CN105539874A - Hand-throwing taking-off method and system for unmanned aerial vehicle - Google Patents
Hand-throwing taking-off method and system for unmanned aerial vehicle Download PDFInfo
- Publication number
- CN105539874A CN105539874A CN201610012266.7A CN201610012266A CN105539874A CN 105539874 A CN105539874 A CN 105539874A CN 201610012266 A CN201610012266 A CN 201610012266A CN 105539874 A CN105539874 A CN 105539874A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- throws
- unmanned
- unmanned aerial
- aerial vehicle
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/04—Launching or towing gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
Abstract
The invention discloses a hand-throwing taking-off method and system for an unmanned aerial vehicle. The method includes the following steps that a user activates the unmanned aerial vehicle, the unmanned aerial vehicle gets into the pre-thrown state, a timer inside the unmanned aerial vehicle starts automatic countdown while the unmanned aerial vehicle gets into the pre-thrown state, and the unmanned aerial vehicle automatically judges whether a rotor wing is started for taking off or not by detecting the self-movement acceleration value G and vertically-upward speed value V. The system comprises a flight controller, an acceleration sensor, the timer and a warning device, wherein the flight controller is connected with the acceleration sensor, the timer and the warning device, and the flight controller controls the rotor wing of the unmanned aerial vehicle to be started. Compared with an existing mechanical remote-control taking-off mode, according to the hand-throwing taking-off method and system, a remote controller is not required in the whole taking-off process, the rapid and convenient taking-off effect of the unmanned aerial vehicle and intellectualized human-unmanned aerial vehicle interaction can be achieved, user operation is convenient, user experiences are improved, and use and popularization are convenient. In addition, by means of the hand-throwing taking-off method and system, personal injuries, possibly generated when the hand-throwing unmanned aerial vehicle takes off, to the user can be effectively avoided, and personal safety is effectively guaranteed.
Description
Technical field
The present invention relates to a kind of hand throwing type SUAV (small unmanned aerial vehicle) technical field, specifically, relate to unmanned plane takeoff method, is that a kind of unmanned tractor driver throws and flies method and system.
Background technology
Traditional many rotor wing unmanned aerial vehicles take off, the general mode adopting remote control to take off.That is, by the ground for many rotor wing unmanned aerial vehicles, the operating personal of specialty is taken off by remote controller Long-distance Control unmanned plane.But the mode that this remote control is taken off must control the necessary factor such as posture balancing, throttle size of unmanned plane in take-off process, could realize normal, safe the taking off of unmanned plane.Remote control takeoff method needs the many factors of professional's Non-follow control, and therefore operating personal has to pass through the training of specialty, exercise, examination just possess the ability controlling unmanned plane and take off, to ensure that unmanned plane successfully, take off safely.
It can be seen from the above: the requirement of mode to user that remote control is taken off is too high, and operating process is too complicated, and take-off process relies on remote manual control to operate completely, intelligence degree very low.In addition, remote control is taken off needs certain take off space and place, and this some application scenario for unmanned plane cannot realize, and thus remote control is taken off and limited the range of use of unmanned plane, wastes the function that unmanned plane is superior.
Therefore, the target that the high unmanned plane takeoff method of a kind of intellectuality, automation, convenient operation, good stability, safety or launching apparatus become emphasis that those skilled in the art study all the time and pursuit is obtained.
Summary of the invention
To take off, the many defect such as take off success ratio low, poor stability, poor stability high to user operation skill set requirements for solving existing unmanned plane, the invention provides a kind of unmanned tractor driver to throw and fly method and system, the technical purpose that realization is intelligent, Automated condtrol unmanned plane takes off, and in take-off process, avoid the injury to people or unmanned plane body.
For realizing above-mentioned technical purpose, the invention discloses a kind of unmanned tractor driver and throw the method for flying, the method comprises the steps,
Step one: user triggers unmanned plane, makes unmanned plane enter and throws state in advance; While unmanned plane enters and throws state in advance, unmanned plane internal timer starts automatic pouring timing;
Step 2: unmanned plane by detect himself accekeration G and straight up velocity amplitude V automatic decision whether open rotor, take off.
Unmanned tractor driver of the present invention throws the method for flying and has that intellectuality, automation, convenience are good, reliability high; user takes off without the need to successfully, expertly operating unmanned plane through specialized training; Applicable scope of the present invention is wider; and safety factor is also very high, protection user escapes injury.
The mode that the present invention innovatively have employed accekeration and velocity amplitude combination judges the state that unmanned plane is residing in real time, this mode for judge whether standby for takeoff and concrete takeoff opportunity more accurate, error rate is extremely low, almost nil, meets user completely and UAV Intelligent is thrown to the needs flown.
