CN106483978A - A kind of unmanned machine operation voice guide devices and methods therefor - Google Patents
A kind of unmanned machine operation voice guide devices and methods therefor Download PDFInfo
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- CN106483978A CN106483978A CN201611129631.9A CN201611129631A CN106483978A CN 106483978 A CN106483978 A CN 106483978A CN 201611129631 A CN201611129631 A CN 201611129631A CN 106483978 A CN106483978 A CN 106483978A
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- 238000000034 method Methods 0.000 title claims abstract description 23
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 27
- 230000000007 visual effect Effects 0.000 claims abstract description 17
- 238000004891 communication Methods 0.000 claims description 11
- 238000004458 analytical method Methods 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 claims description 5
- 238000012423 maintenance Methods 0.000 claims description 4
- 239000003086 colorant Substances 0.000 claims description 3
- 210000004247 hand Anatomy 0.000 description 10
- 239000007921 spray Substances 0.000 description 5
- 238000005507 spraying Methods 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 4
- 239000000575 pesticide Substances 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000009331 sowing Methods 0.000 description 3
- 239000003814 drug Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000010152 pollination Effects 0.000 description 2
- 208000005374 Poisoning Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000009313 farming Methods 0.000 description 1
- 239000008141 laxative Substances 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
- 238000011022 operating instruction Methods 0.000 description 1
- 231100000572 poisoning Toxicity 0.000 description 1
- 230000000607 poisoning effect Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
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- 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
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Abstract
The present invention discloses a kind of unmanned machine operation voice guide devices and methods therefor, it includes being arranged on the ground surface end using on the airborne end of unmanned plane and ground, described airborne end includes Airborne GPS, the first visual angle photographic head, the airborne computer using on unmanned plane, electron speed regulator, water pump, shower nozzle and the second Radio Station using on unmanned plane, described airborne computer is connected with Airborne GPS, the first visual angle photographic head, the second Radio Station and electron speed regulator respectively, described electron speed regulator is connected with water pump, and water pump is connected with shower nozzle；Described ground surface end includes ground-based computer, earphone, display, ground surface end GPS and the first Radio Station using on the ground, and described earphone, display, ground surface end GPS and the first Radio Station are connected with ground-based computer respectively；Described first Radio Station is wirelessly connected with the second Radio Station.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly, to a kind of unmanned machine operation voice guide device and its side
Method.
Background technology
Unmanned plane safely and efficiently reaches platform in the air as one kind, more and more extensive in the application of agricultural industry.Unmanned
It is high that machine has a flexible performance, can hovering, need not special landing airport（Landing is simple）, working performance height（Unmanned plane pesticide
Spraying operation efficiency is 8-20 times of artificial spray）, operation intensity relatively low.Meanwhile, SUAV is applied to agricultural row
Industry have low cost, easily safeguard, the flexible advantage such as good.The air-flow that rotor produces can be used for pesticide spraying, help simultaneously
In increasing the penetrance to crop for the droplet, improve prevention effect, realize people's medicine and separate, long distance work, it is to avoid personnel's poisonings；
Self-navigation keeps course line specification and speed uniformly, is conducive to the high-quality broadcasting sowing to complete；So vast agricultural industry gradually changes
It is using unmanned plane.
In existing technology, unmanned plane broadcasts sowing big portion in operation in pesticide spraying operation, flight pollination operation and flight
Divide and carried out in the form of manual remote control or semi-automatic remote control, stand in field the edge of a field using visually by the manipulation handss of unmanned plane
The mode of manipulation is remotely controlled operation to unmanned plane.Because the flight speed of unmanned plane is very fast, just slightly it is delayed during manipulation
It is likely to result in large-area operation holiday or overlay region.Therefore, how to manipulate unmanned plane and realize accurate operation and seem particularly heavy
Will.
But because the course line line length of the remote operation in unmanned plane vision coverage area is shorter, the frequency that unmanned plane is turned, turned around
Rate is higher, is usually present not yet arrival in the region turned around of turning or has much surmounted the phenomenon that the line that turns around just is turned, easily
The situation omitting laxative occurs；Also have impact on the efficiency of flight operation.
Therefore, prior art has yet to be improved and developed.
