CN106919186A - Unmanned vehicle flight control operation method and device - Google Patents
Unmanned vehicle flight control operation method and device Download PDFInfo
- Publication number
- CN106919186A CN106919186A CN201710263838.3A CN201710263838A CN106919186A CN 106919186 A CN106919186 A CN 106919186A CN 201710263838 A CN201710263838 A CN 201710263838A CN 106919186 A CN106919186 A CN 106919186A
- Authority
- CN
- China
- Prior art keywords
- unmanned vehicle
- target pixel
- pixel points
- target
- operation method
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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 invention discloses a kind of unmanned vehicle flight control operation method and device, it is related to unmanned vehicle, it is desirable to provide a kind of unmanned vehicle flight control operation method, its advantage is simple to operate, the specialty of operator is required low, its drip irrigation device is：By the real-time eye view image of image acquisition device；Set the goal pixel in unmanned vehicle eye view image middle finger；Unmanned vehicle calculates relative geographical location information of the target pixel points relative to current location by unmanned vehicle elevation information, the angle of visual field of camera, resolution ratio, distortion information and the current attitude information of camera；Unmanned vehicle flies horizontal geographical position corresponding to target pixel points according to relative geographical location information, control unmanned vehicle.
Description
Technical field
The present invention relates to unmanned vehicle, more particularly to unmanned vehicle flight control operation method and device.
Background technology
With the fast development of unmanned plane, unmanned plane technology has been increasingly entering national product with life
In.The treatment of current task of taking photo by plane, has generally transferred to winged hand to operate, i.e., directly that the control process of whole aerial mission is complete
Experienced winged hand is transferred to operate, the experience based on particular individual makes corresponding judgement, has certain to operating personnel's technical ability
It is required that, i.e., operating personnel will have stronger specialty background knowledge, and stronger professional manipulation ability, be not suitable for layman
Use.
The content of the invention
It is an object of the invention to provide a kind of unmanned vehicle flight control operation method, its advantage be it is simple to operate, it is right
The specialty of operator requires low.
Above-mentioned technical purpose of the invention technical scheme is that：A kind of unmanned vehicle flight control
Operating method processed, it is characterised in that comprise the following steps：
By the real-time eye view image of image acquisition device；
Set the goal pixel in unmanned vehicle eye view image middle finger；
Unmanned vehicle is worked as by unmanned vehicle elevation information, the angle of visual field of camera, resolution ratio, distortion information and camera
Preceding attitude information, calculates relative geographical location information of the target pixel points relative to current location；
Unmanned vehicle flies geographical to the corresponding level of target pixel points according to relative geographical location information, control unmanned vehicle
Position.
By using above-mentioned technical proposal, the coordinate of the target pixel points in eye view image the user after calculating only need
Selection target pixel position is clicked on eye view image, unmanned vehicle will automatically fly to target pixel points, simple to operate straight
It is convenient to see, and the specialty of operator is required low, and need not in advance gather target location or relative position coordinates, reduces operation
The operation of the control unmanned vehicle target pixel of personnel, reduces operating error.
The present invention is further arranged to：Unmanned vehicle obtains current geographic coordinate as initial position, and passing ratio
Target pixel points geographical position is drawn, and target pixel points are arrived at by navigation.
By using above-mentioned technical proposal, the current position of collection unmanned vehicle then can obtain aerial view by calculating
As the particular location of interior target pixel points, user's request is met.
The present invention is further arranged to：Before aircraft target pixel, also including judging that the path of target location is
It is no reachable, if so, control module will be entered according to the position control unmanned vehicle target pixel of target pixel points top
Row operation, if it is not, selecting other target pixel points else carries out flight operation.
By using above-mentioned technical proposal, before target pixel, judge that target pixel points path is reachable, fly beneficial to nobody
Row device flies to target pixel points, also beneficial to the security for ensureing operation in flight course.
The present invention is further arranged to：Judge the path of target location whether up to specially：Unmanned vehicle flies to mesh
Whether the flight time needed for mark pixel is more than the unmanned vehicle residue safe prosecution of voyage time, if be more than remaining safe prosecution of voyage
Between, then the path of target location is unreachable.