Further, in step 2, unmanned plane utilize detect the accekeration G that obtains and straight up velocity amplitude V judge whether to open rotor, if G ≠ 0, then explanation unmanned plane is subject to External Force Acting, if meet simultaneously, G equals 0, initial vertical upward velocity value V
0be greater than threshold value Vt and velocity amplitude V is descending is straight up changed to rotor toggle speed value, then UAV Flight Control device controls to open rotor automatically, and unmanned plane takes off in the air; Wherein, described acceleration/accel G is earth coordinate system acceleration/accel.
Further, in step 2, if the acceleration/accel G that unmanned plane detects equals 0 and initial vertical velocity amplitude V
0be more than or equal to threshold value Vt, then unmanned plane is by dishing out, entering pattern of taking off in user's hand in the air.
The present invention can solve some extraordinary circumstances run in take-off process, as run into the problems such as obstacle in the uphill process after grabbing back at once after dishing out, dishing out, and once unmanned plane is subject to external force, acceleration pick-up will sense in real time, draw real-time G ≠ 0, therefore can by judge accekeration G be whether 0 mode can avoid completely above-mentionedly may producing the injury caused user or unmanned plane, improve hand and throw the safety flown.
Further, after unmanned plane enters described pattern of taking off in the air, if the acceleration/accel G that unmanned plane detects equals 0 and velocity amplitude V equals rotor toggle speed value straight up, then UAV Flight Control device automatically controls rotor and starts, and unmanned plane takes off in the air.
Further, described rotor toggle speed value is 0 or 1/6*V
0, be wherein 1/6*V in rotor toggle speed
0in situation, when unmanned plane enters by dishing out in user's hand and takes off pattern in the air, record and store the initial vertical velocity amplitude V that unmanned plane detects
0, the speed for the treatment of reduces to 1/6*V
0shi Xuanyi starts.
In general, the unlatching of rotor has certain delay, and the preferred V value of the present invention is decreased to 1/6V
0time, UAV Flight Control device opens rotor automatically, namely gives rotor actuation signal in advance, has to realize unmanned plane better and take off, improve unmanned plane and to take off the technique effect of success ratio.
Further, in step, enter for making unmanned plane more easily and throw state in advance, improve intellectuality of the present invention and convenience, user trigger unmanned plane enter throw state in advance mode for patting unmanned plane body three times continuously, if the acceleration signal that unmanned plane detects in Preset Time has continuous three impulse singlas, then flight controller judges that unmanned plane enters and throws state in advance.
Further, described Preset Time is the arbitrary value in 1 second to three-second area; It is effective when impulse singla amplitude is more than or equal to 2.5g; Acceleration signal is by quadravalence butterworth digital filter, and this filtering sampling frequency is 8000hz, cutoff frequency is 30hz; G is gravity acceleration value.
Further, it is preset value that unmanned plane throws state timing duration in advance, and described timing duration terminates and unmanned plane does not take off, then flight controller control unmanned plane exits and throws state in advance.
Further, when unmanned plane enters and throws state in advance, unmanned plane throws alarm signal prompting in advance by sending, and is the alarming effect improving unmanned plane, user is more easily noticed, and unmanned plane enters throws state in advance, and described state alarm signal of throwing in advance is wigwag and/or aud. snl..
Another goal of the invention of the present invention is to provide a kind of unmanned tractor driver to throw the system of flying, comprise the flight controller of unmanned plane body and inside thereof, this system also comprises the acceleration pick-up, time meter, the alarming device that are connected with flight controller respectively, and flight controller controls unmanned plane rotor and starts; Throw judgement precision and the integrated level of take-off system for improving hand of the present invention, described flight controller is Flight Control Division reason chip, and time meter is Flight Control Division reason chip timing module, and acceleration pick-up is piezoresistive transducer.
After unmanned plane is dished out by user, whether hand of the present invention is thrown take-off system and is had and unmanned plane automatic decision can be made to take off and the effect of takeoff opportunity, and the mode of operation of unmanned plane is pointed out significantly, have that convenience is good, stability of taking off is high, safety advantages of higher.
Beneficial effect of the present invention is: take off compared with mode with the remote control of existing machinery formula, present invention achieves user and with hand, unmanned plane is thrown the object reaching unmanned plane in the air and take off, unmanned plane after dishing out aloft automated intelligent detects, judges rear startup, final flight stops aerial, whole take-off process does not need remote controller completely, the present invention can realize that unmanned plane is quick, simple, convenient to take off, mode of taking off is more flexible, human-computer interaction is intelligent, user-friendly, improve Consumer's Experience, be convenient to promote and use, be beneficial to the market expanding product.In addition, the present invention can avoid hand to throw the personal injury that may produce user when unmanned plane takes off effectively, effectively guarantees personal safety.
