 23. a cushion pad; 3. a mapping device; 31. a main mapping head; 32. a secondary mapping head; 33. a controller; 34. a driving mechanism; 35. a motor; 36. a propeller; 4. a connection assembly; 41. connecting sleeves; 411. a connecting groove; 412. a connection hole; 42. a connecting rod; 421. a positioning groove; 422. fixing the column; 423. a fixing screw; 43. positioning columns; 44. a spring; 5. a protective device; 51. a guard ring; 52. a protective airbag; 53. a protective cavity; 6. a control mechanism; 61. a vacuum pump; 62. an exhaust pipe; 621. an extraction valve; 622. a branch pipe; 63. a gas generating assembly; 631. a reaction chamber; 632. an igniter; 633. a barrier film; 64. an air inlet pipe; 641. an air inlet pipe; 65. a gas pipe; 66. a gas transmission ring; 67. a thread sleeve; 7. a speed detector.
Detailed Description
The present application is described in further detail below with reference to figures 1-8.
The model 7 of the speed detector is KJT-SJ.
The embodiment of the application discloses a quick land area measuring device based on unmanned aerial vehicle.
Referring to fig. 1, the fast land area measuring device based on the unmanned aerial vehicle comprises an unmanned aerial vehicle body 1, a supporting device 2 and a protecting device 5 which are arranged on the unmanned aerial vehicle body 1, and a mapping device 3 for mapping the land area is further arranged on the unmanned aerial vehicle body 1.
Referring to fig. 1 and 2, the unmanned aerial vehicle body 1 includes a main body 11 and four support columns 12 provided at the circumferential side of the main body, and the four support columns 12 are all in a horizontal state; the lower surfaces of the ends, far away from the main body 11, of the support columns 12 are fixedly provided with mounting seats 13, the bottom ends of the mounting seats 13 are provided with mounting grooves 131 communicated with the side wall close to the main body 11, the mounting grooves 131 are fixedly provided with horizontal mounting shafts 132, the side walls of the mounting grooves 131 are provided with first supporting grooves 133 and second supporting grooves 134 in circumferential arrays around the axes of the mounting shafts 132, and the first supporting grooves 133 are positioned below the second supporting grooves 134; the support device 2 is provided in plurality and is provided on a plurality of mounting seats 13, respectively.
Referring to fig. 1 and 2, the supporting device 2 includes a supporting bar 21, a positioning ball 22 and a buffer pad 23, one end of the supporting bar 21 is rotatably installed on an installation shaft 132, and the other end of the supporting bar 21 extends vertically downward below the unmanned aerial vehicle body 1; the positioning ball 22 is fixedly installed on the supporting rod 21 positioned in the installation groove 131, and the positioning ball 22 has elasticity; when the supporting rod 21 is in a vertical state, the positioning ball 22 is propped against the first supporting groove 133 to be positioned, and when the supporting rod 21 is rotated to a horizontal state, the positioning ball 22 is propped against the second supporting groove 134 to be positioned; the cushion pad 23 is fixedly installed on the bottom end of the support bar 21, and the cushion pad 23 is used for buffering the unmanned aerial vehicle.
Referring to fig. 1 and 2, the surveying and mapping apparatus 3 includes a main surveying and mapping head 31, a plurality of sub-surveying and mapping heads 32, a controller 33, a driving mechanism 34, the main surveying and mapping head 31 is fixedly installed on the lower surface of the main body 11, the plurality of sub-surveying and mapping heads 32 are fixedly installed on the lower surface of the main body 11, and the number of sub-surveying and mapping heads 32 may be four and located on the circumferential side of the main surveying and mapping head 31, while the main surveying and mapping heads 31 and the sub-surveying and mapping heads 32 are both used for surveying and mapping the land area, and when the plurality of support rods 21 are supported on the ground, the main surveying and mapping heads 31 and the sub-surveying and mapping heads 32 are both kept at a certain distance from the ground, thereby reducing the probability of collision between the main surveying and mapping heads 31 and the sub-surveying and mapping heads 32 with the ground.