Content of the invention
It is an object of the invention to provide a kind of unmanned machine operation voice guide devices and methods therefor is it is intended to solve existing
Unmanned plane is remotely controlled operation to unmanned plane by the way of visual manipulation, and in operation, wall scroll course line is short, turn around turning frequently, behaviour
Vertical not accurate, easily it is likely to result in large-area operation holiday or overlay region, and affect the technology of flight working performance
Problem.
Technical scheme is as follows：A kind of unmanned machine operation voice guide device, wherein, unmanned including being arranged on
The ground surface end using on the airborne end of machine and ground, described airborne end includes Airborne GPS, the first visual angle using on unmanned plane
Photographic head, the airborne computer using on unmanned plane, electron speed regulator, water pump, shower nozzle and the second Radio Station, described
Airborne computer is connected with Airborne GPS, the first visual angle photographic head, the second Radio Station and electron speed regulator respectively, institute
State electron speed regulator to connect with water pump, water pump is connected with shower nozzle；The ground that described ground surface end includes using on the ground calculates
Machine, earphone, display, ground surface end GPS and the first Radio Station, described earphone, display, ground surface end GPS and first are no
Line communication station is connected with ground-based computer respectively；Described first Radio Station and the second Radio Station wirelessly connect
Connect.
Described unmanned machine operation voice guide device, wherein, described Airborne GPS is arranged on the unmanned plane of operation, uses
In the real-time longitude, latitude and the speed data that measure unmanned plane place.
Described unmanned machine operation voice guide device, wherein, described first visual angle photographic head is arranged on the machine of unmanned plane
Head position, for monitoring the real-time state of flight of unmanned plane.
A kind of method as unmanned machine operation voice guide in claim 1, wherein, comprises the following steps：
Step one, ground surface end GPS is taken the GPS information collection carrying out operating area on each angle point of operating area, then
Ground-based computer is input to according to each angle point GPS latitude and longitude information of the operating area collecting and carries out flight course planning, and
The planning course line obtaining, automatically generates the operating area track chart of aircraft in ground-based computer；
Step 2, planning course line is transferred to airborne computer by ground-based computer；
Step 3, airborne computer controls unmanned plane according to planning airline operation；
Step 4, unmanned plane when flight, the longitude of the line of flight that Airborne GPS collects, latitude and flight speed
It is transferred to ground-based computer；
Step 5, ground calculates and for planning course line to carry out trajectory analysis with the line of flight, and obtains difference；
Step 6, ground-based computer guides unmanned plane operator according to difference by way of voice guide or word export
Member actively corrects flight path and the flight attitude of unmanned plane.
The method of described unmanned machine operation voice guide, wherein, the unmanned plane in step 3 in flight, electronic speed regulation
Device receives the data signal of airborne computer export, and adjusts input voltage size and the switch of water pump according to the state of this signal
State.
The method of described unmanned machine operation voice guide, wherein, in step 4, when flight, first regards unmanned plane
Feel that photographic head is transferred to ground surface end by monitoring the real-time state of flight of unmanned plane by the second radio communication platform, then by ground surface end
Second radio communication platform receive.
The method of described unmanned machine operation voice guide, wherein, the angle point collecting quantity in described step one is more than three
Individual.
The method of described unmanned machine operation voice guide is it is characterised in that in described step 5, ground-based computer will be no
The output state of man-machine motion track and water pump passes through to indicate operating area and non-operation area using different colours or lines
Domain, and show over the display.
The method of described unmanned machine operation voice guide, wherein, described display can also show that First look images
The state of flight that head shoots.
The method of described unmanned machine operation voice guide, wherein, in described step 6, voice guide includes nothing before operation
Man-machine status checkout, start operation, terminate unmanned plane state-maintenance after operation and operation.
Beneficial effects of the present invention：Ground surface end is first taken and is carried out operating area on each angle point of operating area by the present invention
GPS information collection, ground-based computer is input to according to each angle point GPS latitude and longitude information of the operating area collecting and enters
Row flight course planning；Further according to data mode numbers such as the longitude of unmanned plane during flying work opportunity load GPS offer, latitude, flight speeds
Contrasted according to the predetermined flying quality with planning course line, obtain unmanned plane actual job with preset state difference, pass through
The mode of voice guide, guiding unmanned plane manipulation handss are accurately flown manipulation, thus avoiding people during visual operation
Cause the repetition of operation for error or omit phenomenon, and can achieve over the horizon operation, improve the essence of operation to a great extent
Parasexuality and working performance.Additionally, also adopting barometertic altimeter/ultrasonic height meter, the flying height of detection unmanned plane, in conjunction with pre-
If the line of flight be analyzed contrasting, obtain the difference in unmanned plane practical flight course line and planning course line, and carried by voice
Show or word output form, accurately guiding unmanned plane manipulate handss actively/correct the flight attitude of unmanned plane.Real using GPS
When the longitude, latitude, height and the speed data that gather, the course line in conjunction with mission planning carries out RTE DATA contrast, instructs unmanned
Machine manipulation handss real-time adjustment, correct flight path, it is to avoid the collimation error in visual operation, make the flight operation more accurate.Adopt
Carry out flight operation with the form auxiliary unmanned plane manipulation handss of voice guide, operating distance is remote, achievable over the horizon operation, it is to avoid
In visual operation, wall scroll course line is short, turn around frequently shortcoming of turning, and makes the flight working performance higher.
Brief description
Fig. 1 is a kind of structured flowchart of the present invention.
Fig. 2 is method of the present invention flow chart.
Fig. 3 is corner points and the track chart of the present invention.
Specific embodiment
For making the objects, technical solutions and advantages of the present invention clearer, clear and definite, develop simultaneously embodiment pair referring to the drawings
The present invention further describes.
As shown in figure 1, the invention discloses a kind of unmanned machine operation voice guide device, wherein, unmanned including being arranged on
The ground surface end 2 using on the airborne end 1 of machine and ground, Airborne GPS that described airborne end includes using on unmanned plane, first regards
Angle photographic head, the airborne computer using on unmanned plane, electron speed regulator, water pump, shower nozzle and the second Radio Station, institute
State airborne computer to be connected with Airborne GPS, the first visual angle photographic head, the second Radio Station and electron speed regulator respectively,
Described electron speed regulator is connected with water pump, and water pump is connected with shower nozzle；Described ground surface end includes the ground meter using on the ground
Calculation machine, earphone, display, ground surface end GPS and the first Radio Station, described earphone, display, ground surface end GPS and first
Radio Station is connected with ground-based computer respectively；Described first Radio Station and the second Radio Station wirelessly connect
Connect.
After said structure, the present invention passes through the longitude of ground surface end GPS gathers working region, latitude, is then transferred to
Ground-based computer, has ground-based computer to carry out flight course planning, when obtaining planning course line, then can be passed by the second line communications platform
It is defeated by the second radio communication platform, then airborne computer is conveyed to by the second radio communication platform, controlled in calculating by machine unmanned
Machine flies, and when flight, Airborne GPS obtains fly underway longitude, latitude and flight speed；It is then transferred to airborne
Computer, is being transferred to ground-based computer, by being compared the line of flight and planning course line, is obtaining difference, and now
Face computer can pass through voice guide unmanned plane operator, realize the accurate manipulation to unmanned plane according to voice guide；Institute
To be not in that overlapping region is omitted in large-area operation, even if it is also possible to accurate operate in the case that course line is short.
Furtherly, described Airborne GPS is arranged on the unmanned plane of operation, for measuring the real-time warp at unmanned plane place
Degree, latitude and speed data；Due to real-time longitude, latitude and speed data can be measured so that ground-based computer can obtain
To the real-time condition of unmanned plane, operator can contrast according to planning course line, carries out exact operations.
Furtherly, described first visual angle photographic head is arranged on the Handpiece Location of unmanned plane, real-time for monitoring unmanned plane
State of flight, not only can observe the state of flight of unmanned plane, the effect of operation can also be observed.
Described airborne computer is used for analytical calculation unmanned plane state in which, and airborne computer is according to the flight of aircraft
Speed, exports the data signal needed for electron speed regulator according to certain linear relationship, and then electron speed regulator receives airborne meter
The data signal of calculation machine output, and input voltage size and the on off state of water pump is adjusted according to the state of this signal；Can be real
It is now to realize sufficiently going and buy Chinese medicine and spraying to operating area farming, the pressure of spray can be selected according to height and speed, no
Crops can be damaged, water or the pesticide of spray can be saved.
The second above-mentioned Radio Station is used for receiving/send unmanned plane status data and the water pump of airborne GPS gathers
Switching information.
In real work, the ground-based computer of the present invention is used for the information analysiss unmanned plane receiving according to Airborne GPS
The line of flight, state of flight actual for unmanned plane, track are used for contrasting state in flight course planning, track, according to contrast
Result output voice message and text prompt.
In real work, the GPS information that ground surface end GPS of the present invention is used for the region of unmanned plane predetermined operation gathers simultaneously
Carry out flight course planning, flight course planning refers to generate operation according to the corner location longitude of operating area collecting, latitude data
Course line, is sprayed according to this course line during actual job.
The operation course line that above-mentioned flight course planning generates refers to the air route that unmanned plane during flying is passed through, and can adopt and automatically generate
Or manual setting end points gps coordinate generation air route information；And generated air route information may be superimposed on electronic chart；So that operation
Member clearly can watch the region of operation from display, and is remedied.
In real work, the border of the operating area of the present invention can adopt and be manually entered region corner points GPS information
Form generation.
As shown in Fig. 2 the invention discloses a kind of method of unmanned machine operation voice guide, it comprises the following steps：
Step one, ground surface end GPS is taken the GPS information collection carrying out operating area on each angle point of operating area, then
Ground-based computer is input to according to each angle point GPS latitude and longitude information of the operating area collecting and carries out flight course planning, and
The planning course line obtaining, automatically generates the operating area track chart of aircraft in ground-based computer；
Step 2, planning course line is transferred to airborne computer by ground-based computer；
Step 3, airborne computer controls unmanned plane according to planning airline operation；
Step 4, unmanned plane when flight, the longitude of the line of flight that Airborne GPS collects, latitude and flight speed
It is transferred to ground-based computer；
Step 5, ground calculates and for planning course line to carry out trajectory analysis with the line of flight, and obtains difference；
Step 6, ground-based computer guides unmanned plane operator according to difference by way of voice guide or word export
Member actively corrects flight path and the flight attitude of unmanned plane.
Furtherly, in flight, electron speed regulator receives the data of airborne computer export to the unmanned plane in step 3
Signal, and adjust input voltage size and the on off state of water pump according to the state of this signal, thus realizing being precisely controlled；And machine
Carry the size that end computer adjusts water pump output according to the operating speed of unmanned plane, operating speed is directly proportional to pump capacity pass
System.
Furtherly, in step 4 unmanned plane when flight, the first photographic head will be monitored unmanned plane and be flown in real time
State is transferred to ground surface end by the second radio communication platform, then is received by the second radio communication platform of ground surface end.
Furtherly, the angle point collecting quantity in described step one is more than three.
Furtherly, in described step 5, the output state of the motion track of unmanned plane and water pump is led to by ground-based computer
Cross and indicate operating area and non-operating area using different colours or lines, and show over the display；To avoid repeating to make
Industry or omission.
Above-mentioned ground-based computer can also set up database function, and the status data of flight operation is remembered in real time
Record, can retrieve for examination when needed, play back.
Furtherly, described display can also show the state of flight that First look photographic head shoots.
Furtherly, in described step 6, voice guide includes the status checkout of unmanned plane before operation, starts operation, end
Unmanned plane state-maintenance after operation and operation.
The voice guide of the present invention can be the directly form of output voice operating instruction or voice message
Digital code.
Above-mentioned exported voice guidance message includes but the flying height of unmanned plane, speed, distance objective course line hang down
Straight distance, the distance apart from course line flex point, course heading, cell voltage, radio communication state, GPS star number etc..
In real work, the content of the voice guide of the present invention include pointing out operation before unmanned plane status checkout, open
Beginning operation, terminate operation, after operation unmanned plane state-maintenance prompting.
In real work, the position that the present invention can start, stop operation according to the output state record of water pump.
In real work, after unmanned plane starts operation, when unmanned plane deviates target pattern distance more than the value setting,
The output that airborne computer is automatically switched off electron speed regulator stops spraying, and when unmanned plane is again introduced into the operation scope of the voyage certainly
Move and open.
In real work, when Airborne GPS detects GPS star number and is less than default quantity, airborne computer controls water
Pump stops operation, and ground-based computer exports voice or the text prompt information of GPS disconnecting.
In real work, when deviateing the distance planning course line when unmanned machine operation flight less than default threshold value, then
Do not export the value range of deviation.
In real work, when COMPUTER DETECTION is to radio station data packet loss is serious or during disconnecting, airborne meter
Calculation machine controls water pump to stop operation, voice or text prompt information that ground-based computer output link interrupts.
The present invention is used for agricultural spray, plant pollination or flight sowing.
Unmanned plane type used by the present invention is the arbitrary of depopulated helicopter, unmanned fixed wing airplane or multi-rotor aerocraft
Kind.
In real work, as shown in Figure 3；In figure, A, B, C, D, E, F, G point is the border angle point of operating area, actual
In operation process, angle point quantity should be greater than 3.After the angle point information of input operating area, software automatically generates the operation of aircraft
Region track chart, i.e. in figure 1/2/3/4/5/6 grade point, the mode that the endpoint location in wherein each course line may also be employed being manually entered is entered
Row adjustment.
The voice guide of the present invention is：
Before A, unmanned plane take off, the status data of voice message unmanned plane（Including but not limited to：Voltage, revolution speed of propeller, water
Tankage, preflight check, radio set link state, GPS star number, track show, greeting etc.）.
B, when operate unmanned plane enter operating area starting point when, airborne computer control water pump start according to flight speed spray
Spill.Voice message operation starts.
C, when operation, voice guide manipulation handss are operated, when vehicle flight speeds, highly, track is all according to predetermined
During airline operation, voice message state is normal, and reports status information, and content includes but is not limited to：Speed, highly, driftage away from
From, with a distance from next flex point distance, the order of report is not limited.
The voice guide content that D, the present invention provide can be state of directly reporting（As height xx, speed xx, apart from xx,
Driftage xx etc.）Or the mode that encodes in order, coded system do not limit.
Ground surface end is first taken the GPS information collection carrying out operating area on each angle point of operating area, root by the present invention
It is input to ground-based computer according to each angle point GPS latitude and longitude information of the operating area collecting and carry out flight course planning；Root again
Carry the longitude that GPS provides, latitude, the data mode data such as flight speed according to unmanned plane during flying work opportunity and plan the pre- of course line
Determine flying quality to be contrasted, obtain unmanned plane actual job with preset state difference, by way of voice guide, draw
Lead unmanned plane manipulation handss accurately to be flown manipulation, thus avoiding the weight that personal error during visual operation causes operation
Answer or omit phenomenon, and can achieve over the horizon operation, improve accuracy and the working performance of operation to a great extent.This
Outward, also adopt barometertic altimeter/ultrasonic height meter, the flying height of detection unmanned plane, carry out in conjunction with the default line of flight
Analysis contrast, obtains the difference in unmanned plane practical flight course line and planning course line, and the shape by voice message or word output
Formula, the accurately flight attitude of guiding unmanned plane manipulation handss active/correction unmanned plane.Using the longitude of GPS Real-time Collection, latitude,
Height and speed data, the course line in conjunction with mission planning carries out RTE DATA contrast, instructs unmanned plane manipulation handss real-time adjustment, entangles
Positive flight path, it is to avoid the collimation error in visual operation, makes flight operation more accurate.Assisted in the form of voice guide
Unmanned plane manipulation handss carry out flight operation, operating distance is remote, achievable over the horizon operation, it is to avoid wall scroll course line in visual operation
Short, turn around the frequently shortcoming of turning, and makes flight working performance higher.
It should be appreciated that the application of the present invention is not limited to above-mentioned citing, for those of ordinary skills, can
To be improved according to the above description or to convert, all these modifications and variations all should belong to the guarantor of claims of the present invention
Shield scope.
Claims (10)
1. a kind of unmanned machine operation voice guide device is it is characterised in that include being arranged on the airborne end and ground of unmanned plane
Use ground surface end, described airborne end include on unmanned plane use Airborne GPS, the first visual angle photographic head, on unmanned plane
The airborne computer that uses, electron speed regulator, water pump, shower nozzle and the second Radio Station, described airborne computer respectively with
Airborne GPS, the first visual angle photographic head, the second Radio Station and electron speed regulator connection, described electron speed regulator and water
Pump connects, and water pump is connected with shower nozzle；Ground-based computer that described ground surface end includes using on the ground, earphone, display,
Face end GPS and the first Radio Station, described earphone, display, ground surface end GPS and the first Radio Station respectively with ground
Face computer connects；Described first Radio Station is wirelessly connected with the second Radio Station.
2. unmanned machine operation voice guide device according to claim 1 is it is characterised in that described Airborne GPS is arranged on
On the unmanned plane of operation, for measuring real-time longitude, latitude, height and the speed data at unmanned plane place.
3. unmanned machine operation voice guide device according to claim 1 is it is characterised in that described first visual angle photographic head
It is arranged on the Handpiece Location of unmanned plane, for monitoring the real-time state of flight of unmanned plane.
4. a kind of method as unmanned machine operation voice guide in claim 1 is it is characterised in that comprise the following steps：
Step one, ground surface end GPS is taken the GPS information collection carrying out operating area on each angle point of operating area, then
Ground-based computer is input to according to each angle point GPS latitude and longitude information of the operating area collecting and carries out flight course planning, and
The planning course line obtaining, automatically generates the operating area track chart of aircraft in ground-based computer；
Step 2, planning course line is transferred to airborne computer by ground-based computer；
Step 3, airborne computer controls unmanned plane according to planning airline operation；
Step 4, unmanned plane when flight, the longitude of the line of flight that Airborne GPS collects, latitude and flight speed
It is transferred to ground-based computer；
Step 5, ground calculates and for planning course line to carry out trajectory analysis with the line of flight, and obtains difference；
Step 6, ground-based computer guides unmanned plane operator according to difference by way of voice guide or word export
Member actively corrects flight path and the flight attitude of unmanned plane.
5. the method for unmanned machine operation voice guide according to claim 4 is it is characterised in that unmanned plane in step 3
In flight, electron speed regulator receives the data signal of airborne computer export, and adjusts water pump according to the state of this signal
Input voltage size and on off state.
6. unmanned machine operation voice guide according to claim 4 method it is characterised in that in step 4 unmanned plane exist
When flight, First look photographic head is transferred to monitoring the real-time state of flight of unmanned plane by the second radio communication platform
Ground surface end, then received by the second radio communication platform of ground surface end.
7. the method for unmanned machine operation voice guide according to claim 4 is it is characterised in that angle in described step one
The quantity of point collection is more than three.
8. the method for unmanned machine operation voice guide according to claim 4 is it is characterised in that in described step 5, ground
The output state of the motion track of unmanned plane and water pump is passed through to indicate operation area using different colours or lines by face computer
Domain and non-operating area, and show over the display.
9. the method for unmanned machine operation voice guide according to claim 8 is it is characterised in that described display is acceptable
The state of flight that display First look photographic head shoots.
10. the method for unmanned machine operation voice guide according to claim 4 is it is characterised in that language in described step 6
Sound guides the status checkout of unmanned plane before including operation, starts operation, terminates unmanned plane state-maintenance after operation and operation.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107168367A (en) * | 2017-06-08 | 2017-09-15 | 中科院合肥技术创新工程院 | Accurate pesticide spraying system based on machine vision industry |
| CN107990908A (en) * | 2017-11-20 | 2018-05-04 | 广东欧珀移动通信有限公司 | A kind of phonetic navigation method and device based on Bluetooth communication |
| CN108122553A (en) * | 2017-12-20 | 2018-06-05 | 深圳市道通智能航空技术有限公司 | A kind of unmanned aerial vehicle (UAV) control method, apparatus, remote control equipment and UAV system |
| CN108253945A (en) * | 2017-12-29 | 2018-07-06 | 广西三维遥感信息工程技术有限公司 | Landslide analysis method based on unmanned plane |
| CN109087312A (en) * | 2018-07-25 | 2018-12-25 | 深圳高科新农技术有限公司 | A kind of unmanned plane course line automatic planning and system |
| CN109144094A (en) * | 2017-06-28 | 2019-01-04 | 广州极飞科技有限公司 | Flight control method, device and the unmanned plane of unmanned plane |
| CN111897364A (en) * | 2020-08-14 | 2020-11-06 | 深圳大学 | Unmanned aerial vehicle area track planning method and device and readable storage medium |
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| CN108253945A (en) * | 2017-12-29 | 2018-07-06 | 广西三维遥感信息工程技术有限公司 | Landslide analysis method based on unmanned plane |
| CN109087312A (en) * | 2018-07-25 | 2018-12-25 | 深圳高科新农技术有限公司 | A kind of unmanned plane course line automatic planning and system |
| CN109087312B (en) * | 2018-07-25 | 2022-04-26 | 深圳高科新农技术有限公司 | Automatic planning method and system for unmanned aerial vehicle air route |
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