By using above-mentioned technical proposal, the flight time is determined by the battery in unmanned vehicle, when unmanned vehicle flies
When the row time is more than the remaining safe prosecution of voyage time, unmanned vehicle can not fly to target pixel points, therefore destination path will
It is unreachable.
The present invention is further arranged to：Judge the path of target location whether up to specially：Whether wireless signal strength
Reach requirement and whether electronic compass is effectively calibrated.
By using above-mentioned technical proposal, wireless signal strength is weaker, and electronic compass is not when being calibrated effectively, nothing
People's aircraft can not fly to target pixel points, therefore destination path will be unreachable.
The present invention is further arranged to：The pre-set flight meteorological condition whether meteorologic factor meets unmanned vehicle is obtained,
If meeting, unmanned vehicle will fly to target pixel points operation, if it is not satisfied, unmanned vehicle will be stopped.
By using above-mentioned technical proposal, when the meteorologic factor of acquisition is unsatisfactory for pre-set flight meteorological condition so that nobody
Aircraft will can not fly to target pixel points in strong wind weather or rainy day, protect unmanned vehicle.
The present invention is further arranged to：Pre-set flight meteorological condition includes preset temperature value, default humidity value and default wind
Force value, temperature value, humidity value and the wind-force value that unmanned vehicle is collected are less than preset temperature value, default humidity value and default wind
Force value.
The highest temperature of unmanned vehicle work, protection are determined by using above-mentioned technical proposal, preset temperature value
Unmanned vehicle, when humidity value reaches the default humidity value on unmanned vehicle, the possible external world will rain, and now nobody flies
Row device also stops being flown to target pixel points, and default wind-force value causes that unmanned vehicle flies under certain wind conditions.
The present invention is further arranged to：After unmanned vehicle arrives at target pixel points, unmanned vehicle is defeated according to continuation
The signal for entering vertically is raised to away from target pixel points, and the signal according to intermittent input is vertically leaned on near target pixel points
Closely.
By using above-mentioned technical proposal, user can as needed to target pixel points input signal after, control nobody
Flying height of the aircraft away from target pixel points.
Another purpose of the invention is to provide a kind of control device of unmanned vehicle, including：
Image capture module, for the corresponding target image of collection target object in real time；
Detection module, camera attitude information, flying height, the flying speed current for obtaining unmanned vehicle；
Control module, for controlling unmanned vehicle target pixel to gather target pixel points position coordinates correspondence object
Image.
In sum, the invention has the advantages that：User's selection target pixel in eye view image, nobody flies
Row device is believed by unmanned vehicle elevation information, the angle of visual field of camera, resolution ratio, distortion information and the current attitude of camera
Breath, calculates relative geographical location information of the target pixel points relative to current location, controls unmanned vehicle to fly by the information
To the target location that user selects, the error that user manually operates the flight of unmanned vehicle to produce is reduced, it is special to operator
Industry requirement is low, simple to operate.
Brief description of the drawings
Fig. 1 is the unmanned vehicle flight control operation method flow diagram in embodiment 2；
Fig. 2 is the flow chart of the unmanned vehicle flight control operation method acquisition meteorologic factor in embodiment 2；
Fig. 3 is the control device structural representation of the unmanned vehicle in embodiment 1.
Specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
In the following detailed description, numerous details are set forth, thoroughly to understand the present invention.But, for
For one of ordinary skill in the art, it is clear that the present invention can be put into practice in the case of without these details.In other feelings
Under condition, without disclosed known method, process, component, circuit and network is described in detail, to avoid unnecessarily making embodiment
Various aspects are smudgy.
Term "and/or" in the embodiment of the present invention refers to including one or more in associated listed items
Any and whole possibility combination.It may also be noticed that：Where used in this disclosure, "comprises/comprising" specifies what is stated
The presence of feature, integer, step, operation, element and/or component, but it is not excluded for one or more other features, integer, steps
Suddenly, the presence or addition of operation, element and/or component and/or their group.