Referring to fig. 2, a controller 33 is fixedly installed on the lower surface of the main body 11, and the controller 33 is electrically connected to both the main mapping head 31 and the sub mapping head 32, while the controller 33 receives data photographed by the main mapping head 31 and the sub mapping head 32, and the controller 33 determines whether the ground is uneven or flat according to the photographed data.
Referring to fig. 1 and 2, the driving mechanism 34 is provided with a plurality of driving mechanisms and is respectively located on the plurality of supporting columns 12, and the driving mechanism 34 is used for driving the unmanned aerial vehicle to move, meanwhile, the driving mechanism 34 is electrically connected with the controller 33, the controller 33 controls the moving speed of the unmanned aerial vehicle through the driving mechanism 34 according to two different ground conditions, and the moving speed of the unmanned aerial vehicle is smaller than that of the unmanned aerial vehicle when the ground is flat when the ground is uneven; the driving mechanism 34 includes a motor 35 and a propeller 36, the motor 35 is fixedly installed on the upper surface of the end of the support column 12 far from the main body 11, and the motor 35 conveying shaft is in a vertical state.
Referring to fig. 2 and 3, the propeller 36 is detachably arranged on the output shaft of the motor 35 through a connecting component 4, the connecting component 4 comprises a connecting sleeve 41 and a connecting rod 42, the connecting sleeve 41 is coaxially and fixedly arranged on the output shaft of the motor 35, a connecting slot 411 is coaxially arranged at the top end of the connecting sleeve 41, and a connecting hole 412 communicated with the connecting slot 411 is arranged on the outer side wall of the connecting sleeve 41; the connection rod 42 is fixedly installed on the lower surface of the propeller 36, and the connection rod 42 is inserted and installed on the connection slot 411.
Referring to fig. 3 and 4, the connecting assembly 4 further includes a positioning column 43 and a spring 44, a positioning groove 421 is formed in the side wall of the connecting rod 42 and located in the connecting groove 411, a fixing column 422 is detachably mounted at the bottom of the positioning groove 421 through a fixing screw 423, and the head of the fixing screw 423 is located inside the connecting rod 42; the positioning column 43 is slidably mounted on the positioning slot 421, two ends of the spring 44 are fixedly connected with the opposite ends of the fixing column 422 and the positioning column 43 respectively, the positioning column 43 is in plug-in fit with the connecting hole 412 under the action of the spring 44, and the connecting rod 42 can be taken down from the connecting slot 411 after the positioning column 43 is extruded to be separated from the connecting hole 412.
Referring to fig. 1 and 5, the guard 5 includes two guard rings 51, two guard airbags 52 and a control mechanism 6, the two guard rings 51 are fixedly installed on the lower surface of the main body 11, the two guard rings 51 are in a horizontal state, and guard cavities 53 penetrating through two ends of the guard rings 51 are formed on the lower surface of the guard rings 51, and the two ends of the guard rings 51 are abutted together; meanwhile, the two protection rings 51 form a spherical surface with a spherical center positioned on the main mapping head 31, the main mapping head 31 and the auxiliary mapping head 32 are positioned between the two protection rings 51, and the two protection rings 51 are positioned above the bottom ends of the main mapping head 31 and the auxiliary mapping head 32.
Referring to fig. 1 and 5, one ends of two protective airbags 52 are respectively and fixedly installed on bottom walls of two protective cavities 53, a control mechanism 6 is arranged on a main body 11, the control mechanism 6 is used for inflating or exhausting the two protective airbags 52, when the control mechanism 6 inflates the two protective airbags 52, the two protective airbags 52 move out of the protective cavities 53, so that the two protective airbags 52 are pressed together to form a hemispherical protective structure, the main mapping head 31 and the auxiliary mapping head 32 are wrapped in the hemispherical protective structure, and when the control mechanism 6 exhausts the two protective airbags 52, the two protective airbags 52 shrink into the two protective cavities 53 to be placed, so that the main mapping head 31 and the auxiliary mapping head 32 are protected.
