CN106054927A - Intelligent channel tour-inspection device and system based on UAV (Unmanned Aerial Vehicle) and measurement method - Google Patents
Intelligent channel tour-inspection device and system based on UAV (Unmanned Aerial Vehicle) and measurement method Download PDFInfo
- Publication number
- CN106054927A CN106054927A CN201610635641.3A CN201610635641A CN106054927A CN 106054927 A CN106054927 A CN 106054927A CN 201610635641 A CN201610635641 A CN 201610635641A CN 106054927 A CN106054927 A CN 106054927A
- Authority
- CN
- China
- Prior art keywords
- channel
- unmanned plane
- canal
- intelligence
- patrols
- 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.)
- Pending
Links
- 238000007689 inspection Methods 0.000 title abstract description 11
- 238000000691 measurement method Methods 0.000 title abstract 2
- 238000004891 communication Methods 0.000 claims abstract description 9
- 238000000034 method Methods 0.000 claims description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 11
- 238000012545 processing Methods 0.000 claims description 9
- 230000002159 abnormal effect Effects 0.000 claims description 5
- 238000003860 storage Methods 0.000 claims description 4
- 238000011161 development Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 150000003839 salts Chemical group 0.000 description 3
- 238000012271 agricultural production Methods 0.000 description 2
- 235000009508 confectionery Nutrition 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003651 drinking water Substances 0.000 description 1
- 235000020188 drinking water Nutrition 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Toys (AREA)
Abstract
The invention relates to the field of UAV application, and especially to an intelligent channel tour-inspection device and system based on a UAV and a measurement method. The UAV is included, and provided with a controller, a camera device and a communication device, and the camera device and the communication device are connected with the controller. The intelligent channel tour-inspection device based on the UAV shoots a channel according to fixed position and shape characteristics of the channel, the channel is parsed from a shot image, and thus, the flight direction of the UAV is controlled; and a normal form image of the channel is pre-stored in the controller of the UAV, and the channel image shot in real time is compared with the normal image to determine whether abnormity occurs in the channel, a channel embankment or a slope. The intelligent channel tour-inspection device based on the VAV can be used to reduce labor force used for channel tour inspection, improve the efficiency of channel tour inspection, ensure safe operation of the channel and further reduce the cost of channel tour inspection.
Description
Technical field
The present invention relates to unmanned plane application, particularly to a kind of intelligence based on unmanned plane patrol canal device, system and
Measuring method.
Background technology
In recent years, along with modern science and technology and industrialized accelerated development, agricultural production achieves unprecedented one-tenth
Just, the development of agricultural be unable to do without hydraulic engineering, and water conservancy projects is to ensure that the basic condition of agricultural production.Surely raise with the sweet peaceful salt ring in Shan
As a example by yellow engineering, salt ring has raised yellow engineering surely since within 1993, running, and ends accumulative water diversion 10.7 billion cubic meter in 2015.It is subject to
Pool relates to three districts of county of province four three, including Dingbian County, Shaanxi, Huan county of Gansu, Yanchi county Ningxia, Tongxin County, Litong District, Hong Sibao
District, industrial park, sun mountain, current engineering water-using structure by single agricultural water to industry, cities and towns drinking water, ecology, filling
The multi-field development such as irrigate, become the water source project that the sweet peaceful salt ring in Shan is the most precisely shaken off poverty.The importance of canal for water conveyance is self-evident, by
This, the daily inspection of channel is safeguarded and is particularly important, but channel itself also exists length length (124KM), and position is natural
The features such as environment is poor, tradition inspection uses manually patrols channel mode, and this mode labor intensity is big, tour efficiency is low, restriction
Factor is many, and these shortcomings perplex water conservancy administration department always.
Summary of the invention
It is an object of the invention to overcome in existing artificial inspection channel mode, labor intensity is big, makes an inspection tour inefficient asking
Topic, it is provided that one can be greatly lowered patrols canal labor intensity, the intelligence based on unmanned plane improving tour efficiency patrols canal device.