Embodiment 1：A kind of control device of unmanned vehicle, such as Fig. 3, including：
Image capture module on unmanned vehicle, including but not limited to camera, its be used in real time obtain currently without
Environmental images around people's aircraft；
Current flight attitude detection module on unmanned vehicle, it is mainly used in, and acquisition unmanned vehicle is current to fly
The attitude information of row inclination angle, flying height, flying speed and camera, the attitude information of camera is the heeling condition of camera；
Control module, including but not limited to smart mobile phone, panel computer, intelligent watch etc., its record have image capture module
Viewing-angle information, and by wireless telecommunications obtain image capture module currently the environmental images of intake, when flight inclination angle, it is current nobody
Flight attitude information, and above- mentioned information is exported by display screen；Also at least including human-computer interaction module in control module, including but
Touching display screen, mouse, keyboard etc. are not limited to, human-computer interaction module is input into target pixel points for operator in environmental images
Signal, flight attitude information adjustment signal etc..
Embodiment 2：A kind of unmanned vehicle flight control operation method, such as Fig. 1 and Fig. 2, step S01 are adopted by image
Acquisition means gather real-time eye view image, and eye view image is included on panel computer into user can at any time check IMAQ
The image of device collection, image collecting device can be the video camera for being arranged on unmanned vehicle lower end.
Step S02, by the angle of visual field in the height and image collecting device of unmanned vehicle, resolution ratio, distortion information,
And the current attitude information of camera, the boundary dimensions of eye view image is drawn, beneficial to the position for calculating target pixel points, nobody flies
The height of row device can be adopted by the height sensor, baroceptor and the ultrasonic sensor that are arranged on unmanned vehicle
Collection, baroceptor can gather the height of unmanned vehicle empty position high, and height sensor and ultrasonic sensor are used to adopt
Collection unmanned vehicle low latitude position height, improves the accuracy that unmanned vehicle measures height, beneficial to unmanned vehicle height
Collection.
Additionally, heeling condition of the current attitude information of camera for camera, when the head for controlling video camera to rotate works
Video camera can be inclined, according in image collecting device obliquity sensor obtain data and unmanned vehicle height and regard
Rink corner draws 3-D view, and the position with unmanned vehicle selects the position of the target pixel points on 3-D view, root as origin
The position of target pixel points in 3-D view is drawn according to ratio, control unmanned vehicle flies to target pixel points, expands target
The acquisition range of pixel, beneficial to the diverse location gathered data of unmanned vehicle to target pixel points.
Step S03, is input into target pixel points on eye view image, and unmanned vehicle is according to relative geographical location information, control
Unmanned vehicle processed flies horizontal geographical position corresponding to target pixel points, specially：Unmanned vehicle is with aerial view where it
As upper position is origin, draw the actual range of target pixel points and unmanned vehicle according to ratio, and according to the reality away from
From target pixel points are arrived at, simple and direct-viewing operation is convenient, reduces the control unmanned vehicle target pixel of operating personnel
The operation of point, reduces operating error.
In addition unmanned vehicle obtains current geographic coordinate as initial position, and passing ratio draws target pixel points ground
Reason position, and target pixel points are arrived at by navigation, obtaining unmanned vehicle current geographic position can be defended by GPS or the Big Dipper
Star navigation system or GALILEO positioning system.
Step S04, it is also whether reachable including judging the path of target location before aircraft target pixel, if so,
Control module will carry out operation according to the position control unmanned vehicle target pixel of target pixel points top, if it is not,
Selecting other target pixel points else carries out flight operation so that the flight each time of unmanned vehicle all effectively reaches impact point,
Beneficial to the security for ensureing operation.
Judge the path of target location whether up to specially：Unmanned vehicle fly to target pixel points needed for flight when
Between whether more than the unmanned vehicle residue safe prosecution of voyage time, if more than remaining safe prosecution of voyage time, the path of target location
Unreachable, the flight time is determined by the battery in unmanned vehicle, when unmanned vehicle is flown to target picture with certain speed
When the required flight time is more than the remaining safe prosecution of voyage time during vegetarian refreshments, unmanned vehicle can not fly to target pixel points,
Therefore destination path will be unreachable；In addition judge whether the path of target location is reachable and be not limited to the flight time, or it is various
Whether whether wireless signal strength reach requirement, electronic compass by effectively calibration etc..