Referring to fig. 5 and 6, the control mechanism 6 includes a vacuum pump 61 and an exhaust pipe 62, the vacuum pump 61 is fixedly installed on the lower surface of the main body 11, the exhaust pipe 62 is fixedly installed on the vacuum pump 61, two branch pipes 622 are fixedly installed on one end of the exhaust pipe 62 away from the vacuum pump 61, one end of the two branch pipes 622 away from the exhaust pipe 62 respectively passes through the two protection rings 51 and the protection airbag 52 to extend into the protection airbag 52, and an exhaust valve 621 is fixedly installed on the exhaust pipe 62.
Referring to fig. 5 and 7, the control mechanism 6 includes a gas generating assembly 63 and a gas inlet pipe 64, the gas generating assembly 63 being provided on a lower surface of the main body 11, and the gas generating assembly 63 being for generating gas.
Referring to fig. 2 and 7, a chuck 14 is fixedly installed on the lower surface of the main body 11 between the guard ring 51 and the sub-mapping head 32.
Referring to fig. 7 and 8, the gas generating assembly 63 includes a reaction chamber 631, an igniter 632, a blocking film 633 and an ignition button, a clamping groove 141 is formed on the lower surface of the clamping seat 14, and an elastic sheet 15 having elasticity is fixedly installed on the lower surface of the mounting seat 13, and the reaction chamber 631 is clamped and installed on the clamping groove 141, and the elastic sheet 15 is pressed against the lower surface of the reaction chamber 631 for positioning the reaction chamber 631.
Referring to fig. 5 and 7, two air inlet pipes 64 are provided, and the two air inlet pipes 64 extend into the protective airbag 52 through the two protective rings 51 and the protective airbag 52, and meanwhile, one end of the two air inlet pipes 64, which is far away from the protective airbag 52, is fixedly provided with an air inlet pipe 641, and the outer side wall of the air inlet pipe 641, which is far away from one end of the air inlet pipe 64, is provided with a threaded section.
Referring to fig. 7 and 8, a horizontal gas pipe 65 is fixedly installed on the side wall of the reaction chamber 631, the gas pipe 65 is abutted against one end of the gas inlet pipe 641, which is provided with a threaded section, and the axes of the gas pipe 65 and the gas inlet pipe 641 are coincident, a gas conveying ring 66 is coaxially and integrally arranged on the outer side wall of one end of the gas pipe 65, which is close to the gas inlet pipe 641, a threaded sleeve 67 is rotatably sleeved on the gas pipe 65 and the gas conveying ring 66, the threaded sleeve 67 can move on the gas pipe 65 and the gas conveying ring 66, and the threaded sleeve 67 is connected to the threaded section and abutted against the gas conveying ring 66, so that the gas pipe 65 and the gas inlet pipe 641 are connected together; meanwhile, the reaction chamber 631 is filled with a mixed reactant for producing gas, the mixed reactant can be a mixture of NaN3, KNO3 and SiO2, and a filter screen for filtering impurities is fixedly arranged in the gas pipe 65.
Referring to fig. 1 and 8, an igniter 632 is fixedly installed in a reaction chamber 631, and a connection wire penetrating out of the reaction chamber 631 is fixedly installed on the igniter 632 and is inserted into the wire in the main body 11; the blocking film 633 is fixedly installed at the connection between the gas pipe 65 and the reaction chamber 631, and the blocking film 633 is used for blocking the mixed reactant, and meanwhile, after gas is generated in the reaction chamber 631, the gas can break through the blocking film 633 and enter the gas pipe 65.
Referring to fig. 2 and 8, an ignition button is fixedly installed on a control board for controlling the unmanned aerial vehicle on the ground, a control box for controlling the starting of the igniter 632 is fixedly installed in the main body 11, and the igniter 632 is controlled to start ignition after the ignition button is pressed; the speed detector 7 is fixedly arranged on the side wall of the main body 11 and positioned on the inner sides of the two protection rings 51, the speed detector 7 is electrically connected with the control box and used for detecting the downward moving speed of the unmanned aerial vehicle, and when the speed detector 7 detects that the downward moving speed of the unmanned aerial vehicle is greater than the normal downward moving speed, the speed detector 7 controls the igniter 632 to ignite.