Accompanying drawing explanation
Fig. 1 is that unmanned tractor driver throws and flies method flow diagram.
Fig. 2 is that unmanned tractor driver throws and flies principle flow chart.
Fig. 3 is that unmanned tractor driver throws and flies the block diagram of system.
Detailed description of the invention
Throw the method for flying and hand below in conjunction with Figure of description to unmanned tractor driver of the present invention to throw take-off system and carry out detailed explanation and explanation.
Hand of the present invention throws the method flown, and namely throw in the air by staff by unmanned plane, unmanned plane is Intelligent Recognition takeoff opportunity aloft, enters regular flight condition after then starting aloft.Whole process, user only needs to trigger, throw two actions, can complete taking off of unmanned plane smoothly.
As shown in Figure 1, 2, 3, a kind of unmanned tractor driver throws the method for flying, and the method comprises the steps:
Step one: user triggers unmanned plane, unmanned plane is in throws state in advance, the preparation namely allowing unmanned plane carry out to take off, waits for next step operation of user, concrete triggering mode those skilled in the art can select as required, in the present embodiment, preferred triggering mode is pat unmanned plane body more than twice continuously, such as, when the acceleration pick-up of unmanned plane inside detects the strong impulse singla of continuous print three in Preset Time, then judge that unmanned plane needs to enter throwing and flies run-up mode, namely throw state in advance, and throwing is flown preparatory signal and send to UAV Flight Control device, Preset Time is preferably the arbitrary value in 1 second to three-second area, " strong impulse singla " can be regarded as the impulse singla being more than or equal to 2.5g, impulse singla is now useful signal, g is gravity acceleration value.Certainly, the present invention also directly can press the special trigger button arranged on unmanned plane, and press trigger button and namely give flight controller an energizing signal, these two kinds of modes can select one, also can use simultaneously, use simultaneously and be conducive to increasing safety of the present invention.
Trigger action occurs, unmanned plane enters throws state in advance, also give flight controller an energizing signal, flight controller controls the timing of unmanned plane internal timer automatic pouring, alarming device sends alarm signal, the wigwag that state alarm signal is flicker is preferably thrown in advance in the present invention, aud. snl., both can select one or dual-purpose, use prompting better effects if simultaneously, in the present embodiment, state of throwing the in advance timing duration of unmanned plane internal timer is preset value, described timing duration terminates and unmanned plane does not take off, then flight controller control unmanned plane exits and throws state in advance, in other words, after countdown terminates, unmanned plane can automatically exit throwing and fly run-up mode, in the present embodiment, state of throwing the in advance countdown duration preset is the arbitrary value in 5 to 10 seconds, fly as again needed throwing, must again start throwing and fly run-up mode, countdown duration can be selected according to user and arrange, for old man, a middle-aged person, children or other classes crowd, can according to actual needs reasonable set, as for a middle-aged person, the countdown duration of 7 seconds can be selected, it is pointed out that timing tool of the present invention also can adopt the timing program of flight controller inside to realize in conjunction with its internal clocking or crystal oscillator.
Step 2: unmanned plane by detect himself accekeration G and straight up velocity amplitude V automatic decision whether open rotor, take off.It is pointed out that the accuracy for improving flight controller sense acceleration signal, described acceleration signal is through the quadravalence butterworth digital filter of sampling frequency 8000hz, cutoff frequency 30hz; The flight controller that unmanned plane utilizes self to install detect the accekeration G that obtains and straight up velocity amplitude V judge whether to open rotor, if meet simultaneously, G equals 0, initial vertical velocity amplitude V
0be greater than threshold value Vt and velocity amplitude V is descending is straight up changed to rotor toggle speed value, then UAV Flight Control device controls to open rotor automatically, and unmanned plane takes off in the air; Wherein, described acceleration/accel G is earth coordinate system acceleration/accel; If the acceleration/accel G that unmanned plane detects equals 0 and initial vertical velocity amplitude V
0be more than or equal to threshold value Vt, then unmanned plane is by dishing out, entering pattern of taking off in user's hand in the air; After unmanned plane enters described pattern of taking off in the air, if the acceleration/accel G that unmanned plane detects equals 0 and velocity amplitude V equals rotor toggle speed value straight up, then UAV Flight Control device automatically controls rotor and starts, and unmanned plane takes off in the air.
In the present embodiment, rotor toggle speed value is for can be 0; Described threshold value Vt is more than or equal to 2m/s, and direction is straight up.
It is emphasized that and to enter when dishing out during unmanned plane is by user's hand when taking off pattern in the air, record and store the initial vertical velocity amplitude V that unmanned plane detects
0, on this basis, rotor toggle speed value of the present invention can be 1/6*V
0.