In order to realize foregoing invention purpose, the invention provides techniques below scheme:
A kind of intelligence based on unmanned plane patrols canal device, including unmanned plane, is provided with controller, camera head in described unmanned plane
And communicator；Described camera head and communicator are all connected with described controller；
Described controller includes graphics processing unit, memory element and image comparison unit；
Described graphics processing unit parses the position of channel, form in the picture of shooting；
Described image comparison unit is for being analyzed the picture of shooting with the picture of storage in memory element；
Described controller flies along channel for the position of water channel, the morphology Control unmanned plane gone out according to picture processing unit resolves
OK.
Further, described camera head includes visible image capturing device and infrared eye, is realized by controller
Switching between visible image capturing device and infrared eye, wherein infrared eye is used for the unmanned plane bat when night
Take the photograph.
In some embodiments, described unmanned plane is additionally provided with the guider being connected with controller；Described guider
For GPS navigation device or Beidou navigation device；Described guider is in the case of accident, and unmanned plane cannot find channel,
Unmanned plane is flown back appointment position by user by long-range control terminal.
Further, described unmanned plane is additionally provided with the height measuring device being connected with controller, described elevation carrection
Device is for measuring the flying height of unmanned plane, to ensure that unmanned plane flies above channel in the range of certain altitude all the time.
Present invention simultaneously provides a kind of intelligence based on unmanned plane and patrol canal system system, including controlling terminal and intelligence as above
Canal device can be patrolled；Described control terminal and described intelligence patrol the communication connection of canal device；
Further, described control terminal patrol with described intelligence canal device use remote radio communication be connected.
Described control terminal includes that terminal storing unit and display unit, described terminal storage unit are used for storing unmanned plane
The image data passed back；Described display unit shows the image that unmanned plane is passed back in real time.
Present invention simultaneously provides a kind of intelligence based on unmanned plane and patrol canal method, comprise the steps of:
(1) unmanned plane during flying is controlled to above channel original position；
(2) according to specifying time interval to obtain water channel image information；
(3) the channel image information obtained is processed, obtain current direction, and control unmanned plane along channel flight.
Further, also include carrying out the channel image information of acquisition and the channel normal images information prestored contrasting
Step, as comparing result is identical, then unmanned plane is along channel normal flight；Otherwise, send a warning to control terminal.
Further, described unmanned plane passes the channel image information of acquisition back control terminal in real time；Or,
Described unmanned plane is finding that channel just passes channel image information back control terminal after abnormal.
Further, as unmanned plane can not by normal obtain ditch water flow to, send error information to controlling terminal, by
Control terminal control unmanned plane flies back and specifies position.
Compared with prior art, beneficial effects of the present invention: the intelligence based on unmanned plane that the present invention provides patrols canal device
According to the feature that channel position shape is fixing, by shooting its image, and from image, parse channel, thus control unmanned plane
Heading；Meanwhile, the normal morphology image of the channel that prestores in unmanned aerial vehicle (UAV) control device, by the channel image of captured in real-time with
Normal picture compares, to judge whether channel exception occurs.The intelligence based on unmanned plane that the application present invention provides patrols canal
Device, it is possible to reduce patrol canal manpower, improves and patrols canal efficiency, improves channel safe operation and ensures, further reduces and patrols canal cost.
Accompanying drawing illustrates:
Fig. 1 patrols the theory diagram of canal device for the intelligence based on unmanned plane that the present invention provides.
Fig. 2 patrols canal method flow diagram for the intelligence provided in the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawings and specific embodiment the present invention is described in further detail.But this should be interpreted as this
The scope inventing above-mentioned theme is only limitted to below example, and all technology realized based on present invention belong to the present invention
Scope.