The working principle of the embodiment of the application is as follows:
the auxiliary mapping head 32 shoots the ground firstly, then the main mapping head 31 shoots the ground, the controller 33 receives shooting data, meanwhile, the auxiliary mapping head 32 and the main mapping head 31 shoot data are transmitted back, the controller 33 judges the height error between the auxiliary mapping head 32 and the ground shot by the main mapping head 31 according to the shot data, so that whether the ground is smooth or uneven ground is judged, then the controller 33 controls the driving motor 35 to drive the rotating speed of the propeller 36, so that the flying speed of the unmanned aerial vehicle is controlled, so that the flying speed of the unmanned aerial vehicle is slowed down when the ground is uneven, and the flying speed of the unmanned aerial vehicle is accelerated when the ground is smooth, so that the flying time of the unmanned aerial vehicle is saved when the mapping precision of the ground area is met, and the mapping efficiency of the unmanned aerial vehicle is improved.
When the unmanned aerial vehicle accidentally falls, the ignition button is pressed or the speed detector 7 is used for controlling the igniter 632 to ignite the mixed reactants, the mixed reactants react to generate gas, the gas inflates the protective air bags 52, so that the two protective air bags 52 are inflated and extruded together to wrap the main mapping head 31, the auxiliary mapping head 32, the speed detector 7, the controller 33 and the reaction chamber 631 for protection, and the service life of the unmanned aerial vehicle is prolonged; and after the unmanned aerial vehicle falls to ground, the extraction valve 621 is opened, and the vacuum pump 61 starts to extract air to the two protection air bags 52, so that the two protection air bags 52 shrink and are placed in the two protection rings 51, and then the unmanned aerial vehicle can be continuously protected after the reaction chamber 631 is replaced.
The embodiment of the application discloses a rapid land area measurement method based on an unmanned aerial vehicle.
A rapid land area measurement method based on an unmanned aerial vehicle comprises the following steps:
s1, starting an unmanned aerial vehicle, and starting the unmanned aerial vehicle to rise to a specified height;
s2, maintaining a horizontal plane of the unmanned plane, and recording data of the horizontal flight of the unmanned plane;
s3, processing the data, and recording the result obtained by processing the data.
The working principle of the embodiment of the application is as follows:
and the unmanned aerial vehicle ascends to the designated height and then carries out horizontal flight, the unmanned aerial vehicle shoots data and carries out returning, then the returning data is processed to obtain the area of the land, and finally the data such as the area of the land and the like are recorded.
The foregoing are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in any way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.
Claims (5)
1. Quick land area measuring device based on unmanned aerial vehicle, including unmanned aerial vehicle organism (1), its characterized in that: be provided with on unmanned aerial vehicle organism (1) survey and drawing device (3) of survey and drawing to ground, survey and drawing device (3) include:
a main mapping head (31), the main mapping head (31) being arranged on the unmanned aerial vehicle body (1) and being used for mapping the ground;
the auxiliary mapping heads (32) are arranged on the unmanned aerial vehicle body (1) and are positioned on the periphery of the main mapping head (31);
a controller (33), the controller (33) being arranged on the unmanned aerial vehicle body (1) and being electrically connected to the main mapping head (31) and the secondary mapping head (32) and being adapted to receive data;
the driving mechanism (34) is arranged on the unmanned aerial vehicle body (1) and used for driving the unmanned aerial vehicle body (1) to move and is electrically connected with the controller (33);
be provided with protector (5) that protect main survey and drawing head (31) and vice survey and drawing head (32) on unmanned aerial vehicle organism (1), protector (5) include:
the two protection rings (51) are arranged on the unmanned aerial vehicle body (1) and positioned at two sides of the auxiliary mapping head (32) and above the bottom ends of the main mapping head (31) and the auxiliary mapping head (32);
the two protection air bags (52), one ends of the two protection air bags (52) are respectively arranged on the inner side walls of the two protection rings (51);