During concrete enforcement, user mainly can encounter following several situation:
The unmanned plane if user thoroughly dishes out, then UAV Flight Control device opens rotor automatically, and unmanned plane enters takeoff condition, after unmanned plane normally takes off, controls follow-up flight attitude by remote controller, performs inter-related task; " thoroughly dishing out " in the present invention is interpreted as user and is dished out by unmanned plane, instead of weigh in the hand in hand several under, to drop or other maloperations because of carelessness.
Throw for overcoming hand the human safety issues that the mode of flying may exist, as unmanned plane rotor just starts to rotate in user's hand, or unmanned plane just rotates after just being dished out too early, all likely causes personal injury.Therefore, more specifically, the present invention accekeration G of innovatively using acceleration pick-up to obtain and velocity amplitude V judges whether unmanned plane should be opened rotor, take off.If G=0, then illustrate that unmanned plane departs from user's palm, is in the air, the present invention ignores the effect of air resistance, if G ≠ 0, then say that man-machine unmanned plane is subject to the external force of staff or obstacle generation, by having, the present invention also can detect that the device of people's palm judges whether unmanned plane departs from staff.Such as, unmanned plane enter pre-throw fly state after, user gently weighs several lower or unmanned plane in the hand and drops because of carelessness in hand, if now unmanned plane rotor starts, easily damages user; In addition, if initial throwing is rapidly spent not, unmanned plane also cannot aloft normally take off, and also can cause damage to people or unmanned plane; Through a large amount of in-place tests, the present embodiment threshold value Vt is preferably 3m/s.
If run into obstacle in the uphill process after user grabs back after being dished out by unmanned plane at once or unmanned plane is dished out, then UAV Flight Control device is abandoned starting rotor automatically;
The safety flown is thrown for improving hand further, overcome the safety problem that emergency case produces, in the present invention, if user grabs back after being dished out by unmanned plane at once, now unmanned plane is subject to staff externally applied forces again, then G ≠ 0, UAV Flight Control device is abandoned starting rotor automatically, protection user personal safety; Or unmanned plane dish out after uphill process in run into obstacle, in during running into obstacle, G ≠ 0, UAV Flight Control device is abandoned starting rotor automatically, and now unmanned plane also may have speed upwards, when unmanned plane breaks away from obstacle, G=0, if velocity amplitude V reduces to 1/6V
0or when 0, unmanned plane can automatic decision, startup wing.If user abandons unmanned plane of dishing out, then after time meter countdown terminates, hand is thrown and need be returned step one and again trigger again, if user abandons unmanned plane of dishing out, then G ≠ 0, UAV Flight Control device is abandoned starting rotor automatically.
Wherein, acceleration pick-up responsive to external force be that hand or obstacle are to the application force of body.
Unmanned plane is from tossed to before taking off, now unmanned plane is in the air, in the process that unmanned plane rises, the value of V from large to small, if when the value of V is decreased to 0, the present embodiment medium velocity reduces gradually from 3m/s, and unmanned plane arrival vertex is speed is 0, UAV Flight Control device opens rotor automatically, and unmanned plane enters takeoff condition; In addition, the present invention also can adopt 1/6V
0entry condition, as V
0during=3m/s, in unmanned plane uphill process, if when the value of V is decreased to 0.5m/s, UAV Flight Control device opens rotor automatically, unmanned plane enters takeoff condition, the object of such setting is that the startup of existing unmanned plane rotor postpones if having time, and startup unmanned plane relatively is earlier conducive to more safely taking off.
As shown in Figure 3, present invention also offers a kind of hand using above-mentioned unmanned tractor driver to throw the method for flying and throw take-off system, comprise the flight controller of unmanned plane body and inside thereof, this system also comprises the acceleration pick-up, time meter, the alarming device that are connected with flight controller respectively, flight controller controls unmanned plane rotor and starts, flight controller is connected with unmanned plane motor, the affixed rotor of motor output shaft, and alarming device is LED and/or loud speaker.In the present embodiment, flight controller is Flight Control Division reason chip, can be arm processor, the control center flown is thrown for whole hand, obtain user's operation information, judge whether to perform relevant action, send and whether start rotor order etc., acceleration pick-up is MEMS piezoresistive sensor, can be used for the accekeration G, the acquisition speed value V that obtain unmanned plane, certainly, velocity amplitude V also can adopt separately speed sensor to obtain.The LED playing reminding effect is located on horn, and loud speaker is installed on body upper.Consider from actual needs, the time meter that the present invention adopts is the timing program of count-down device or flight controller inside.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all do in flesh and blood of the present invention any amendment, equivalent to replace and simple modifications etc., all should be included within protection scope of the present invention.
Claims (10)
1. unmanned tractor driver throws the method for flying, and it is characterized in that: the method comprises the steps,
Step one: user triggers unmanned plane, makes unmanned plane enter and throws state in advance; While unmanned plane enters and throws state in advance, unmanned plane internal timer starts automatic pouring timing;
Step 2: unmanned plane by detect himself accekeration G and straight up velocity amplitude V automatic decision whether open rotor, take off.
2. unmanned tractor driver according to claim 1 throws the method for flying, it is characterized in that: in step 2, unmanned plane utilize detect the accekeration G that obtains and straight up velocity amplitude V judge whether unlatching rotor, if meet simultaneously, G equals 0, initial vertical upward velocity value V
0be greater than threshold value Vt and velocity amplitude V is descending is straight up changed to rotor toggle speed value, then UAV Flight Control device controls to open rotor automatically, and unmanned plane takes off in the air; Wherein, described acceleration/accel G is earth coordinate system acceleration/accel.
3. unmanned tractor driver according to claim 2 throws the method for flying, and it is characterized in that: in step 2, if the acceleration/accel G that unmanned plane detects equals 0 and initial vertical velocity amplitude V
0be more than or equal to threshold value Vt, then unmanned plane is by dishing out, entering pattern of taking off in user's hand in the air.
4. unmanned tractor driver according to claim 3 throws the method for flying, it is characterized in that: after unmanned plane enters described pattern of taking off in the air, if the acceleration/accel G that unmanned plane detects equals 0 and velocity amplitude V equals rotor toggle speed value straight up, then UAV Flight Control device controls rotor startup automatically, and unmanned plane takes off in the air.
5. unmanned tractor driver according to claim 4 throws the method for flying, and it is characterized in that: described rotor toggle speed value is 0 or 1/6*V
0, be wherein 1/6*V in rotor toggle speed
0in situation, when unmanned plane enters by dishing out in user's hand and takes off pattern in the air, record and store the initial vertical velocity amplitude V that unmanned plane detects
0, the speed for the treatment of reduces to 1/6*V
0shi Xuanyi starts.
6. the unmanned tractor driver according to claim arbitrary in claim 1 to 5 throws the method for flying, it is characterized in that: in step one, user trigger unmanned plane enter throw state in advance mode for patting unmanned plane body three times continuously, if the acceleration signal that unmanned plane detects in Preset Time has continuous three impulse singlas, then flight controller judges that unmanned plane enters and throws state in advance.
7. unmanned tractor driver according to claim 6 throws the method for flying, and it is characterized in that: described Preset Time is the arbitrary value in 1 second to three-second area; It is effective when impulse singla amplitude is more than or equal to 2.5g; Acceleration signal is by quadravalence butterworth digital filter, and this filtering sampling frequency is 8000hz, cutoff frequency is 30hz; G is gravity acceleration value.
8. unmanned tractor driver according to claim 1 throws the method for flying, and it is characterized in that: it is preset value that unmanned plane throws state timing duration in advance, and described timing duration terminates and unmanned plane does not take off, then flight controller control unmanned plane exits and throws state in advance.
9. unmanned tractor driver according to claim 8 throws the method for flying, and it is characterized in that: when unmanned plane enters and throws state in advance, and unmanned plane throws alarm signal prompting in advance by sending, and described state alarm signal of throwing in advance is wigwag and/or aud. snl..
10. a unmanned tractor driver throws the system of flying, comprise the flight controller of unmanned plane body and inside thereof, it is characterized in that: this system also comprises the acceleration pick-up, time meter, the alarming device that are connected with flight controller respectively, flight controller controls unmanned plane rotor and starts; Described flight controller is Flight Control Division reason chip, and time meter is Flight Control Division reason chip timing module, and acceleration pick-up is piezoresistive transducer.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610012266.7A CN105539874B (en) | 2016-01-08 | 2016-01-08 | A kind of unmanned plane hand throws winged method and system |
| US15/090,597 US20170197731A1 (en) | 2016-01-08 | 2016-04-04 | Method and apparatus for hand launching unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610012266.7A CN105539874B (en) | 2016-01-08 | 2016-01-08 | A kind of unmanned plane hand throws winged method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105539874A true CN105539874A (en) | 2016-05-04 |
| CN105539874B CN105539874B (en) | 2019-03-15 |
Family
ID=55819530
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610012266.7A Active CN105539874B (en) | 2016-01-08 | 2016-01-08 | A kind of unmanned plane hand throws winged method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105539874B (en) |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106020220A (en) * | 2016-05-24 | 2016-10-12 | 零度智控（北京）智能科技有限公司 | Unmanned aerial vehicle (UAV) and UAV flight control method and device |
| CN106227234A (en) * | 2016-09-05 | 2016-12-14 | 重庆零度智控智能科技有限公司 | Unmanned plane, unmanned plane take off control method and device |
| CN106502270A (en) * | 2017-01-04 | 2017-03-15 | 深圳极天创新科技有限公司 | Unmanned plane, unmanned plane take off control method and device |
| CN106647798A (en) * | 2016-09-30 | 2017-05-10 | 腾讯科技（深圳）有限公司 | Take-off control method and take-off control apparatus for aircrafts |
| CN106990736A (en) * | 2017-05-09 | 2017-07-28 | 嘉兴安行信息科技有限公司 | Unmanned plane one-key start device |
| CN107037819A (en) * | 2016-11-24 | 2017-08-11 | 腾讯科技（深圳）有限公司 | Take off control method and the control device that takes off of a kind of aircraft |
| CN107544546A (en) * | 2017-10-13 | 2018-01-05 | 深圳市富斯科技有限公司 | The autonomic positioning method and system of a kind of aircraft |
| CN107608368A (en) * | 2017-09-26 | 2018-01-19 | 南京航空航天大学 | A kind of Fast-Balance control method of unmanned plane in extreme original state |
| WO2018098906A1 (en) | 2016-11-29 | 2018-06-07 | Guangzhou Xaircraft Technology Co., Ltd | Unmanned aerial vehicle control method and unmanned aerial vehicle control apparatus |
| CN108394560A (en) * | 2018-03-15 | 2018-08-14 | 成鑫 | A kind of fixed-wing unmanned plane and its landing method |
| CN108445897A (en) * | 2018-04-28 | 2018-08-24 | 深圳市易天富电子有限公司 | A kind of control method and control system of unmanned plane |
| CN108521812A (en) * | 2017-05-19 | 2018-09-11 | 深圳市大疆创新科技有限公司 | Control method, unmanned plane and the machine readable storage medium of unmanned plane |
| CN108572659A (en) * | 2017-03-10 | 2018-09-25 | 三星电子株式会社 | It controls the method for unmanned plane and supports the unmanned plane of this method |
| WO2018170738A1 (en) * | 2017-03-21 | 2018-09-27 | 深圳市大疆创新科技有限公司 | Control method and unmanned aerial vehicle |
| WO2019134713A1 (en) * | 2018-01-08 | 2019-07-11 | Geosat Aerospace & Technology Inc. | Unmanned aerial vehicle launch methods and systems |
| CN110775272A (en) * | 2019-11-06 | 2020-02-11 | 北京航空航天大学 | Automatic takeoff control method and automatic landing control method of hand-throwing type solar fixed wing unmanned aerial vehicle |
| CN112230673A (en) * | 2019-07-15 | 2021-01-15 | 经纬航太科技股份有限公司 | Unmanned aerial vehicle and take-off method thereof |
| CN114460967A (en) * | 2022-02-09 | 2022-05-10 | 沃飞长空科技(成都)有限公司 | Takeoff method and system of unmanned aerial vehicle, terminal device and storage medium |
| US11884406B2 (en) | 2018-01-08 | 2024-01-30 | GEOSAT Aerospace & Technology | Parachute landing methods and systems for an unmanned aerial vehicle |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102193616A (en) * | 2010-03-11 | 2011-09-21 | 上海果壳电子有限公司 | Method for controlling power supply of electronic device for improving battery life |
| CN102648616A (en) * | 2009-11-20 | 2012-08-22 | 高通股份有限公司 | Automatic detection of an in-flight mode |
| CN104685436A (en) * | 2013-12-13 | 2015-06-03 | 深圳市大疆创新科技有限公司 | Methods for launching and landing an unmanned aerial vehicle |
| CN104812671A (en) * | 2014-03-27 | 2015-07-29 | 深圳市大疆创新科技有限公司 | Takeoff assistance |
| WO2015179797A1 (en) * | 2014-05-23 | 2015-11-26 | Lily Robotics, Inc. | Unmanned aerial copter for photography and/or videography |
| WO2015200209A1 (en) * | 2014-06-23 | 2015-12-30 | Nixie Labs, Inc. | Wearable unmanned aerial vehicles, launch- controlled unmanned aerial vehicles, and associated systems and methods |
| CN105204517A (en) * | 2015-09-24 | 2015-12-30 | 杨珊珊 | Personal service method and system for small and mini-type unmanned aerial vehicles |
-
2016
- 2016-01-08 CN CN201610012266.7A patent/CN105539874B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102648616A (en) * | 2009-11-20 | 2012-08-22 | 高通股份有限公司 | Automatic detection of an in-flight mode |
| CN102193616A (en) * | 2010-03-11 | 2011-09-21 | 上海果壳电子有限公司 | Method for controlling power supply of electronic device for improving battery life |
| CN104685436A (en) * | 2013-12-13 | 2015-06-03 | 深圳市大疆创新科技有限公司 | Methods for launching and landing an unmanned aerial vehicle |
| CN104812671A (en) * | 2014-03-27 | 2015-07-29 | 深圳市大疆创新科技有限公司 | Takeoff assistance |
| WO2015179797A1 (en) * | 2014-05-23 | 2015-11-26 | Lily Robotics, Inc. | Unmanned aerial copter for photography and/or videography |
| WO2015200209A1 (en) * | 2014-06-23 | 2015-12-30 | Nixie Labs, Inc. | Wearable unmanned aerial vehicles, launch- controlled unmanned aerial vehicles, and associated systems and methods |
| CN105204517A (en) * | 2015-09-24 | 2015-12-30 | 杨珊珊 | Personal service method and system for small and mini-type unmanned aerial vehicles |
Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106020220A (en) * | 2016-05-24 | 2016-10-12 | 零度智控（北京）智能科技有限公司 | Unmanned aerial vehicle (UAV) and UAV flight control method and device |
| CN106020220B (en) * | 2016-05-24 | 2023-12-08 | 零度智控（北京）智能科技有限公司 | Unmanned aerial vehicle, unmanned aerial vehicle flight control method and unmanned aerial vehicle flight control device |
| CN106227234A (en) * | 2016-09-05 | 2016-12-14 | 重庆零度智控智能科技有限公司 | Unmanned plane, unmanned plane take off control method and device |
| CN106227234B (en) * | 2016-09-05 | 2019-09-17 | 天津远度科技有限公司 | Unmanned plane, unmanned plane take off control method and device |
| CN106647798A (en) * | 2016-09-30 | 2017-05-10 | 腾讯科技（深圳）有限公司 | Take-off control method and take-off control apparatus for aircrafts |
| CN107037819A (en) * | 2016-11-24 | 2017-08-11 | 腾讯科技（深圳）有限公司 | Take off control method and the control device that takes off of a kind of aircraft |
| AU2017369919B2 (en) * | 2016-11-29 | 2020-04-16 | Guangzhou Xaircraft Technology Co., Ltd | Unmanned aerial vehicle control method and unmanned aerial vehicle control apparatus |
| EP3449329A4 (en) * | 2016-11-29 | 2019-11-06 | Guangzhou Xaircraft Technology Co., Ltd | Unmanned aerial vehicle control method and unmanned aerial vehicle control apparatus |
| WO2018098906A1 (en) | 2016-11-29 | 2018-06-07 | Guangzhou Xaircraft Technology Co., Ltd | Unmanned aerial vehicle control method and unmanned aerial vehicle control apparatus |
| CN106502270A (en) * | 2017-01-04 | 2017-03-15 | 深圳极天创新科技有限公司 | Unmanned plane, unmanned plane take off control method and device |
| CN108572659A (en) * | 2017-03-10 | 2018-09-25 | 三星电子株式会社 | It controls the method for unmanned plane and supports the unmanned plane of this method |
| CN108572659B (en) * | 2017-03-10 | 2023-08-11 | 三星电子株式会社 | Method for controlling unmanned aerial vehicle and unmanned aerial vehicle supporting same |
| WO2018170738A1 (en) * | 2017-03-21 | 2018-09-27 | 深圳市大疆创新科技有限公司 | Control method and unmanned aerial vehicle |
| CN106990736A (en) * | 2017-05-09 | 2017-07-28 | 嘉兴安行信息科技有限公司 | Unmanned plane one-key start device |
| CN108521812A (en) * | 2017-05-19 | 2018-09-11 | 深圳市大疆创新科技有限公司 | Control method, unmanned plane and the machine readable storage medium of unmanned plane |
| CN107608368A (en) * | 2017-09-26 | 2018-01-19 | 南京航空航天大学 | A kind of Fast-Balance control method of unmanned plane in extreme original state |
| CN107544546A (en) * | 2017-10-13 | 2018-01-05 | 深圳市富斯科技有限公司 | The autonomic positioning method and system of a kind of aircraft |
| WO2019134713A1 (en) * | 2018-01-08 | 2019-07-11 | Geosat Aerospace & Technology Inc. | Unmanned aerial vehicle launch methods and systems |
| US11884406B2 (en) | 2018-01-08 | 2024-01-30 | GEOSAT Aerospace & Technology | Parachute landing methods and systems for an unmanned aerial vehicle |
| CN111587409A (en) * | 2018-01-08 | 2020-08-25 | 经纬航太科技股份有限公司 | Unmanned aerial vehicle launching method and system |
| US11073841B2 (en) | 2018-01-08 | 2021-07-27 | GEOSAT Aerospace & Technology | Methods and systems for launching an unmanned aerial vehicle |
| CN108394560A (en) * | 2018-03-15 | 2018-08-14 | 成鑫 | A kind of fixed-wing unmanned plane and its landing method |
| CN108445897A (en) * | 2018-04-28 | 2018-08-24 | 深圳市易天富电子有限公司 | A kind of control method and control system of unmanned plane |
| CN112230673A (en) * | 2019-07-15 | 2021-01-15 | 经纬航太科技股份有限公司 | Unmanned aerial vehicle and take-off method thereof |
| CN110775272A (en) * | 2019-11-06 | 2020-02-11 | 北京航空航天大学 | Automatic takeoff control method and automatic landing control method of hand-throwing type solar fixed wing unmanned aerial vehicle |
| CN114460967A (en) * | 2022-02-09 | 2022-05-10 | 沃飞长空科技(成都)有限公司 | Takeoff method and system of unmanned aerial vehicle, terminal device and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105539874B (en) | 2019-03-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105539874A (en) | Hand-throwing taking-off method and system for unmanned aerial vehicle | |
| CN106444824B (en) | Unmanned aerial vehicle, unmanned aerial vehicle landing control device and method | |
| CN106371450B (en) | Unmanned plane, unmanned plane take off control method and device | |
| CN107291095B (en) | Unmanned aerial vehicle takeoff control method, device and system and unmanned aerial vehicle | |
| CN105527972A (en) | Unmanned aerial vehicle (UAV) flight control method and device | |
| US20170291705A1 (en) | Method an apparatus for controlling unmanned aerial vehicle | |
| CN104802962B (en) | A kind of water life-saving system and method | |
| RU2720389C1 (en) | Control method of unmanned aerial vehicle and control device of unmanned aerial vehicle | |
| CN105947226B (en) | A kind of rotary wind type UAV Intelligent lost-control protection system and its guard method | |
| US20170197731A1 (en) | Method and apparatus for hand launching unmanned aerial vehicle | |
| WO2018032924A1 (en) | Safety guard device for unmanned aerial vehicle and safety guard method for unmanned aerial vehicle | |
| CN113359806A (en) | Unmanned aerial vehicle automatic propeller stopping control system and control method and unmanned aerial vehicle | |
| CN205396523U (en) | Unmanned aerial vehicle | |
| CN109573028A (en) | A kind of auxiliary unmanned plane method for retrieving, device and unmanned plane | |
| KR102220394B1 (en) | System and method for automatic aviation system operation | |
| CN109562830A (en) | The method of unmanned flight's object and control unmanned flight's object | |
| WO2018195883A1 (en) | Method and device for controlling unmanned aerial vehicle, and unmanned aerial vehicle | |
| CN106647798B (en) | A kind of take off control method and the control device that takes off of aircraft | |
| CN107145158B (en) | Rotor unmanned aerial vehicle, and abnormal landing processing device and processing method thereof | |
| CN208963320U (en) | A kind of unmanned plane fall-preventing protection device | |
| WO2021043331A1 (en) | Aircraft alarm method and device, and aircraft | |
| KR101993311B1 (en) | A method and a system for anticipating the entry of a rotorcraft into a vortex domain | |
| CN205738138U (en) | A kind of unmanned tractor driver throws and flies system | |
| CN106447825A (en) | Vehicle-mounted information recording system based on Internet of things | |
| CN106114877B (en) | A kind of safe helium air bag catapult-launching gear of unmanned plane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180919 Address after: 100193 2, 205, Zhongguancun Software Park, 8 Northeast Northeast Road, Haidian District, Beijing, 2 Applicant after: Tianjin Yuandu Technology Co.,Ltd. Address before: 100094 203, Zhongguancun Software Park, 8 Northeast Northeast Road, Haidian District, Beijing 203, 203 Applicant before: ZEROTECH (BEIJING) INTELLIGENCE TECHNOLOGY Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 0701600 A102, No. 67, tourism East Road, Anxin County, Baoding City, Hebei Province Patentee after: Hebei xiong'an Yuandu Technology Co.,Ltd. Address before: 100193 2, 205, Zhongguancun Software Park, 8 Northeast Northeast Road, Haidian District, Beijing, 2 Patentee before: Tianjin Yuandu Technology Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210224 Address after: 102100 1916, building 27, yard 8, Fenggu 4th Road, Yanqing garden, Zhongguancun, Yanqing District, Beijing Patentee after: Beijing Yuandu Internet Technology Co.,Ltd. Address before: 0701600 A102, No. 67, tourism East Road, Anxin County, Baoding City, Hebei Province Patentee before: Hebei xiong'an Yuandu Technology Co.,Ltd. |