Embodiment 1: as it is shown in figure 1, the present embodiment provides a kind of intelligence based on unmanned plane to patrol canal device, including unmanned
Machine, is provided with controller 1, camera head 2 and communicator 3 in described unmanned plane；Described camera head 2 and communicator 3 are equal
It is connected with described controller 1；
Described controller 1 includes graphics processing unit, memory element and image comparison unit；
Described graphics processing unit parses the position of water channel, form in the picture of shooting；
Described image comparison unit is for being analyzed the picture of shooting with the picture of storage in memory element；
Described controller 1 flies along water channel for the position of water channel, the morphology Control unmanned plane gone out according to picture processing unit resolves
OK.
Further, described camera head 2 includes visible image capturing device and infrared eye, real by controller 1
Existing switching between visible image capturing device and infrared eye, infrared eye is used for the unmanned plane bat when night
Take the photograph.
In some embodiments, described unmanned plane is additionally provided with the guider 5 being connected with controller 1；Described navigation dress
Put 5 for GPS navigation device or Beidou navigation device；When there is no guider 5, as unmanned plane can not be by normally obtaining water channel
Flow to, send error information to controlling terminal, flown back tram by controlling terminal control unmanned plane；And when being provided with navigation dress
When putting 5, once unmanned plane within a specified time fails to find water channel by image information, the most automatically starts guider 5, utilizes
The water channel positional information preset in guider 5 flies.
Further, being additionally provided with the height measuring device 4 being connected with controller 1 in described unmanned plane, described height is surveyed
Amount device 4 is for measuring the flying height of unmanned plane, to ensure that unmanned plane flies above water channel in the range of certain altitude all the time.
Embodiment 2: the present embodiment provides a kind of intelligence based on unmanned plane to patrol canal system system, including controlling terminal and as implemented
Intelligence described in example 1 patrols canal device；Described control terminal and described intelligence patrol the communication connection of canal device, it is preferred to use long distance wireless
Communication connection；Described control terminal includes terminal storing unit and display unit.
Embodiment 3: as in figure 2 it is shown, the present embodiment provides a kind of intelligence based on unmanned plane to patrol canal method, comprise following step
Rapid:
S100: above control unmanned plane during flying to water channel original position；This step, when unmanned plane self comprises guider 5,
Unmanned plane can be flown to target overhead automatically by this guider 5；And in certain embodiments, in unmanned plane and be not provided with leading
Boat device 5, now, user can (remote control terminal can be in the unmanned aerial vehicle (UAV) control device in operating room by controlling terminal
1, PC, or hand-held remote control device).
S200: obtain channel image information (picture or video recording) according to specifying time interval；This time interval can set,
Amendment.If this time interval can be between 200ms, 500ms, 1s, 10s, 1min, 5min, 10min and 200ms-20min
Random time.
S300: the channel image information obtained is processed, obtain ditch water flow to, and control unmanned plane and fly along channel
OK.
Unmanned plane passes the channel image information of acquisition back control terminal in real time, by being positioned at the staff people controlling terminal
Work judges that channel is the most normal.The benefit that the image information obtained in real time by unmanned plane is passed back in real time is that monitoring personnel can be real-time
Seeing the concrete condition at scene, and disadvantage of this is that the communicating requirement to unmanned plane is higher, the energy consumption of unmanned plane is also simultaneously
Can increase accordingly；
Embodiment 4: the present embodiment provides a kind of intelligence based on unmanned plane to patrol canal method, comprises the steps of:
S100: above control unmanned plane during flying to water channel original position；This step, when unmanned plane self comprises guider 5,
Unmanned plane can be flown to target overhead automatically by this guider 5；And in certain embodiments, in unmanned plane and be not provided with leading
Boat device 5, now, user can (remote control terminal can be in the unmanned aerial vehicle (UAV) control device in operating room by controlling terminal
1, PC, or hand-held remote control device)
S200: obtain water channel image information (picture or video recording) according to specifying time interval；This time interval can set, repair
Change.If this time interval can be between 200ms, 500ms, 1s, 10s, 1min, 5min, 10min and 200ms-20min
Random time.
S300: the channel image information obtained is processed, obtain ditch water flow to, and control unmanned plane and fly along channel
OK.