the control mechanism (6) is arranged on the unmanned aerial vehicle body (1) and is used for inflating or exhausting the two protective airbags (52); when the control mechanism (6) inflates the two protection air bags (52), the two protection air bags (52) are propped against each other to form a hemispherical protection structure, the protection structure is used for wrapping the main mapping head (31) and the auxiliary mapping head (32) for protection, and when the control mechanism (6) pumps the two protection air bags (52), the two protection air bags (52) are respectively contracted into the two protection rings (51) for placement;
the control mechanism (6) includes:
a vacuum pump (61), the vacuum pump (61) being provided on the unmanned aerial vehicle body (1);
an exhaust pipe (62), wherein the exhaust pipe (62) is arranged on the vacuum pump (61) and is connected with the two protection air bags (52) and is provided with an exhaust valve (621);
a gas generating assembly (63), the gas generating assembly (63) being arranged on the unmanned aerial vehicle body (1) and being used for generating gas;
the air inlet pipe (64) is arranged on the two protective airbags (52) and is connected with the air generating assembly (63);
the gas generating assembly (63) comprises:
a reaction chamber (631), wherein the reaction chamber (631) is arranged on the unmanned plane body (1) and is filled with a mixed reactant of production gas, and a gas transmission pipe (65) communicated with a gas inlet pipe (64) is arranged on the reaction chamber (631);
an igniter (632), the igniter (632) being provided on the reaction chamber (631);
the blocking film (633) is arranged at the joint of the gas pipe (65) and the reaction chamber (631) and is used for blocking mixed reactants, and the blocking film (633) can be broken through after gas is generated in the reaction chamber (631) to enter the gas pipe (65);
the ignition button is arranged on the ground and used for controlling a control panel of the unmanned aerial vehicle body (1), and after the ignition button is pressed, the igniter (632) is controlled to start ignition;
the unmanned aerial vehicle body (1) is provided with a speed detector (7) which detects the downward moving speed of the unmanned aerial vehicle body (1) and is electrically connected with the igniter (632);
the unmanned aerial vehicle body (1) is last to have seted up joint groove (141), reaction chamber (631) joint sets up on joint groove (141), be provided with on unmanned aerial vehicle body (1) to support elastic sheet (15) of pressing on reaction chamber (631), gas-supply pipe (65) conflict is equipped with intake pipe (64) screw thread on intake pipe (64) and rotation cover, thread bush (67) of connection.
2. The unmanned aerial vehicle-based rapid land area measurement apparatus of claim 1, wherein: the drive mechanism (34) includes:
a motor (35), the motor (35) being arranged on the unmanned aerial vehicle body (1);
the propeller (36) is detachably arranged on the output shaft of the motor (35) through the connecting assembly (4).
3. The unmanned aerial vehicle-based rapid land area measurement apparatus of claim 2, wherein: the connection assembly (4) comprises:
the connecting sleeve (41) is arranged on the output shaft of the motor (35) and provided with a connecting hole (412);
the connecting rod (42) is arranged on the propeller (36) and is spliced on the connecting sleeve (41);
the positioning column (43) is arranged on the connecting rod (42) in a sliding manner;
the two ends of the spring (44) are respectively connected with the positioning column (43) and the connecting rod (42) and enable the positioning column (43) to be inserted and arranged on the connecting hole (412).
4. The unmanned aerial vehicle-based rapid land area measurement apparatus of claim 1, wherein: be provided with a plurality of strutting arrangement (2) that are used for supporting on unmanned aerial vehicle organism (1), strutting arrangement (2) include:
the support rod (21) is rotatably arranged on the unmanned aerial vehicle body (1) through the mounting shaft (132), the support rod (21) is supported on the ground after being rotated to a vertical state and is used for supporting the unmanned aerial vehicle, and the support rod (21) can be conveniently placed after being rotated to a horizontal state; a first supporting groove (133) and a second supporting groove (134) are formed in the unmanned aerial vehicle body (1) in a circumferential array around the axis of the mounting shaft (132);
the positioning ball (22) is arranged on the supporting rod (21) and has elasticity, when the supporting rod (21) is in a vertical state, the positioning ball (22) is propped against the first supporting groove (133) to position, and when the supporting rod (21) is in a horizontal state, the positioning ball (22) is propped against the second supporting groove (134) to position;
and the cushion pad (23) is arranged on the supporting rod (21), is contacted with the ground and is used for buffering the unmanned aerial vehicle.