Whether step S05, is judging the path of target location up to after, and whether acquisition meteorologic factor meets unmanned vehicle
Pre-set flight meteorological condition, if meet, unmanned vehicle will fly to target pixel points operation, if it is not satisfied, unmanned vehicle
To be stopped, pre-set flight meteorological condition includes preset temperature value, default humidity value and default wind-force value, unmanned vehicle is adopted
Temperature value, humidity value and the wind-force value for collecting are less than preset temperature value, default humidity value and default wind-force value so that unmanned flight
Device is not influenceed in target pixel by temperature, rainwater and wind-force, beneficial to the flight of unmanned vehicle.
Step S06, after unmanned vehicle arrives at target pixel points, the signal that unmanned vehicle is input into according to continuation is to remote
Vertically raised from target pixel points, the signal according to intermittent input is vertically close to near target pixel points, can be according to need
After will be to target pixel points input signal, flying height of the control unmanned vehicle away from target pixel points, beneficial to target pixel points
Image collection, if user is t when the time of continuation input signal twice is identical, now unmanned vehicle fly
Highly it is h, it will record this signal input time t, unmanned vehicle will fly to right automatically when user's subsequent operation
The height h for answering, beneficial to the operation of user；In addition when the number of times of double intermittent input signal is identical, n is, nobody flies
The winged height of row device is h1, also can tracer signal input number of times so that signal frequency n 1 of the user in next intermittent input
Will be controlled during the frequency n being input into less than last time unmanned vehicle automatically flight to h1, if the signal frequency n 2 being input into after n1
Still less than n, then unmanned vehicle will control the height of flight according to the frequency n 2 of input.
Requirement to operating personnel's technical ability is reduced by aforesaid operations method, and it is easily tired to reduce long-time operation
Labor, reduces the difficulty and inaccuracy during operating personnel's operation aircraft arrival target pixel points.
This specific embodiment is only explanation of the invention, and it is not limitation of the present invention, people in the art
Member can make the modification without creative contribution to the present embodiment as needed after this specification is read, but as long as at this
All protected by Patent Law in the right of invention.
Claims (9)
1. a kind of unmanned vehicle flight control operation method, it is characterised in that comprise the following steps：
By the real-time eye view image of image acquisition device；
Set the goal pixel in unmanned vehicle eye view image middle finger；
Unmanned vehicle is worked as by unmanned vehicle elevation information, the angle of visual field of camera, resolution ratio, distortion information and camera
Preceding attitude information, calculates relative geographical location information of the target pixel points relative to current location；
Unmanned vehicle flies geographical to the corresponding level of target pixel points according to relative geographical location information, control unmanned vehicle
Position.
2. unmanned vehicle flight control operation method according to claim 1, it is characterised in that：Unmanned vehicle is obtained
Current geographic coordinate is used as initial position, and passing ratio draws target pixel points geographical position, and arrives at target by navigation
Pixel.
3. unmanned vehicle flight control operation method according to claim 1, it is characterised in that：In aircraft target
It is also whether reachable including judging the path of target location before pixel, if so, control module is by according to the position of target pixel points
Control unmanned vehicle target pixel top carries out operation, if it is not, selecting other target pixel points else carries out flight operation.
4. unmanned vehicle flight control operation method according to claim 3, it is characterised in that：Judge target location
Whether path is up to specially：Whether the flight time needed for unmanned vehicle flies to target pixel points is surplus more than unmanned vehicle
The remaining safe prosecution of voyage time, if more than the remaining safe prosecution of voyage time, the path of target location is unreachable.
5. unmanned vehicle flight control operation method according to claim 3, it is characterised in that：Judge target location
Whether path is up to specially：Whether wireless signal strength reaches requirement and whether electronic compass is effectively calibrated.
6. unmanned vehicle flight control operation method according to claim 1, it is characterised in that：Obtaining meteorologic factor is
The no pre-set flight meteorological condition for meeting unmanned vehicle, if meeting, unmanned vehicle will fly to target pixel points operation, if not
Meet, unmanned vehicle will be stopped.
