CN106873618A - A kind of monitoring unmanned system - Google Patents
A kind of monitoring unmanned system Download PDFInfo
- Publication number
- CN106873618A CN106873618A CN201510933012.4A CN201510933012A CN106873618A CN 106873618 A CN106873618 A CN 106873618A CN 201510933012 A CN201510933012 A CN 201510933012A CN 106873618 A CN106873618 A CN 106873618A
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- Prior art keywords
- control circuit
- circuit
- big dipper
- electricity
- flight
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 29
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims abstract description 79
- 238000004891 communication Methods 0.000 claims abstract description 26
- 230000005540 biological transmission Effects 0.000 claims abstract description 17
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims abstract description 4
- 230000005611 electricity Effects 0.000 claims description 37
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 4
- 230000001276 controlling effect Effects 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 3
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035772 mutation Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention provides a kind of monitoring unmanned system, including watch on-line, unmanned plane cloud server, safety governor and satellite communication alignment system, pass through Big Dipper SMS message transmission data between the satellite communication alignment system and safety governor, by Big Dipper SMS message transmission data between the satellite communication alignment system and Big Dipper unmanned plane cloud server, all electronic devices of the safety governor are enclosed in an aluminum metal and the shell of waterproof.This monitoring system can to unmanned plane take off mandate and real-time coordinates be tracked, no-fly region is forced to force-land, brake hard forced landing can be carried out, can be by remote control system intrusion detection, real-time monitoring is carried out to gps signal, Big Dipper signal interference unit/simulator, airplane fault can be capable of achieving the security monitoring to multi-rotor unmanned aerial vehicle with early warning；Have the advantages that reliable using safety, monitoring.
Description
Technical field
The invention belongs to multi-rotor unmanned aerial vehicle technical field, more particularly, to a kind of monitoring unmanned system.
Background technology
Like a raging fire with unmanned plane market, the safety problem of unmanned plane also more causes the pass of people
Note.There are various potential safety hazards in multi-rotor unmanned aerial vehicle, the safety for being to be related to the faults itself of unmanned plane,
Another is exactly that the public safety hidden danger for causing such as is intercepted and captured and disturbed to unmanned plane by lawless person.Unmanned plane
Safety monitoring system is the important component of unmanned plane safety guarantee.Therefore, research and develop how one kind ensures nobody
The flight safety of machine, especially for the security monitoring system of the unmanned plane safety for ensureing heavy－duty endurance long
System is particularly important.
The content of the invention
In view of this, the present invention is directed to propose a kind of monitoring unmanned system, with realize to many rotors nobody
The security monitoring of machine.
To reach above-mentioned purpose, the technical proposal of the invention is realized in this way：
A kind of monitoring unmanned system, including for gps satellite location data and big-dipper satellite positioning number
According to Beidou satellite communication alignment system, the Big Dipper unmanned plane cloud server for receiving and dispatching Big Dipper short message,
For obtain gps satellite location data and big-dipper satellite location data Big Dipper integrated form safety governor,
Whether monitoring gps coordinate and Big Dipper coordinate match, and confirm whether coordinates regional is in authorized region
Watch on-line, leads between the Beidou satellite communication alignment system and Big Dipper integrated form safety governor
Cross Big Dipper SMS message transmission data, the Beidou satellite communication alignment system and Big Dipper unmanned plane cloud server
Between pass through Big Dipper SMS message transmission data；
The Big Dipper integrated form safety governor includes being used for external impetus power supply isolated from power simultaneously
It is assigned to the isolated from power distributor circuit inside controller, the winged control electricity for controlling unmanned plane during flying attitude
Road module, according to the control PWM waveform that sends of circuit module is flown, realize propeller motor speed regulating control and
The electricity of driving adjusts circuit module, sends information for being positioned to unmanned plane and received from big-dipper satellite
Satellite positioning communication module, spiral shell is judged for gathering when propeller is in different rotating speeds the sound that sends
Rotation oar and motor whether normal work phonetic analysis DSP circuit, for detecting unmanned plane all parts work
Condition and the flight bus control circuit in life-span and for the information in flight bus control circuit to be sent to
Ground, while receiving the WIFI transmission circuits of surface instruction；The input of the isolated from power distributor circuit
End is connected with external impetus power supply, and the output end of the isolated from power distributor circuit controls circuit mould with winged respectively
Block, satellite positioning communication module, electricity adjust circuit module to be connected with flight bus control circuit, the satellite
Orientation and communication module is connected with flight bus control circuit and winged control circuit module respectively, the winged control circuit
Module adjusts circuit module and flight bus control circuit to be connected with electricity respectively, and the electricity adjusts circuit module difference
It is connected with the Hall sensor on propeller motor and flight bus control circuit, the Hall sensor is also
It is connected with flight bus control circuit, by the input and propeller motor of the phonetic analysis DSP circuit
Sound pick-up be connected with the Hall sensor on propeller motor, output end and flight bus control circuit phase
Even, the flight bus control circuit is also connected with WIFI transmission circuits and LED indicator.
Further, the electricity adjusts circuit module to adjust circuit A and electricity tune circuit B, two groups of electricity to adjust including electricity
Circuit backups each other.
Further, it is 120A that the electricity adjusts circuit A and electricity to adjust the electricity of circuit B to adjust channel current, is used
Sinus wave patters drive.
Further, the satellite positioning communication module includes GPS circuitry and Big Dipper circuit, GPS location
It is work simultaneously with BEI-DOU position system.
Further, the winged control circuit module includes IMU A, flies line control circuit A, record storage
Device A, IMU B, winged line control circuit B and record memory B；The IMU A and winged line control circuit
A is connected, and the winged line control circuit A is connected with record memory A；The IMU B are controlled with flight
Circuit B is connected, and the winged line control circuit B is connected with record memory B；This two groups winged control circuits are mutual
It is backup.
Further, the frequency band 2.4G/5.8G of the WIFI transmission circuits.
Further, the external impetus power supply includes an electrokinetic cell and two control batteries.
Further, all electronic devices of the Big Dipper integrated form safety governor are enclosed in an aluminum
In the shell of metal and waterproof, it is ensured that effectively radiating and anti-electromagnetic field interference.
Relative to prior art, monitoring unmanned system of the present invention has the advantage that：This monitoring
System can to unmanned plane take off mandate and real-time coordinates be tracked, to no-fly region force force-land, can
Carry out brake hard forced landing, can by remote control system intrusion detection, to gps signal interference unit/simulator,
Big Dipper signal interference unit/simulator, flight bus data carry out real-time monitoring, and airplane fault can be with early warning；
Have the advantages that reliable using safety, monitoring.
Brief description of the drawings
The accompanying drawing for constituting a part of the invention is used for providing a further understanding of the present invention, of the invention
Schematic description and description does not constitute inappropriate limitation of the present invention for explaining the present invention.
In accompanying drawing：
Fig. 1 is theory diagram of the invention；
Fig. 2 is the theory diagram of Big Dipper integrated form safety governor in the present invention；
Fig. 3 is the theory diagram of phonetic analysis DSP circuit in Big Dipper integrated form safety governor；
Fig. 4 is the theory diagram of electricity tune circuit module in Big Dipper integrated form safety governor；
Fig. 5 is the theory diagram of winged control circuit module in Big Dipper integrated form safety governor；
Fig. 6 is the theory diagram of flight bus control circuit in Big Dipper integrated form safety governor.
Description of reference numerals：
1- flies control circuit module, and 2- electricity adjusts circuit module, 3- satellite positioning communication modules, 4- hall sensings
Device, 5- propeller motors, 6- sound pick-ups, 7-LED indicators, 8- Beidou satellite communication alignment systems, 9-
Big Dipper unmanned plane cloud server, 10- Big Dipper integrated form safety governors.
Specific embodiment
It should be noted that in the case where not conflicting, the embodiment in the present invention and the spy in embodiment
Levying to be mutually combined.
Describe the present invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in Figures 1 to 6, a kind of monitoring unmanned system, including for gps satellite location data
Beidou satellite communication alignment system 8 with big-dipper satellite location data, the Big Dipper for receiving and dispatching Big Dipper short message
Unmanned plane cloud server 9, the north for obtaining gps satellite location data and big-dipper satellite location data
Whether bucket integrated form safety governor 10, monitoring gps coordinate and Big Dipper coordinate match, and confirm coordinate
Whether region is in the watch on-line of authorized region, the Beidou satellite communication alignment system 8 and north
By Big Dipper SMS message transmission data between bucket integrated form safety governor 10, the Beidou satellite communication is determined
Pass through Big Dipper SMS message transmission data between position system 8 and Big Dipper unmanned plane cloud server 9.
The Big Dipper integrated form safety governor 10 includes being used for external impetus power supply isolated from power
And it is assigned to the isolated from power distributor circuit inside controller, the winged control for controlling unmanned plane during flying attitude
Circuit module 1, the PWM waveform sent according to winged control circuit module 1, realize the tune of propeller motor 5
Speed control and the electricity for driving are adjusted circuit module 2, for being positioned to unmanned plane and are received from big-dipper satellite
Send the satellite positioning communication module 3 of information, for gathering the sound that sends when propeller is in different rotating speeds
Sound come judge propeller and motor whether normal work phonetic analysis DSP circuit, for detecting nobody
Machine all parts operating mode and the flight bus control circuit in life-span and for by flight bus control circuit
Information be sent to ground, while receive surface instruction WIFI transmission circuits；The isolated from power point
Input with circuit is connected with external impetus power supply, the output end difference of the isolated from power distributor circuit
Circuit module 2 and flight bus marco are adjusted with winged control circuit module 1, satellite positioning communication module 3, electricity
Circuit be connected, the satellite positioning communication module 3 respectively with flight bus control circuit and fly control circuit mould
Block 1 is connected, and the winged control circuit module 1 adjusts circuit module 2 and flight bus control circuit with electricity respectively
Be connected, it is described electricity adjust circuit module 2 respectively with propeller motor 5 on Hall sensor 4 and flight always
Line control circuit is connected, and the Hall sensor 4 is also connected with flight bus control circuit, the sound
Analyze on the input of DSP circuit and the sound pick-up 6 and propeller motor 5 on the side of propeller motor 5 suddenly
You are connected at sensor 4, and output end is connected with flight bus control circuit, the flight bus control circuit
Also it is connected with WIFI transmission circuits and LED indicator 7.
Preferably, the electricity adjusts circuit module 2 to adjust circuit A and electricity tune circuit B, two groups of electricity to adjust including electricity
Circuit backups each other, and it is 120A that the electricity adjusts circuit A and electricity to adjust the electricity of circuit B to adjust channel current, is used
Sinus wave patters drive.The satellite positioning communication module 3 includes GPS circuitry and Big Dipper circuit, GPS
Positioning and BEI-DOU position system are work simultaneously.The winged control circuit module 1 includes IMU A, flight
Control circuit A, record memory A, IMU B, winged line control circuit B and record memory B；It is described
IMU A are connected with winged line control circuit A, and the winged line control circuit A is connected with record memory A；
The IMU B are connected with winged line control circuit B, the winged line control circuit B and record memory B phases
Even；This two groups fly control circuit and backup each other.The frequency band 2.4G/5.8G of the WIFI transmission circuits.It is described
External impetus power supply includes an electrokinetic cell and two control batteries.The Big Dipper integrated form security control
All electronic devices of device are enclosed in an aluminum metal and the shell of waterproof, it is ensured that effectively radiated and anti-
The interference of electromagnetic field.
The course of work of this example：Unmanned plane is before take-off by airborne Big Dipper integrated form safety governor 10
Gps satellite location data and big-dipper satellite location data are obtained, Big Dipper short message to Big Dipper unmanned plane cloud is sent
End server 9, watch on-line monitors gps coordinate first and whether Big Dipper coordinate matches, then really
Whether coordinates regional is recognized in authorized region, is sent to the unmanned plane by Big Dipper short message and is authorized the finger for taking off
Order and periphery no-fly zone map reference, then allow for the unmanned plane and take off.In flight course, unmanned plane
Carrying Big Dipper integrated form safety governor 10 can regularly by Big Dipper short message sending aircraft various parameters to the Big Dipper
Unmanned plane cloud server 9, is preserved by server and is processed, and watch on-line monitors these parameters.
If unmanned plane during flying enters the no-fly region set by Big Dipper unmanned plane high in the clouds watch on-line,
Airborne Big Dipper integrated form safety governor 10 understands autoplane forced landing to ground, and locked winged
Machine propeller, while sending Big Dipper short message to Big Dipper unmanned plane cloud server 9, realizes that no-fly region is strong
Make the function of forced landing.
Big Dipper unmanned plane cloud server 9 and watch on-line can be by sending the side of Big Dipper short message
Formula, the unmanned plane for forcing any frame to be equipped with Big Dipper integrated form safety governor 10 lands ground immediately,
Realize the function of brake hard forced landing.
The Big Dipper integrated form safety governor 10 of UAV flight have automatic detection clone remote control or recording/
The function of remote-control radio signal is played, such case is such as found, then records these signals to controller automatically
Internal memory space, while being sent to Big Dipper unmanned plane high in the clouds by related data is invaded by Big Dipper short message
Server 9.
The Big Dipper integrated form safety governor 10 of UAV flight has two kinds of alignment systems of GPS and the Big Dipper,
When gps signal is disturbed or run into gps signal record/play simulator when, Big Dipper integrated form is controlled safely
Device processed 10 can automatically compare two kinds of difference of signal, it is found that gps signal is lost or coordinate position mutation
When, system automatically switches to BEI-DOU position system or inertial navigation system, these signals is recorded automatically and is arrived
Memory space inside controller, while related data is sent into Big Dipper unmanned plane cloud by Big Dipper short message
End server 9.
The Big Dipper integrated form safety governor 10 of UAV flight is by flight bus automatic data collection aircraft
The running parameter and duty parameter of all parts, these signals of time recording are empty to the storage inside controller
Between, related data is regularly sent to by Big Dipper unmanned plane cloud server 9 by Big Dipper short message.
The Big Dipper integrated form safety governor 10 of UAV flight is equipped with propeller sound pick-up 6 and motor
Hall device, if controller finds propeller cacophonia or motor speed exception, records these letters
Number to the memory space inside controller, regularly by Big Dipper short message by related data be sent to the Big Dipper nobody
Machine cloud server 9, system is sent short messages and informs unmanned plane user automatically, realizes the fault pre-alarming of aircraft.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, it is all at this
Within the spirit and principle of invention, any modification, equivalent substitution and improvements made etc. should be included in
Within protection scope of the present invention.
Claims (8)
1. a kind of monitoring unmanned system, it is characterised in that：Including for gps satellite location data and
The Beidou satellite communication alignment system of big-dipper satellite location data, for receive and dispatch Big Dipper short message the Big Dipper nobody
Machine cloud server, the Big Dipper collection for obtaining gps satellite location data and big-dipper satellite location data
Whether accepted way of doing sth safety governor, monitoring gps coordinate and Big Dipper coordinate match, and confirm that coordinates regional is
The no watch on-line in authorized region, the Beidou satellite communication alignment system and Big Dipper integrated form
Pass through Big Dipper SMS message transmission data, the Beidou satellite communication alignment system and the Big Dipper between safety governor
Pass through Big Dipper SMS message transmission data between unmanned plane cloud server；
The Big Dipper integrated form safety governor includes being used for external impetus power supply isolated from power simultaneously
It is assigned to the isolated from power distributor circuit inside controller, the winged control electricity for controlling unmanned plane during flying attitude
Road module, according to the control PWM waveform that sends of circuit module is flown, realize propeller motor speed regulating control and
The electricity of driving adjusts circuit module, sends information for being positioned to unmanned plane and received from big-dipper satellite
Satellite positioning communication module, spiral shell is judged for gathering when propeller is in different rotating speeds the sound that sends
Rotation oar and motor whether normal work phonetic analysis DSP circuit, for detecting unmanned plane all parts work
Condition and the flight bus control circuit in life-span and for the information in flight bus control circuit to be sent to
Ground, while receiving the WIFI transmission circuits of surface instruction；The input of the isolated from power distributor circuit
End is connected with external impetus power supply, and the output end of the isolated from power distributor circuit controls circuit mould with winged respectively
Block, satellite positioning communication module, electricity adjust circuit module to be connected with flight bus control circuit, the satellite
Orientation and communication module is connected with flight bus control circuit and winged control circuit module respectively, the winged control circuit
Module adjusts circuit module and flight bus control circuit to be connected with electricity respectively, and the electricity adjusts circuit module difference
It is connected with the Hall sensor on propeller motor and flight bus control circuit, the Hall sensor is also
It is connected with flight bus control circuit, by the input and propeller motor of the phonetic analysis DSP circuit
Sound pick-up be connected with the Hall sensor on propeller motor, output end and flight bus control circuit phase
Even, the flight bus control circuit is also connected with WIFI transmission circuits and LED indicator.
2. a kind of monitoring unmanned system according to claim 1, it is characterised in that：The electricity
Adjusting circuit module includes that electricity adjusts circuit A and electricity to adjust circuit B, two groups of electricity to adjust circuit to backup each other.
3. a kind of monitoring unmanned system according to claim 2, it is characterised in that：The electricity
It is 120A to adjust circuit A and electricity to adjust the electricity of circuit B to adjust channel current, is driven using sinus wave patters.
4. a kind of monitoring unmanned system according to claim 1 and 2, it is characterised in that：Institute
Stating satellite positioning communication module includes GPS circuitry and Big Dipper circuit, and GPS location and BEI-DOU position system are same
When work.
5. a kind of monitoring unmanned system according to claim 4, it is characterised in that：It is described to fly
Control circuit module includes IMU A, flies line control circuit A, record memory A, IMU B, flight control
Circuit B and record memory B；The IMU A are connected with winged line control circuit A, the flight control
Circuit A is connected with record memory A；The IMU B are connected with winged line control circuit B, the flight
Control circuit B is connected with record memory B；This two groups fly control circuit and backup each other.
6. a kind of monitoring unmanned system according to claim 1, it is characterised in that：The WIFI
The frequency band 2.4G/5.8G of transmission circuit.
7. a kind of monitoring unmanned system according to claim 1, it is characterised in that：It is described outer
Portion's electrical source of power includes an electrokinetic cell and two control batteries.
8. a kind of monitoring unmanned system according to claim 1, it is characterised in that：The north
All electronic devices of bucket integrated form safety governor are enclosed in an aluminum metal and the shell of waterproof.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510933012.4A CN106873618A (en) | 2015-12-14 | 2015-12-14 | A kind of monitoring unmanned system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510933012.4A CN106873618A (en) | 2015-12-14 | 2015-12-14 | A kind of monitoring unmanned system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106873618A true CN106873618A (en) | 2017-06-20 |
Family
ID=59238400
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510933012.4A Pending CN106873618A (en) | 2015-12-14 | 2015-12-14 | A kind of monitoring unmanned system |
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| Country | Link |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107741226A (en) * | 2017-10-09 | 2018-02-27 | 北京航空航天大学 | Unmanned plane localization method, apparatus and system |
| CN108153325A (en) * | 2017-11-13 | 2018-06-12 | 上海顺砾智能科技有限公司 | The control method and device of Intelligent unattended machine |
| CN108910077A (en) * | 2018-05-31 | 2018-11-30 | 深圳市易飞方达科技有限公司 | Online test method before unmanned plane flies |
| CN109150286A (en) * | 2018-08-16 | 2019-01-04 | 苏州中科蓝迪软件技术有限公司 | A kind of hardware simulation method and device for Beidou Development of supervision system based on PLC |
| WO2019161531A1 (en) * | 2018-02-22 | 2019-08-29 | SZ DJI Technology Co., Ltd. | Monitoring method and device |
| CN112774218A (en) * | 2020-12-28 | 2021-05-11 | 连云港杰瑞电子有限公司 | Hand-held type vehicle exterior control method |
-
2015
- 2015-12-14 CN CN201510933012.4A patent/CN106873618A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107741226A (en) * | 2017-10-09 | 2018-02-27 | 北京航空航天大学 | Unmanned plane localization method, apparatus and system |
| CN108153325A (en) * | 2017-11-13 | 2018-06-12 | 上海顺砾智能科技有限公司 | The control method and device of Intelligent unattended machine |
| WO2019161531A1 (en) * | 2018-02-22 | 2019-08-29 | SZ DJI Technology Co., Ltd. | Monitoring method and device |
| CN108910077A (en) * | 2018-05-31 | 2018-11-30 | 深圳市易飞方达科技有限公司 | Online test method before unmanned plane flies |
| CN109150286A (en) * | 2018-08-16 | 2019-01-04 | 苏州中科蓝迪软件技术有限公司 | A kind of hardware simulation method and device for Beidou Development of supervision system based on PLC |
| CN109150286B (en) * | 2018-08-16 | 2021-10-29 | 苏州中科蓝迪软件技术有限公司 | Hardware simulation method and device for Beidou monitoring system development |
| CN112774218A (en) * | 2020-12-28 | 2021-05-11 | 连云港杰瑞电子有限公司 | Hand-held type vehicle exterior control method |
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Legal Events
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
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Application publication date: 20170620 |