5. A rapid land area measurement method using the rapid land area measurement apparatus of any of claims 1-4, characterized in that: the method comprises the following steps:
s1, starting an unmanned aerial vehicle, and starting the unmanned aerial vehicle to rise to a specified height;
s2, maintaining a horizontal plane of the unmanned plane, and recording data of the horizontal flight of the unmanned plane;
s3, processing the data, and recording the result obtained by processing the data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111678248.XA CN114194386B (en) | 2021-12-31 | 2021-12-31 | Rapid land area measurement device and measurement method based on unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111678248.XA CN114194386B (en) | 2021-12-31 | 2021-12-31 | Rapid land area measurement device and measurement method based on unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114194386A CN114194386A (en) | 2022-03-18 |
| CN114194386B true CN114194386B (en) | 2023-12-19 |
Family
ID=80658015
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111678248.XA Active CN114194386B (en) | 2021-12-31 | 2021-12-31 | Rapid land area measurement device and measurement method based on unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114194386B (en) |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102756625A (en) * | 2011-03-29 | 2012-10-31 | 郑鹏 | Slurry and flood current overhead-hoisting rescue method and amphibious medical ambulance |
| JP2012210703A (en) * | 2012-05-02 | 2012-11-01 | Kazuo Hanno | Multifunctional input fully automatic robot |
| WO2013076712A2 (en) * | 2013-03-19 | 2013-05-30 | Wasfi Alshdaifat | Top-wing aerobotic glass cleaner |
| EP3162705A1 (en) * | 2015-10-30 | 2017-05-03 | Ewatt Technology Co., Ltd. | Hand-launched unmanned aerial vehicle |
| KR20180036658A (en) * | 2018-03-09 | 2018-04-09 | 김용원 | Equipments needed to increase the use of the Drone |
| KR20180108055A (en) * | 2017-03-24 | 2018-10-04 | 송문선 | Apparatus of carrier case with safety airbag for DRON and operating method thereof |
| CN108898837A (en) * | 2018-08-28 | 2018-11-27 | 江苏建筑职业技术学院 | The police robot of highway |
| WO2019090277A1 (en) * | 2017-11-04 | 2019-05-09 | Viritose Corp. | Encapsulated drone |
| CN209166421U (en) * | 2018-11-26 | 2019-07-26 | 济南绘福地理信息技术有限公司 | A kind of unmanned plane plotting board |
| CN110341928A (en) * | 2019-08-01 | 2019-10-18 | 智飞智能装备科技东台有限公司 | A kind of multifunction emergency rescue unmanned plane |
| CN210488213U (en) * | 2019-11-26 | 2020-05-08 | 重庆凯弘科技有限公司 | Lens protection mechanism of digital camera |
| EP3738892A1 (en) * | 2019-05-13 | 2020-11-18 | The Boeing Company | In-service maintenance process using unmanned aerial vehicles |
| CN112407262A (en) * | 2020-12-04 | 2021-02-26 | 杭州爬藤智能科技有限公司 | Unmanned aerial vehicle for geographical mapping and using method thereof |
| CN112968269A (en) * | 2021-01-29 | 2021-06-15 | 重庆工程职业技术学院 | Geographic information surveys and draws unmanned aerial vehicle |
| CN213535092U (en) * | 2020-11-02 | 2021-06-25 | 张学之 | Unmanned aerial vehicle that geographic information survey and drawing was used |
| CN113697120A (en) * | 2021-10-11 | 2021-11-26 | 刘成 | Unmanned aerial vehicle for highway surveying based on regional chain big data |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6169671B2 (en) * | 2015-11-26 | 2017-07-26 | 株式会社オプティム | Unmanned aerial vehicle, unmanned aircraft control method, and unmanned aircraft control program |
-
2021
- 2021-12-31 CN CN202111678248.XA patent/CN114194386B/en active Active
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102756625A (en) * | 2011-03-29 | 2012-10-31 | 郑鹏 | Slurry and flood current overhead-hoisting rescue method and amphibious medical ambulance |
