CN106896825A - Unmanned plane takes off control method and device - Google Patents
Unmanned plane takes off control method and device Download PDFInfo
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- CN106896825A CN106896825A CN201710032148.7A CN201710032148A CN106896825A CN 106896825 A CN106896825 A CN 106896825A CN 201710032148 A CN201710032148 A CN 201710032148A CN 106896825 A CN106896825 A CN 106896825A
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- unmanned plane
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The present invention relates to unmanned air vehicle technique field, disclose a kind of unmanned plane and take off control method and device.In embodiment of the present invention, after propeller startup is detected, the atmospheric pressure value that unmanned plane is monitored is obtained in real time, the change of the atmospheric pressure value monitored according to unmanned plane, judge whether unmanned plane is thrown to fly, if unmanned plane is thrown flown, control unmanned plane enters homeostasis.Embodiment of the present invention, user is by way of throwing and flying, you can completes taking off for unmanned plane, not only allows users to complete taking off for unmanned plane whenever and wherever possible as needed, and greatly reduce the operation complexity in unmanned plane take-off process.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly to a kind of unmanned plane takes off control method and device.
Background technology
At present, unmanned plane is widely used in civilian, commercial and military field while developing to small/miniature direction,
In civil area, increasing extreme sport fan is shot with video-corder using unmanned plane, in commercial kitchen area, is set except shooting is carried
It is standby every competitive sports are tracked take photo by plane beyond, and have been enter into logistic industry, can by goods be sent to manpower dispatching it is more difficult,
Slower remote districts, therefore, unmanned plane has a wide range of applications scope and wide market prospects.
However, realize it is of the invention during, inventors herein have recognized that, current commercial type it is micro-unmanned
Machine, it is necessary to first unmanned plane is positioned on ground, then is taken off in take-off process by remote control control, on the one hand, this
In the case that winged condition causes some to find suitable ground, it is impossible to complete taking off for unmanned plane, and then nobody can not be used
Machine, inconvenience is caused to user, and on the other hand, this operating process taken off is often more complicated, it is desirable to higher, to new hand
Cause larger difficulty.
The content of the invention
The purpose of embodiment of the present invention is to provide a kind of unmanned plane to take off control method and device, and user is flown by throwing
Mode, you can complete unmanned plane take-off process, not only allow users to complete unmanned plane whenever and wherever possible as needed
Take off, and greatly reduce the operation complexity in unmanned plane take-off process.
In order to solve the above technical problems, embodiments of the present invention are taken off control method there is provided a kind of unmanned plane, including：
After propeller startup is detected, the atmospheric pressure value that the unmanned plane is monitored is obtained in real time；Monitored according to the unmanned plane
The change of atmospheric pressure value, judges whether the unmanned plane is thrown and flies；If the unmanned plane is thrown flown, the unmanned plane is controlled to enter
Enter homeostasis.
Embodiments of the present invention additionally provide a kind of unmanned plane and take off control device, including：Acquisition module, in inspection
After measuring propeller startup, the atmospheric pressure value that the unmanned plane is monitored is obtained in real time；Judge module, for according to the unmanned plane
The change of the atmospheric pressure value for monitoring, judges whether the unmanned plane is thrown and flies；Control module, for when the judgement unmanned plane quilt
When throwing winged, the unmanned plane is controlled to enter from steady pattern.
Embodiment of the present invention in terms of existing technologies, after propeller startup is detected, obtains the nothing in real time
The man-machine atmospheric pressure value for monitoring；The change of the atmospheric pressure value monitored according to unmanned plane, judges whether unmanned plane is thrown and flies；By gas
The change of pressure value, can fly so that whether simple and efficient real-time judge unmanned plane is thrown, if unmanned plane is thrown flown, control nobody
Machine enters homeostasis so that unmanned plane independently hovers in the air.By way of throwing and flying, you can complete rising for unmanned plane and fly over
Journey, not only allows users to complete taking off for unmanned plane whenever and wherever possible as needed, and greatly reduces unmanned plane to take off
During operation complexity.
In addition, before the control unmanned plane enters homeostasis, also including：After propeller startup is detected,
The height value that the unmanned plane is monitored is obtained in real time；The change of the atmospheric pressure value monitored according to the unmanned plane, judges
Whether the unmanned plane is thrown flies, and specifically includes：The height value and air pressure difference monitored according to the unmanned plane, judge described
Whether unmanned plane is thrown flies.The change of atmospheric pressure value, i.e. air pressure difference are not only relied on, is judged whether unmanned plane is thrown and is flown, also rely on
Height value judges whether unmanned plane is thrown winged, increases the accuracy for judging.
In addition, described obtain the height value that the unmanned plane is monitored in real time, specifically include：The unmanned plane is obtained in real time
The height value in the distance landing face monitored by ultrasonic probe；It is described to obtain the air pressure that the unmanned plane is monitored in real time
Value, specifically includes：The atmospheric pressure value that the unmanned plane is monitored by barometer is obtained in real time.Visited by cost performance ultrasonic wave high
Head and barometer, can be with the simple and efficient height value and atmospheric pressure value that detect at unmanned plane.
In addition, the height value monitored according to the unmanned plane and air pressure difference, judge the unmanned plane whether by
Throw and fly, specifically include：Judge the height value whether more than the first predetermined threshold value；Judge air pressure difference DELTAδWhether second is more than
Predetermined threshold value, wherein, It is the barometer in taThe atmospheric pressure value at moment,It is the gas
Pressure meter is in ta+ΔtaThe atmospheric pressure value at moment, Δ taIt is the first prefixed time interval；If the height value is more than the first default threshold
Value and the ΔδMore than the second predetermined threshold value, then judge that the unmanned plane is thrown and fly.By height value and air pressure difference with advance
Gating limits the mode for comparing, and not only easily realizes, and effectively prevent simple by height value or merely by draught head
When value is judged, it may occur however that erroneous judgement, failure etc. judge inaccurate situation, further increase the accuracy of judgement.
Brief description of the drawings
Fig. 1 is taken off control method flow chart according to a kind of unmanned plane of first embodiment of the invention；
Fig. 2 is taken off control method flow chart according to a kind of unmanned plane of second embodiment of the invention；
Fig. 3 is the structural representation of control device of being taken off according to a kind of unmanned plane of third embodiment of the invention；
Fig. 4 is the structural representation of control device of being taken off according to a kind of unmanned plane of four embodiment of the invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to each reality of the invention
The mode of applying is explained in detail.However, it will be understood by those skilled in the art that in each implementation method of the invention,
In order that reader more fully understands the application and proposes many ins and outs.But, even if without these ins and outs and base
Many variations and modification in following implementation method, it is also possible to realize the application technical scheme required for protection.
First embodiment of the invention is related to a kind of unmanned plane to take off control method.Idiographic flow is as shown in Figure 1.
In a step 101, the atmospheric pressure value that unmanned plane is monitored is obtained.
Specifically, UAV Flight Control System obtains the gas that unmanned plane is monitored after propeller startup is detected
Pressure value, wherein, before startup propeller, user is needed in advance by the start of above-mentioned unmanned plane, and by hand-held remote control device and is somebody's turn to do
Unmanned plane is connected, then by the unmanned plane be positioned over perform throw fly work executive agent on (for example：Palm), finally starting should
Unmanned plane throttle, and then start the propeller of unmanned plane, UAV Flight Control System is obtained after propeller startup is detected
The atmospheric pressure value that unmanned plane is monitored.
In a step 102, judge whether unmanned plane is thrown to fly, if unmanned plane is thrown flown, perform step 104, otherwise
Perform step 103.
Specifically, after user starts unmanned plane throttle, directly unmanned plane is dished out, UAV Flight Control System root
The change of the atmospheric pressure value monitored according to the barometer of UAV flight, judges whether unmanned plane is thrown and flies, if it is decided that unmanned plane
Flown by throwing, then perform step 104, control unmanned plane enters homeostasis, otherwise performs step 103, judge whether to reach next
Individual detection cycle.Wherein it is possible to pass through the comparing of atmospheric pressure value and predetermined threshold value, judge whether unmanned plane is thrown and fly, it is also possible to be logical
Cross the difference of the adjacent atmospheric pressure value for monitoring twice and the comparing of predetermined threshold value, or the height value being converted into by atmospheric pressure value with
The comparing of predetermined threshold value, judges whether unmanned plane is thrown and flies.
In step 103, judge whether to reach next detection cycle, if reaching next detection cycle, perform
Step 101, otherwise return to step 103.
Specifically, it is ground when judging that nobody is not flown by throwing, further determines whether to reach next detection cycle, if
Next detection cycle is reached, then performs step 101, the atmospheric pressure value that acquisition unmanned plane is monitored, otherwise return to step 103 are held
It is continuous to judge whether to reach next detection cycle, wherein, detection cycle herein is the gas that default acquisition unmanned plane is monitored
The time interval of pressure value.
At step 104, control unmanned plane enters homeostasis.
Specifically, when judgement unmanned plane is thrown to fly, unmanned plane is complete certainly by UAV Flight Control System
Dynamic control, that is, control unmanned plane to enter homeostasis, hovers in aerial.Wherein, UAV Flight Control System is default with second
Time interval Δ tb, periodically monitor the height value of unmanned plane, according to the currently monitored height value for arriving, monitored with the last time
The difference in height of height value, increases or reduces throttle, by the height difference Δ h controls of the adjacent unmanned plane for monitoring twice default
In interval, wherein, pre-set interval is [- Φh,+Φh], ΦhHeight-precision during homeostasis, Φ are in for unmanned planehCan be with
Value is 3 centimetres, 6 centimetres, 10 centimetres, 20 centimetres etc. as needed.It should be noted that the height value for monitoring is logical herein
Cross what the atmospheric pressure value conversion that barometer monitors was obtained.
Further say, if UAV Flight Control System is in tbThe height value that moment monitors isUnmanned plane exists
tb+ΔtbThe height value that moment monitors isΔtbIt is the second prefixed time interval, thenConnect
, judge that whether Δ h, less than zero, if Δ h is less than zero, opens the throttle, controlled in pre-set interval until by Δ h, if
Δ h is more than zero, then reduce throttle, is controlled in pre-set interval until by Δ h, so that it is guaranteed that unmanned plane is in hovering from steady shape
State.
Compared with prior art, in the present embodiment, after propeller startup is detected, the unmanned plane is obtained in real time
The atmospheric pressure value for monitoring；The change of the atmospheric pressure value monitored according to unmanned plane, judges whether unmanned plane is thrown and flies；By atmospheric pressure value
Change so that simple and efficient real-time judge unmanned plane whether by throw fly, if unmanned plane by throw fly, by it is adjacent twice
The height difference of the unmanned plane for monitoring, control unmanned plane enters homeostasis so that unmanned plane independently hovers in the air.Pass through
Throw winged mode, you can complete the take-off process of unmanned plane, not only allow users to complete nobody whenever and wherever possible as needed
Machine takes off, and greatly reduces the operation complexity in unmanned plane take-off process.
Second embodiment of the invention is related to a kind of unmanned plane to take off control method.Second embodiment is in the first embodiment party
It is further improved on the basis of formula, is mainly theed improvement is that：In second embodiment of the invention, also obtain in real time
The height value that unmanned plane is monitored, and judge whether unmanned plane is thrown winged jointly according to height value and air pressure difference, such as Fig. 2 institutes
Show.
In step 201, the atmospheric pressure value that unmanned plane is monitored is obtained in real time.
Specifically, the atmospheric pressure value that the atmospheric pressure value for obtaining in real time is monitored for unmanned plane by the barometer for carrying.
In step 202., the height value that unmanned plane is monitored is obtained in real time.
Specifically, after propeller startup is detected, UAV Flight Control System obtains unmanned plane and monitors in real time
Height value, wherein, the distance landing face that monitors of ultrasonic probe that the height value for obtaining in real time passes through carrying for unmanned plane
Height value, certainly, may be otherwise the equipment that elevation information can be obtained by infrared, radar etc., unmanned plane is obtained in real time
Apart from the height value in landing face.
In step 203, whether decision height value is more than the first predetermined threshold value, and whether air pressure difference is more than the second default threshold
Value, if height value is more than the first predetermined threshold value and air pressure difference is more than the second predetermined threshold value, performs step 205, otherwise holds
Row step 204.
Specifically, the height value and air pressure difference for being monitored according to unmanned plane, judge whether unmanned plane is thrown and fly, its
In, whether when realizing, especially by judging whether above-mentioned height value is more than the first predetermined threshold value, it is more than with above-mentioned air pressure difference
Second predetermined threshold value, judges whether unmanned plane is thrown and flies, if height value more than the first predetermined threshold value and air pressure difference more than the
Two predetermined threshold values, then illustrate that unmanned plane is thrown and fly, i.e., departing from the palm of user, perform step 205, and control unmanned plane enters
Homeostasis, otherwise performs step 204, judges whether to reach next detection cycle.Wherein, the first predetermined threshold value can basis
Need to take the numerical value between 0 to 30 centimetre, for example：2 centimetres, 10 centimetres, 20 centimetres, 30 centimetres etc..Do not only rely on atmospheric pressure value
Change (i.e. air pressure difference) judges whether unmanned plane is thrown and flies, also relies on height value and judge whether unmanned plane is thrown winged, effectively anti-
Stopped simple dependence height value or simple when being judged by air pressure difference, it may occur however that erroneous judgement, failure etc. judge inaccurate
True situation, further increases the accuracy of judgement.
Further say, when implementing, air pressure difference can be denoted as Δδ, wherein, It is barometer in taThe atmospheric pressure value that moment monitors,It is barometer in ta+ΔtaThe atmospheric pressure value that moment monitors, Δ ta
It is the first prefixed time interval, that is to say, that barometer is with the first prefixed time interval Δ ta, it is periodically detected at unmanned plane
Atmospheric pressure value, then judge currently detected atmospheric pressure valueThe atmospheric pressure value detected with the last timeAir pressure difference DELTAδIt is
It is no to be more than the second predetermined threshold value.
In step 204, judge whether to reach next detection cycle, if reaching next detection cycle, perform
Step 201, otherwise return to step 204, wherein, detection cycle herein is the first above-mentioned prefixed time interval Δ ta。
In step 205, control unmanned plane enters homeostasis.
Specifically, the height value for monitoring herein can be that the atmospheric pressure value monitored by the barometer for carrying is converted
To, or the height value in distance landing face that is monitored by the ultrasonic probe for carrying.
In the present embodiment, the height value in the ultrasonic probe monitoring distance landing face by carrying, and according to height
The mode that value is combined with air pressure difference, it is common to judge whether unmanned plane is thrown and fly, effectively prevent rely on merely height value or
It is simple when being judged by air pressure difference, it may occur however that erroneous judgement, failure etc. judge inaccurate situation, increased judgement
Accuracy.
Above the step of various methods divide, be intended merely to description it is clear, can be merged into when realizing a step or
Some steps are split, multiple steps are decomposed into, as long as comprising identical logical relation, all in the protection domain of this patent
It is interior；To adding inessential modification in algorithm or in flow or introducing inessential design, but its algorithm is not changed
With the core design of flow all in the protection domain of the patent.
Third embodiment of the invention is related to a kind of unmanned plane to take off control device, as shown in figure 3, including：Acquisition module
31st, judge module 32 and control module 33.
Acquisition module 31, for after propeller startup is detected, the atmospheric pressure value that unmanned plane is monitored being obtained in real time.
Judge module 32, the change of the atmospheric pressure value for being monitored according to unmanned plane judges whether unmanned plane is thrown and flies.
Control module 33, for when judging that unmanned plane is thrown winged, control unmanned plane to enter homeostasis.
It is seen that, present embodiment is the system embodiment corresponding with first embodiment, and present embodiment can be with
First embodiment is worked in coordination implementation.The relevant technical details mentioned in first embodiment still have in the present embodiment
Effect, in order to reduce repetition, repeats no more here.Correspondingly, the relevant technical details mentioned in present embodiment are also applicable in
In first embodiment.
It is noted that each module involved in present embodiment is logic module, in actual applications, one
Individual logic unit can be a part for a physical location, or a physical location, can also be with multiple physics lists
The combination of unit is realized.Additionally, in order to protrude innovative part of the invention, will not be with solution institute of the present invention in present embodiment
The unit that the technical problem relation of proposition is less close is introduced, but this is not intended that in present embodiment do not exist other lists
Unit.
Four embodiment of the invention is related to a kind of unmanned plane to take off control device.4th implementation method is in the 3rd embodiment party
It is further improved on the basis of formula, is mainly theed improvement is that：In four embodiment of the invention, show in particular
Acquisition module 31 includes that height obtains subelement 311 and obtains subelement 312 with air pressure, gives what judge module 32 was specifically included
Height value judgment sub-unit 321, air pressure difference judgment sub-unit 322 and determination subelement 323, as shown in Figure 4.
Acquisition module 31, for after propeller startup is detected, the atmospheric pressure value that unmanned plane is monitored being obtained in real time, also uses
In after propeller startup is detected, the height value that unmanned plane is monitored is obtained in real time.
Subelement 311 is highly obtained, is visited by ultrasonic wave for after propeller startup is detected, obtaining unmanned plane in real time
The height value in the distance landing face that head is monitored, certainly, height acquisition subelement 311 herein can also be by infrared, radar
Equipment etc. that can obtain elevation information, obtains height value of the unmanned plane apart from landing face in real time.
Air pressure obtains subelement 312, is supervised by barometer for after propeller startup is detected, obtaining unmanned plane in real time
The atmospheric pressure value for measuring.
Whether judge module 32, specifically for the height value and the air pressure difference that are monitored according to unmanned plane, judge unmanned plane
Flown by throwing.
Whether height value judgment sub-unit 321, the first predetermined threshold value is more than for decision height value.
Air pressure difference judgment sub-unit 322, for judging air pressure difference DELTAδWhether the second predetermined threshold value is more than, wherein, It is barometer in taThe atmospheric pressure value at moment,It is barometer in ta+ΔtaThe air pressure at moment
Value, Δ taIt is the first prefixed time interval.
Determination subelement 323, for being more than the first predetermined threshold value and Δ when height valueδDuring more than the second predetermined threshold value, really
Determine unmanned plane and thrown winged.
Control module 33, for when it is determined that unmanned plane is thrown winged, control unmanned plane to enter homeostasis.
Because second embodiment is mutually corresponding with present embodiment, therefore present embodiment can be mutual with second embodiment
It is engaged implementation.The relevant technical details mentioned in second embodiment are still effective in the present embodiment, implement second
The technique effect to be reached in mode in the present embodiment similarly it is achieved that in order to reduce repetition, no longer go to live in the household of one's in-laws on getting married here
State.Correspondingly, the relevant technical details mentioned in present embodiment are also applicable in second embodiment.
It will be appreciated by those skilled in the art that all or part of step in realizing above-described embodiment method can be by
Program is completed to instruct the hardware of correlation, and the program storage is in a storage medium, including some instructions are used to so that one
Individual equipment (can be single-chip microcomputer, chip etc.) or processor (processor) perform the application each embodiment methods described
All or part of step.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
It will be understood by those skilled in the art that the respective embodiments described above are to realize specific embodiment of the invention,
And in actual applications, can to it, various changes can be made in the form and details, without departing from the spirit and scope of the present invention.
Claims (10)
1. a kind of unmanned plane takes off control method, it is characterised in that including：
After propeller startup is detected, the atmospheric pressure value that the unmanned plane is monitored is obtained in real time；
The change of the atmospheric pressure value monitored according to the unmanned plane, judges whether the unmanned plane is thrown and flies；
If the unmanned plane is thrown flown, the unmanned plane is controlled to enter homeostasis.
2. unmanned plane according to claim 1 takes off control method, it is characterised in that enter in the control unmanned plane
Before entering homeostasis, also include：
After propeller startup is detected, the height value that the unmanned plane is monitored is obtained in real time；
The change of the atmospheric pressure value monitored according to the unmanned plane, judges whether the unmanned plane is thrown and flies, and specifically includes：
The height value and air pressure difference monitored according to the unmanned plane, judge whether the unmanned plane is thrown and fly.
3. unmanned plane according to claim 2 takes off control method, it is characterised in that described to obtain the unmanned plane in real time
The height value for monitoring, specifically includes：
The height value in the distance landing face that the unmanned plane is monitored by ultrasonic probe is obtained in real time；
It is described to obtain the atmospheric pressure value that the unmanned plane is monitored in real time, specifically include：
The atmospheric pressure value that the unmanned plane is monitored by barometer is obtained in real time.
4. unmanned plane according to claim 3 takes off control method, it is characterised in that described to be monitored according to the unmanned plane
The height value for arriving and air pressure difference, judge whether the unmanned plane is thrown and fly, and specifically include：
Judge the height value whether more than the first predetermined threshold value；
Judge air pressure difference DELTAδWhether the second predetermined threshold value is more than, wherein, It is the barometer
In taThe atmospheric pressure value at moment,It is the barometer in ta+ΔtaThe atmospheric pressure value at moment, Δ taFor between the first Preset Time
Every；
If the height value is more than the first predetermined threshold value and the ΔδMore than the second predetermined threshold value, then the unmanned plane quilt is judged
Throw and fly.
5. unmanned plane according to claim 1 takes off control method, it is characterised in that the control unmanned plane enters
Homeostasis, specifically includes：
With the second prefixed time interval Δ tb, periodically monitor the height value of the unmanned plane；
According to the currently monitored height value for arriving, the difference in height of the height value monitored with the last time is increased or reduces throttle, by phase
The height difference Δ h of the unmanned plane that neighbour monitors twice is controlled in pre-set interval.
6. unmanned plane according to claim 5 takes off control method, it is characterised in that the pre-set interval is [- Φh,+
Φh], wherein, ΦhHeight-precision during homeostasis is in for the unmanned plane.
7. a kind of unmanned plane takes off control device, it is characterised in that including：
Acquisition module, for after propeller startup is detected, the atmospheric pressure value that the unmanned plane is monitored being obtained in real time；
Judge module, the change of the atmospheric pressure value for being monitored according to the unmanned plane judges whether the unmanned plane is thrown and flies；
Control module, for when it is determined that the unmanned plane is thrown winged, controlling the unmanned plane to enter homeostasis.
8. unmanned plane according to claim 7 is taken off control device, it is characterised in that the acquisition module is additionally operable in inspection
After measuring propeller startup, the height value that the unmanned plane is monitored is obtained in real time；
The judge module judges the unmanned plane specifically for the height value and air pressure difference that are monitored according to the unmanned plane
Whether thrown flies.
9. unmanned plane according to claim 8 takes off control device, it is characterised in that the acquisition module includes that height is obtained
Take subelement and obtain subelement with air pressure；
The height obtains subelement, for after propeller startup is detected, the unmanned plane being obtained in real time by ultrasonic wave
The height value in the distance landing face that probe monitors are arrived；
The air pressure obtains subelement, for after propeller startup is detected, the unmanned plane being obtained in real time by barometer
The atmospheric pressure value for monitoring.
10. unmanned plane according to claim 9 is taken off control device, it is characterised in that the judge module is specifically included
Height value judgment sub-unit, air pressure difference judgment sub-unit and determination subelement；
The height value judgment sub-unit, for judging the height value whether more than the first predetermined threshold value；
The air pressure difference judgment sub-unit, for judging air pressure difference DELTAδWhether the second predetermined threshold value is more than, wherein, It is the barometer in taThe atmospheric pressure value at moment,It is the barometer in ta+ΔtaWhen
The atmospheric pressure value at quarter, Δ taIt is the first prefixed time interval；
The determination subelement, for being more than the first predetermined threshold value and the Δ when the height valueδMore than the second predetermined threshold value
When, determine that the unmanned plane is thrown and fly.
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| CN108445897A (en) * | 2018-04-28 | 2018-08-24 | 深圳市易天富电子有限公司 | A kind of control method and control system of unmanned plane |
| CN112416014A (en) * | 2019-08-23 | 2021-02-26 | 杭州海康机器人技术有限公司 | Flight control method and device for multi-rotor unmanned aerial vehicle and multi-rotor unmanned aerial vehicle |
| CN112416014B (en) * | 2019-08-23 | 2024-03-08 | 杭州海康威视数字技术股份有限公司 | Flight control method and device of multi-rotor unmanned aerial vehicle and multi-rotor unmanned aerial vehicle |
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