In the present embodiment, also include step S400: by the channel image information of acquisition and the channel normal images letter prestored
Breath carries out the step contrasted, and as comparing result is identical, then unmanned plane is along channel normal flight；Otherwise, police is sent to control terminal
Notify breath；Striograph that is concrete, that shot according to the flight speed of unmanned plane, frequency of taking pictures, the original position of unmanned plane
Sheet is numbered identification, to distinguish the picture of channel diverse location；By in picture and the unmanned plane of the channel diverse location obtained
The same position picture prestored compares, to distinguish that canal's moving is the most normal.
Same, in the present embodiment, unmanned plane does not all pass all of image information back control terminal, and it is finding
Just channel image information is passed back control terminal after canal's moving is abnormal；By contrast, unmanned plane finds that canal's moving is abnormal
Just relevant position picture is beamed back control terminal and then can reduce communications burden and the energy consumption burden of unmanned plane.It should be noted that nothing
Man-machine finding that channel can be according to default selection or control the control of terminal and select in out-of-the way position hovering or continue after abnormal
Continuous advance.
Unmanned plane is optional to be arranged guider 5 or is not provided with guider 5, when not having guider 5, such as unmanned plane
Can not by normal obtain ditch water flow to, send error information to controlling terminal, just flown back by controlling terminal control unmanned plane
Really position；And when being provided with guider 5, once unmanned plane within a specified time fails to find channel by image information,
The most automatically start guider 5, utilize guider 5 to control unmanned plane and fly back preset path.
Claims (10)
1. an intelligence based on unmanned plane patrols canal device, it is characterised in that includes unmanned plane, is provided with control in described unmanned plane
Device processed, camera head and communicator；Described camera head and communicator are all connected with described controller；
Described controller includes graphics processing unit, memory element and image comparison unit；
Described graphics processing unit parses the position of water channel, form in the picture of shooting；
Described image comparison unit is for being analyzed the picture of shooting with the picture of storage in memory element；Described control
Device processed controls the heading of unmanned plane according to the channel positional information that graphics processing unit parses.
2. intelligence as claimed in claim 1 patrols canal device, it is characterised in that described camera head includes visible image capturing device
And infrared eye.
3. intelligence as claimed in claim 1 patrols canal device, it is characterised in that be additionally provided with in described unmanned plane with controller even
The guider connect；Described guider is GPS navigation device or Beidou navigation device.
4. intelligence as claimed in claim 1 patrols canal device, it is characterised in that be additionally provided with in described unmanned plane with controller even
The height measuring device connect.
5. an intelligence based on unmanned plane patrols canal system system, it is characterised in that include controlling terminal and as Claims 1-4 is appointed
One described intelligence patrols canal device；Described control terminal and described intelligence patrol the communication connection of canal device；
Described control terminal includes terminal storing unit and display unit.
6. intelligence as claimed in claim 5 patrols canal system system, it is characterised in that described control terminal and described intelligence patrol canal device
Employing communication connects.
7. an intelligence based on unmanned plane patrols canal method, it is characterised in that comprise the steps of:
(1) unmanned plane during flying is controlled to above channel original position；
(2) according to specifying time interval to obtain channel image information；
(3) to obtain channel image information process, obtain ditch water flow to, and control unmanned plane along channel fly.
8. intelligence as claimed in claim 7 patrols canal method, it is characterised in that also include the channel image information of acquisition with pre-
The channel normal images information deposited carries out the step contrasted, and as comparing result is identical, then unmanned plane is along channel normal flight；No
Then, send a warning to control terminal.
9. intelligence as claimed in claim 8 patrols canal method, it is characterised in that the channel image that described unmanned plane will obtain in real time
Information passes control terminal back；Or, described unmanned plane is finding that water channel just passes channel image information back control terminal after abnormal.