| JP2012210703A (en) * | 2012-05-02 | 2012-11-01 | Kazuo Hanno | Multifunctional input fully automatic robot |
| WO2013076712A2 (en) * | 2013-03-19 | 2013-05-30 | Wasfi Alshdaifat | Top-wing aerobotic glass cleaner |
| EP3162705A1 (en) * | 2015-10-30 | 2017-05-03 | Ewatt Technology Co., Ltd. | Hand-launched unmanned aerial vehicle |
| KR20180108055A (en) * | 2017-03-24 | 2018-10-04 | 송문선 | Apparatus of carrier case with safety airbag for DRON and operating method thereof |
| WO2019090277A1 (en) * | 2017-11-04 | 2019-05-09 | Viritose Corp. | Encapsulated drone |
| KR20180036658A (en) * | 2018-03-09 | 2018-04-09 | 김용원 | Equipments needed to increase the use of the Drone |
| CN108898837A (en) * | 2018-08-28 | 2018-11-27 | 江苏建筑职业技术学院 | The police robot of highway |
| CN209166421U (en) * | 2018-11-26 | 2019-07-26 | 济南绘福地理信息技术有限公司 | A kind of unmanned plane plotting board |
| EP3738892A1 (en) * | 2019-05-13 | 2020-11-18 | The Boeing Company | In-service maintenance process using unmanned aerial vehicles |
| CN110341928A (en) * | 2019-08-01 | 2019-10-18 | 智飞智能装备科技东台有限公司 | A kind of multifunction emergency rescue unmanned plane |
| CN210488213U (en) * | 2019-11-26 | 2020-05-08 | 重庆凯弘科技有限公司 | Lens protection mechanism of digital camera |
| CN213535092U (en) * | 2020-11-02 | 2021-06-25 | 张学之 | Unmanned aerial vehicle that geographic information survey and drawing was used |
| CN112407262A (en) * | 2020-12-04 | 2021-02-26 | 杭州爬藤智能科技有限公司 | Unmanned aerial vehicle for geographical mapping and using method thereof |
| CN112968269A (en) * | 2021-01-29 | 2021-06-15 | 重庆工程职业技术学院 | Geographic information surveys and draws unmanned aerial vehicle |
| CN113697120A (en) * | 2021-10-11 | 2021-11-26 | 刘成 | Unmanned aerial vehicle for highway surveying based on regional chain big data |
Non-Patent Citations (2)
| Title |
|---|
| 一种浮空器气囊体积测量装置设计;王勤俭;黄鑫;朱琰雯;管鹏举;吴平;阳志勇;;计测技术(S1);全文 * |
| 试论无人机测绘数据处理关键技术及应用;李平生;;科技创新与应用(34);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114194386A (en) | 2022-03-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6547275B2 (en) | Air bag gas generator and air bag device | |
| JP7034091B2 (en) | Airbag device for flying objects | |
| CN101693450B (en) | Side airbag for vehicle | |
| CN114194386B (en) | Rapid land area measurement device and measurement method based on unmanned aerial vehicle | |
| CN103661239B (en) | Anchor pre-tensioner for safety seat belt of vehicle | |
| US5582426A (en) | Vented ignition cup in stored fluid inflator | |
| CN101417639B (en) | Air bag module | |
| US7328914B2 (en) | Inflator | |
| CN101062674B (en) | Side airbag for vehicle | |
| KR100340767B1 (en) | Airbag device, how to fold airbag and airbag folding device | |
| JP4327453B2 (en) | Tablet shape of gas generating material | |
| CN115615629B (en) | Air tightness tester for middle shell of turbocharger | |
| CN116295314A (en) | Engineering survey marker post device based on unmanned aerial vehicle design | |
| US7137341B2 (en) | Distributed charge inflator system | |
| US7114746B2 (en) | Air bag-use gas generator and air bag device | |
| US6832777B2 (en) | Gas generator | |
| CN110788539B (en) | Switching processing method of foldable turnover welding module | |
| CN109750439B (en) | Textile rolling box type pilling instrument | |
| CN1268506C (en) | Air inflating releasing holder for to object to be inflated | |
| CN220207082U (en) | Measuring device for airbag explosion impact | |
| CN116638212B (en) | Processing equipment for explosion-proof button cell steel shell | |
| JPH088917Y2 (en) | Airbag device for passenger seat | |
| CN110788552B (en) | Collapsible upset welding module | |
| CN219935272U (en) | Clamping mechanism of air spring detection equipment | |
| KR100511496B1 (en) | Airbag apparatus for steering handle in vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |