CN209479995U - A kind of oil electricity mixing multi-rotor unmanned aerial vehicle of the big heavy duty of long endurance - Google Patents

A kind of oil electricity mixing multi-rotor unmanned aerial vehicle of the big heavy duty of long endurance Download PDF

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Publication number
CN209479995U
CN209479995U CN201920091671.1U CN201920091671U CN209479995U CN 209479995 U CN209479995 U CN 209479995U CN 201920091671 U CN201920091671 U CN 201920091671U CN 209479995 U CN209479995 U CN 209479995U
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CN
China
Prior art keywords
current generator
direct current
circuit
oil
relay
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Expired - Fee Related
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CN201920091671.1U
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Chinese (zh)
Inventor
宋晖
王斌
苏俐俐
史红新
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Guangdong Wan Hong Technology Co Ltd
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Guangdong Wan Hong Technology Co Ltd
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Priority to CN201920091671.1U priority Critical patent/CN209479995U/en
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00—Aeronautics or air transport
    • Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

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  • Hybrid Electric Vehicles (AREA)

Abstract

The utility model relates to air vehicle technique fields, provide a kind of oil electricity mixing multi-rotor unmanned aerial vehicle of big heavy duty of long endurance.The unmanned plane includes oil-fired power generating module, battery, holder for aerial photographing and multiple rotor drivers, the oil-fired power generating module includes fuel engines and alternating current generator, the fuel engines is driven to the alternating current generator, the alternating current generator is for converting kinetic energy into alternating current, and direct current is exported after rectifying and wave-filtering pressure stabilizing, to charge for the battery；The holder for aerial photographing includes direct current generator and angle adjustment frame, and the rotation axis of the direct current generator is connect with angle adjustment frame, and the direct current generator can adjust the angle of the angle adjustment frame when rotating；The direct current generator has latch functions to the fuel engines, and after the direct current generator starting of the holder for aerial photographing, the fuel engines shuts down.

Description

A kind of oil electricity mixing multi-rotor unmanned aerial vehicle of the big heavy duty of long endurance
Technical field
The utility model relates to air vehicle technique fields, in particular to a kind of oil electricity mixing of long big heavy duty of endurance Multi-rotor unmanned aerial vehicle.
Background technique
Cruising ability is one of most important index of unmanned plane performance, in order to improve the cruising ability of pure electric vehicle unmanned plane, Oil electric mixed type unmanned plane is developed and develops.In existing various oil electric mixed type unmanned planes, it is broadly divided into two kinds of driving sides Formula: one is, it directly drives main rotor to rotate by fuel engines, secondary rotor rotational is driven by motor, motor is by electric power storage Pond power supply；Wherein for main rotor for making unmanned plane hover and advance, secondary rotor is used to adjust the flight attitude of unmanned plane；Secondly It is that kinetic energy is passed to alternating current generator by fuel engines, the alternating current that alternating current generator generates passes through after rectifying and wave-filtering pressure stabilizing Direct current is converted to, and to charge the battery, which is the motor of multiple rotors.
In above two mode, the second way compare first way, have more small volume weight, fast response time and The small feature of noise, and more paid attention to.However during operation due to fuel engines, oily electricity mixing unmanned plane can be made compared to pure Electronic unmanned machine vibration becomes apparent from, this is urgently overcome the shortcomings that for the unmanned plane with higher photographing request.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of oil electricity of the big heavy duty of long endurance mix more rotors nobody Machine provides good shooting environmental condition by the start-up and shut-down control to fuel engines for the shooting module of unmanned plane, thus The shortcomings that overcoming the vibration of oil electric mixed type unmanned plane to be affected shooting function.
To achieve the goals above, the utility model the following technical schemes are provided:
A kind of oil electricity mixing multi-rotor unmanned aerial vehicle of the big heavy duty of long endurance, comprising:
Oil-fired power generating module, for charge the battery；
The battery, for powering for holder for aerial photographing and multiple rotor drivers；
The holder for aerial photographing；And
Multiple rotor drivers；
Wherein, the oil-fired power generating module includes fuel tank, fuel engines, fuel engines control circuit, alternative electric generation Machine, rectification circuit, filter circuit and voltage regulator circuit, the fuel engines control circuit is for controlling the fuel engines Start and stop state, the fuel engines is used to convert kinetic energy for the chemical energy of fuel oil, and the kinetic energy is forwarded to the friendship Generator is flowed, the alternating current generator is used to convert the kinetic energy to alternating current, and passes through the rectification circuit, filter circuit Direct current is exported with voltage regulator circuit, to charge for the battery；
The holder for aerial photographing includes direct current generator, DC motor control circuit and angle adjustment frame, the direct current generator Control circuit is used to control the start and stop state and positive-negative rotation state of the direct current generator, the rotation axis of the direct current generator with it is described Angle adjusts frame connection, and the direct current generator can adjust the angle of the angle adjustment frame when rotating；
The fuel engines control circuit is configured as, after the direct current generator starting of the holder for aerial photographing, the combustion Oil turbine control circuit disconnects automatically, and the fuel engines shuts down.
In the technical program, the direct current generator has latch functions to the fuel engines, when direct current generator starts And when adjusting the angle adjustment frame of holder for aerial photographing, indication will start shooting function, and fuel engines is automatically stopped fortune at this time Turn, the electric energy of battery storage is continuously the active device power supply of unmanned plane, and the integrality of unmanned plane maintains to stablize, and vibrates It is obvious to weaken, good condition is provided for the aerial photographing of unmanned plane.
It is connected preferably, the DC motor control circuit controls the positive of the direct current generator by the first relay State, the DC motor control circuit control the reversed on-state of the direct current generator by the second relay；The combustion Oil turbine control circuit controls the on-state of the fuel engines, the line of the third relay by third relay Circle is in series with the auxiliary normally-closed contact of the auxiliary normally-closed contact and second relay of first relay.
Preferably, the DC motor control circuit further includes the first controller, first controller is exportable to be opened Guan Liang, the coil of the coil or the second relay that make first relay obtain electric.
Preferably, the fuel engines control circuit further includes second controller, the second controller is exportable Switching value obtains the coil of the third relay electric.
Preferably, the rectification circuit includes three two-phase bridge rectifier sub-circuits in parallel.
Preferably, the filter circuit is constituted for condenser type filter circuit, inductance type filter circuit, by capacitor and inductance Filter circuit in any one.
Preferably, the voltage regulator circuit is the voltage regulator circuit for including voltage-stabiliser tube.
Compared with prior art, the utility model has the following beneficial effects:
1, the direct current generator has latch functions to the fuel engines, adjusts cloud of taking photo by plane when direct current generator starts When the angle of platform adjusts frame, indication will start shooting function, and fuel engines is automatically stopped operating, battery storage at this time Electric energy be continuously the active device power supply of unmanned plane, it is nothing that the integrality of unmanned plane, which maintains to stablize, and significant reduction in vibration Man-machine aerial photographing provides good condition.
2, since fuel engines is only involved in power generation, and kinetic energy, rotor are transmitted not directly to rotor driver and holder for aerial photographing Device and holder for aerial photographing rely on storage battery power supply always and operate, therefore even if fuel engines starts or stops, nor affect on Unmanned plane whole machine balancing state only influences unmanned plane Oscillation Amplitude and/or frequency.
Detailed description of the invention
It, below will be to use required in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment Attached drawing briefly introduce, it should be understood that the following drawings illustrates only some embodiments of the utility model, therefore should not be seen Work is the restriction to range, for those of ordinary skill in the art, without creative efforts, can be with Other relevant drawings are obtained according to these attached drawings.
Fig. 1 show the structural frames of the oil electricity mixing multi-rotor unmanned aerial vehicle of the big heavy duty of the long endurance provided in some embodiments Figure；
Fig. 2 show the circuit diagram of DC motor control circuit described in some embodiments；
Fig. 3 show the circuit diagram of fuel engines control circuit described in some embodiments.
Figure label explanation:
10- oil-fired power generating module；11- fuel tank；12- fuel electric generator；13- fuel electric generator control circuit；14- alternating current Machine；15- rectification circuit；16- filter circuit；17- voltage regulator circuit；20- battery；30- holder for aerial photographing；31- direct current generator；32- DC motor control circuit；33- angle adjusts frame；40- rotor driver.
Specific embodiment
Below in conjunction with attached drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out clear Chu completely describes.It should be appreciated that specific embodiment described herein is used only for explaining the utility model, it is not used to limit Determine the utility model.Based on the embodiments of the present invention, those skilled in the art are in no creative work under the premise of institute The every other embodiment obtained, belongs to the protection scope of the utility model.
Refering to Figure 1, a kind of oil electricity mixing multi-rotor unmanned aerial vehicle of big heavy duty of long endurance is present embodiments provided, It mainly include oil-fired power generating module 10, battery 20, holder for aerial photographing 30 and multiple rotor drivers 40.Wherein, the oil-fired power generating Module 10 is used to charge for battery 20, and the battery 20 is used to be the holder for aerial photographing 30 and multiple rotor drivers 40 Power supply.
Specifically, the oil-fired power generating module 10 includes fuel tank 11, fuel engines 12, fuel engines control circuit 13, alternating current generator 14, rectification circuit 15, filter circuit 16 and voltage regulator circuit 17.The fuel engines control circuit 13 is used In the start and stop state for controlling the fuel engines 12, the fuel engines 12 is dynamic for converting the chemical energy of fuel oil to Can, and the kinetic energy is forwarded to the alternating current generator 14, the alternating current generator 14 is used to convert friendship for the kinetic energy Galvanic electricity, and direct current is exported by the rectification circuit 15, filter circuit 16 and voltage regulator circuit 17, to be the battery 20 Charging.Refering to Figure 1, the rectification circuit 15 may particularly include three two-phase bridge rectifier sub-circuits in parallel.Fig. 1 In, the filter circuit 16 is condenser type filter circuit, inductance type filter circuit, in the filter circuit that is made of capacitor and inductance Any one；The voltage regulator circuit 17 can specifically select the voltage regulator circuit including voltage-stabiliser tube.It should be appreciated that the rectification The physical circuit of circuit 15, filter circuit 16 and voltage regulator circuit 17 does not limit the utility model, as long as triplicity is able to achieve It is direct current by AC conversion.
The holder for aerial photographing 30 includes that direct current generator 31, DC motor control circuit 32 and angle adjust frame 33, described DC motor control circuit 32 is used to control the start and stop state and positive-negative rotation state of the direct current generator 31, the direct current generator 31 Rotation axis and the angle adjustment frame 33 connect, the direct current generator 31 can adjust the angle and adjust frame 33 when rotating Angle.Wherein, angle adjustment frame 33 is for carrying video camera or camera, when direct current generator 31 forward or reverse When, the angle of video camera or camera is accordingly adjusted.In view of the angular adjustment frame of holder for aerial photographing 30 is mature existing skill Art, therefore the no longer specific attached drawing of the present embodiment and repeat.
The fuel engines control circuit 13 is configured as, after the direct current generator 31 of the holder for aerial photographing 30 starts, The fuel engines control circuit 13 disconnects automatically, and the fuel engines 12 shuts down.
In the oil electricity mixing multi-rotor unmanned aerial vehicle of the above-mentioned big heavy duty of long endurance, the direct current generator 31 starts the fuel oil Machine 12 has latch functions, and when direct current generator 31 starts and adjusts the angle adjustment frame 33 of holder for aerial photographing 30, indication will Start shooting function, fuel engines 12 is automatically stopped operating at this time, and the electric energy that battery 20 stores is continuously having for unmanned plane The power supply of source device, the integrality of unmanned plane maintains to stablize, and significant reduction in vibration, provides well for the aerial photographing of unmanned plane Condition.After the engine fuel is automatically stopped due to the starting of direct current generator 31, hand-held control can be received in unmanned plane After the control signal at end processed, the engine fuel is restarted.
Based on above-mentioned oil electricity mixing multi-rotor unmanned aerial vehicle, the present embodiment provides the acts of following some specific embodiments Example, under the premise of mutual non-contravention, between each citing can any combination, to form a kind of new oil electricity mixing multi-rotor unmanned aerial vehicle. It should be appreciated that the utility model should all be fallen into for by the combined new a kind of multi-rotor unmanned aerial vehicle formed of arbitrarily illustrating Protection scope.
For example, please referring to shown in Fig. 2, the DC motor control circuit 32 includes positive controlling brancher and Reverse Turning Control branch Road.It wherein, include the switch DO1 being sequentially connected in series, the auxiliary normally-closed contact of the second relay KM2 and the in positive controlling brancher The coil of one relay KM1, Reverse Turning Control branch include the switch DO2 being sequentially connected in series, the normally closed touching of auxiliary of the first relay KM1 The coil of point and the second relay KM2.The switch DO1 auxiliary normally opened contact of first relay KM1 also in parallel, switch DO2 The auxiliary normally opened contact of second relay KM2 also in parallel.When switch DO1 connects moment, the coil of the first relay KM1 is obtained Electricity, the first relay KM1 are attracted, and direct current generator 31 rotates forward, while the auxiliary normally opened contact closure of the first relay KM1, and first The auxiliary normally-closed contact of relay KM1 disconnects.When needing direct current generator 31 to invert, it is necessary first to close master switch DO3, then Switch DO2 is connected again, obtains the coil of the second relay KM2 electric.In Fig. 2, the first relay KM1 and the second relay KM2 shape At effect is mutually locked, i.e., both cannot simultaneously it is electric.
For example, the DC motor control circuit 32 can also include the first controller, the second controller is exportable Switching value can be such that switch DO1 or switch DO2 moment shown in Fig. 2 obtains electric, and that DO3 moment can be made to obtain is electric, and switch DO1 is obtained After electricity, the auxiliary normally opened contact of the first relay KM1 in parallel with switch DO1 is attracted, the first relay KM1 formed it is self-locking, because Even the pulse switch amount of the switching value moment of this first controller, can also make straight because of the self-locking effect of the first relay KM1 Galvanic electricity machine 31 persistently it is electric.For switch DO2, with switch DO1.
For example, the direct current generator 31 of the holder for aerial photographing 30 can be selected TL68A00 type DC brushless miniature motor, described Martinez team, commercially available Germany can be selected in the Brushless Gimbal Controller of publication in 2013 in one controller V3 cradle head controllor plate, the control panel are integrated with the AVR8 level controller of ATMEGA328P, and L6234 DC brushless motor is selected to drive It is dynamic.Or first controller can also select the remote control unit RTU of ioLogik2542 type (RemoteTerminalUnit), two terminals of switch DO1 are separately connected two output switch parameter interfaces of RTU.
For example, please referring to shown in Fig. 3, the fuel engines control circuit 13 can control institute by third relay KM3 The on-state of fuel engines 12 is stated, the coil of the third relay KM3 is in series with the auxiliary of the first relay KM1 The auxiliary normally-closed contact of normally-closed contact and the second relay KM2.Specifically, the fuel engines 12 includes oil pump, spray Beam, throttle body, engine cylinder body, igniter, exhaust pipe and output shaft, 13 control oil pump of fuel engines control circuit, The control of ejectisome and throttle body etc., and in the present embodiment, the specific control oil pump of the third relay KM3 power loss shape State.After the first relay KM1 in DC motor control circuit 32 obtains electric, third relay KM3 is concatenated auxiliary with connecting Normally-closed contact is helped to disconnect, third relay KM3 power loss, oil pump stops working；Or when in DC motor control circuit 32 Two relay KM2 obtain it is electric after, disconnected with the concatenated auxiliary normally-closed contact of the third relay KM3 that connects, third relay KM3 loses Electricity, oil pump stop working.
For example, the fuel engines control circuit 13 further includes second controller, the second controller is exportable to be opened Guan Liang obtains the coil of the third relay electric, and the remote control unit of ioLogik2542 type can be selected in the controller RTU(RemoteTerminalUnit).In Fig. 3, with the third concatenated switch DO4 of relay KM3 coil, two terminals difference Connect two output switch parameter interfaces of RTU.In addition, the second controller can also connect baroceptor, temperature sensing Device, cylinder temperature sensor and speed probe etc., the connection type and attached drawing of second controller and each sensor, the present embodiment is no longer It repeats, specifically sees the patent application document of 108443014 A of Publication No. CN.
In addition, the unmanned plane further includes communication module in the present embodiment, the communication module is for receiving hand-held control The control signal at end, while for sending drone status information to hand-held control terminal.First controller and the second control Device is electrically connected with the communication module, to realize and hold the information interchange between control terminal.
Above description is only a specific implementation of the present invention, but the protection scope of the utility model is not limited to In this, anyone skilled in the art can readily occur in variation within the technical scope disclosed by the utility model Or replacement, should all it cover within the protection scope of the present utility model.

Claims (7)

1. a kind of oil electricity mixing multi-rotor unmanned aerial vehicle of big heavy duty of long endurance characterized by comprising
Oil-fired power generating module, for charge the battery；
The battery, for powering for holder for aerial photographing and multiple rotor drivers；
The holder for aerial photographing；And
Multiple rotor drivers；
Wherein, the oil-fired power generating module include fuel tank, it is fuel engines, fuel engines control circuit, alternating current generator, whole Current circuit, filter circuit and voltage regulator circuit, the fuel engines control circuit are used to control the start and stop of the fuel engines State, the fuel engines is used to convert the chemical energy of fuel oil to kinetic energy, and the kinetic energy is forwarded to the exchange and is sent out Motor, the alternating current generator are used to convert alternating current for the kinetic energy, and by the rectification circuit, filter circuit and steady Volt circuit exports direct current, to charge for the battery；
The holder for aerial photographing includes direct current generator, DC motor control circuit and angle adjustment frame, the DC MOTOR CONTROL Circuit is used to control the start and stop state and positive-negative rotation state of the direct current generator, the rotation axis of the direct current generator and the angle Frame connection is adjusted, the direct current generator can adjust the angle of the angle adjustment frame when rotating；
The fuel engines control circuit is configured as, after the direct current generator starting of the holder for aerial photographing, the fuel oil hair Motivation control circuit disconnects automatically, and the fuel engines shuts down.
2. the oil electricity mixing multi-rotor unmanned aerial vehicle of the big heavy duty of long endurance according to claim 1, which is characterized in that described straight Stream circuit for controlling motor controls the positive on-state of the direct current generator, the DC MOTOR CONTROL electricity by the first relay Road controls the reversed on-state of the direct current generator by the second relay；The fuel engines control circuit passes through third Relay controls the on-state of the fuel engines, and the coil of the third relay is in series with first relay Assist the auxiliary normally-closed contact of normally-closed contact and second relay.
3. the oil electricity mixing multi-rotor unmanned aerial vehicle of the big heavy duty of long endurance according to claim 2, which is characterized in that described straight Flowing circuit for controlling motor further includes the first controller, and the exportable switching value of the first controller makes first relay The coil of coil or the second relay obtains electric.
4. the oil electricity mixing multi-rotor unmanned aerial vehicle of the big heavy duty of long endurance according to claim 2, which is characterized in that the combustion Oil turbine control circuit further includes second controller, and the exportable switching value of second controller makes the third relay Coil obtain it is electric.
5. the oil electricity mixing multi-rotor unmanned aerial vehicle of the big heavy duty of long endurance according to claim 1, which is characterized in that described whole Current circuit includes three two-phase bridge rectifier sub-circuits in parallel.
6. the oil electricity mixing multi-rotor unmanned aerial vehicle of the big heavy duty of long endurance according to claim 1, which is characterized in that the filter Wave circuit is condenser type filter circuit, inductance type filter circuit, any one in the filter circuit that is made of capacitor and inductance.
7. the oil electricity mixing multi-rotor unmanned aerial vehicle of the big heavy duty of long endurance according to claim 1, which is characterized in that described steady Volt circuit is the voltage regulator circuit for including voltage-stabiliser tube.
CN201920091671.1U 2019-01-18 2019-01-18 A kind of oil electricity mixing multi-rotor unmanned aerial vehicle of the big heavy duty of long endurance Expired - Fee Related CN209479995U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201920091671.1U CN209479995U (en) 2019-01-18 2019-01-18 A kind of oil electricity mixing multi-rotor unmanned aerial vehicle of the big heavy duty of long endurance

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Application Number Priority Date Filing Date Title
CN201920091671.1U CN209479995U (en) 2019-01-18 2019-01-18 A kind of oil electricity mixing multi-rotor unmanned aerial vehicle of the big heavy duty of long endurance

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7034364B1 (en) * 2021-10-14 2022-03-11 恭胤 高藤 Drone

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7034364B1 (en) * 2021-10-14 2022-03-11 恭胤 高藤 Drone

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