10. intelligence as claimed in claim 7 patrols canal method, it is characterised in that as unmanned plane can not be by normally obtaining channel
Current direction, sends error information to controlling terminal, is flown back tram by controlling terminal control unmanned plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610635641.3A CN106054927A (en) | 2016-08-04 | 2016-08-04 | Intelligent channel tour-inspection device and system based on UAV (Unmanned Aerial Vehicle) and measurement method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610635641.3A CN106054927A (en) | 2016-08-04 | 2016-08-04 | Intelligent channel tour-inspection device and system based on UAV (Unmanned Aerial Vehicle) and measurement method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106054927A true CN106054927A (en) | 2016-10-26 |
Family
ID=57481126
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610635641.3A Pending CN106054927A (en) | 2016-08-04 | 2016-08-04 | Intelligent channel tour-inspection device and system based on UAV (Unmanned Aerial Vehicle) and measurement method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106054927A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107063137A (en) * | 2017-06-08 | 2017-08-18 | 广东容祺智能科技有限公司 | A kind of dam based on unmanned plane inrushes areal calculation and emergent treatment system |
| CN107326845A (en) * | 2017-06-28 | 2017-11-07 | 太仓迪米克斯节能服务有限公司 | A kind of intelligence cleaning system and method for building waste |
| CN107372160A (en) * | 2017-08-14 | 2017-11-24 | 苏州凸现信息科技有限公司 | A kind of intelligent cultural method and its system based on unmanned plane |
| CN107499512A (en) * | 2017-08-30 | 2017-12-22 | 太仓博轩信息科技有限公司 | It is a kind of to be used to clear up the Intelligent unattended machine and its method of work for sending vehicle pendant thing back to |
| CN108073184A (en) * | 2017-11-27 | 2018-05-25 | 天脉聚源(北京)传媒科技有限公司 | UAV Flight Control method and device |
| CN114237282A (en) * | 2021-11-29 | 2022-03-25 | 南京邮电大学 | Intelligent unmanned aerial vehicle flight path planning method for intelligent industrial park monitoring |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104360688A (en) * | 2014-11-19 | 2015-02-18 | 云南电网公司电力科学研究院 | Guide device of line-cruising unmanned aerial vehicle and control method of guide device |
| CN104865971A (en) * | 2015-05-26 | 2015-08-26 | 广西大学 | Power transmission line inspection unmanned plane control method and unmanned plane |
| CN105100728A (en) * | 2015-08-18 | 2015-11-25 | 零度智控（北京）智能科技有限公司 | Unmanned aerial vehicle video tracking shooting system and method |
| CN204887267U (en) * | 2015-08-26 | 2015-12-16 | 成都千嘉科技有限公司 | Automatic tour system of burning line |
| KR101634937B1 (en) * | 2015-05-11 | 2016-07-08 | (주)투비시스템 | System for automatic vision inspection, method using the same |
| CN205880673U (en) * | 2016-08-04 | 2017-01-11 | 北方民族大学 | Canal device and system are patrolled to intelligence based on unmanned aerial vehicle |
-
2016
- 2016-08-04 CN CN201610635641.3A patent/CN106054927A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104360688A (en) * | 2014-11-19 | 2015-02-18 | 云南电网公司电力科学研究院 | Guide device of line-cruising unmanned aerial vehicle and control method of guide device |
| KR101634937B1 (en) * | 2015-05-11 | 2016-07-08 | (주)투비시스템 | System for automatic vision inspection, method using the same |
| CN104865971A (en) * | 2015-05-26 | 2015-08-26 | 广西大学 | Power transmission line inspection unmanned plane control method and unmanned plane |
| CN105100728A (en) * | 2015-08-18 | 2015-11-25 | 零度智控（北京）智能科技有限公司 | Unmanned aerial vehicle video tracking shooting system and method |
| CN204887267U (en) * | 2015-08-26 | 2015-12-16 | 成都千嘉科技有限公司 | Automatic tour system of burning line |
| CN205880673U (en) * | 2016-08-04 | 2017-01-11 | 北方民族大学 | Canal device and system are patrolled to intelligence based on unmanned aerial vehicle |
Non-Patent Citations (1)
| Title |
|---|
| 何雄奎: "药械与施药技术", 中国农业大学出版社, pages: 270 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107063137A (en) * | 2017-06-08 | 2017-08-18 | 广东容祺智能科技有限公司 | A kind of dam based on unmanned plane inrushes areal calculation and emergent treatment system |
| CN107326845A (en) * | 2017-06-28 | 2017-11-07 | 太仓迪米克斯节能服务有限公司 | A kind of intelligence cleaning system and method for building waste |
| CN107372160A (en) * | 2017-08-14 | 2017-11-24 | 苏州凸现信息科技有限公司 | A kind of intelligent cultural method and its system based on unmanned plane |
| CN107499512A (en) * | 2017-08-30 | 2017-12-22 | 太仓博轩信息科技有限公司 | It is a kind of to be used to clear up the Intelligent unattended machine and its method of work for sending vehicle pendant thing back to |
| CN108073184A (en) * | 2017-11-27 | 2018-05-25 | 天脉聚源(北京)传媒科技有限公司 | UAV Flight Control method and device |
| CN108073184B (en) * | 2017-11-27 | 2024-02-20 | 北京拉近众博科技有限公司 | Unmanned aerial vehicle flight control method and device |
| CN114237282A (en) * | 2021-11-29 | 2022-03-25 | 南京邮电大学 | Intelligent unmanned aerial vehicle flight path planning method for intelligent industrial park monitoring |
| CN114237282B (en) * | 2021-11-29 | 2023-10-27 | 南京邮电大学 | Unmanned aerial vehicle flight path intelligent planning method for intelligent industrial park monitoring |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106054927A (en) | Intelligent channel tour-inspection device and system based on UAV (Unmanned Aerial Vehicle) and measurement method | |
| CN205880673U (en) | Canal device and system are patrolled to intelligence based on unmanned aerial vehicle | |
| US10648809B2 (en) | Adaptive compass calibration based on local field conditions | |
| CN107203219B (en) | Flight assistance system and method for unmanned aerial vehicle | |
| CN107256030B (en) | Remote control terminal, flight assistance system and method of unmanned aerial vehicle | |
| CN103344250B (en) | The flight householder method and device of unmanned vehicle | |
| CN105962908B (en) | control method and device for flight body temperature detector | |
| CN203620847U (en) | Rotorcraft-based aerial spraying system | |
| US11531340B2 (en) | Flying body, living body detection system, living body detection method, program and recording medium | |
| CN112650267B (en) | Flight control method and device of aircraft and aircraft | |
| CN205353774U (en) | Accompany unmanned aerial vehicle system of taking photo by plane of shooing aircraft | |
| CN111824406A (en) | Public safety independently patrols four rotor unmanned aerial vehicle based on machine vision | |
| CN206894899U (en) | A kind of base station interference source positioning system based on unmanned plane | |
| CN106054926A (en) | Unmanned aerial vehicle following system and following flight control method | |
| CN203872277U (en) | Patrol system for transformer station | |
| CN207950388U (en) | Precise fire extinguishing system based on unmanned plane and intelligent fire robot | |
| CN104702871A (en) | Unmanned plane projection displaying method, unmanned plane projection displaying system and unmanned plane projection displaying device | |
| CN106586011A (en) | Aligning method of aerial shooting unmanned aerial vehicle and aerial shooting unmanned aerial vehicle thereof | |
| CN109871027B (en) | Oblique photography method and system | |
| US20230359204A1 (en) | Flight control method, video editing method, device, uav and storage medium | |
| WO2022141956A1 (en) | Flight control method, video editing method, device, unmanned aerial vehicle, and storage medium | |
| CN104816829A (en) | Skyeye aircraft applicable to investigation | |
| WO2020000384A1 (en) | Aircraft night flight control method and apparatus, control apparatus, and aircraft | |
| WO2020135795A1 (en) | Image display method and apparatus, and electronic device | |
| CN114727028B (en) | Image exposure method and device and unmanned aerial vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161026 |
|
| RJ01 | Rejection of invention patent application after publication |