7. unmanned vehicle flight control operation method according to claim 6, it is characterised in that：Pre-set flight meteorology bar
Part includes preset temperature value, default humidity value and default wind-force value, temperature value, humidity value and wind-force that unmanned vehicle is collected
Value is less than preset temperature value, default humidity value and default wind-force value.
8. unmanned vehicle flight control operation method according to claim 1, it is characterised in that：Unmanned vehicle is arrived at
After target pixel points, unmanned vehicle is vertically raised according to the signal that continuation is input into away from target pixel points, according to interval
Property input signal be vertically close to near target pixel points.
9. a kind of control device of unmanned vehicle, it is characterised in that including：
Image capture module, for the corresponding target image of collection target object in real time；
Detection module, camera attitude information, flying height, the flying speed current for obtaining unmanned vehicle；
Control module, for controlling unmanned vehicle target pixel to gather target pixel points position coordinates correspondence object
Image.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710263838.3A CN106919186A (en) | 2017-04-21 | 2017-04-21 | Unmanned vehicle flight control operation method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710263838.3A CN106919186A (en) | 2017-04-21 | 2017-04-21 | Unmanned vehicle flight control operation method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106919186A true CN106919186A (en) | 2017-07-04 |
Family
ID=59567679
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710263838.3A Pending CN106919186A (en) | 2017-04-21 | 2017-04-21 | Unmanned vehicle flight control operation method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106919186A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107368104A (en) * | 2017-07-19 | 2017-11-21 | 济南中维世纪科技有限公司 | Any independent positioning method based on cell phone application and domestic intelligent monopod video camera |
| CN107817813A (en) * | 2017-11-07 | 2018-03-20 | 苏州九号电子科技有限公司 | Unmanned vehicle filming control method and device |
| CN108196574A (en) * | 2018-01-02 | 2018-06-22 | 广州亿航智能技术有限公司 | Unmanned plane continuation of the journey judgment method, device and computer storage media |
| CN109032184A (en) * | 2018-09-05 | 2018-12-18 | 深圳市道通智能航空技术有限公司 | Flight control method, device, terminal device and the flight control system of aircraft |
| CN109270564A (en) * | 2018-10-23 | 2019-01-25 | 河南工业职业技术学院 | A kind of high-precision GNSS measuring device and its measurement method |
| CN110083180A (en) * | 2019-05-22 | 2019-08-02 | 深圳市道通智能航空技术有限公司 | Cloud platform control method, device, controlling terminal and aerocraft system |
| CN110825109A (en) * | 2019-11-12 | 2020-02-21 | 广州极飞科技有限公司 | Spectrum information acquisition method and device and aircraft control method |
| CN114253284A (en) * | 2021-12-22 | 2022-03-29 | 湖北襄开电力设备有限公司 | Unmanned aerial vehicle automatic control method, device, equipment and storage medium |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102566580A (en) * | 2011-12-27 | 2012-07-11 | 中国直升机设计研究所 | Unmanned helicopter flight track planning method |
| CN103295213A (en) * | 2013-06-07 | 2013-09-11 | 广州大学 | Image stability augmentation algorithm based on object tracking |
| CN104503462A (en) * | 2014-12-15 | 2015-04-08 | 无锡捷盈科技有限公司 | Unmanned aerial vehicle express deliver unit remotely controlled and received by mobile phone |
| CN104981748A (en) * | 2014-09-30 | 2015-10-14 | 深圳市大疆创新科技有限公司 | Flight indication method, device and aircraft |
| CN105013191A (en) * | 2015-07-22 | 2015-11-04 | 深圳市富微科创电子有限公司 | Toy plane remote control system based on intelligent terminal and remote control method of toy plane remote control system |
| CN105204516A (en) * | 2015-09-23 | 2015-12-30 | 郑州大学 | Biological agriculture monitoring method, device and system |
| CN105511495A (en) * | 2016-02-15 | 2016-04-20 | 国家电网公司 | Control method and system for intelligent unmanned aerial vehicle patrol for power line |
| CN205179245U (en) * | 2015-11-18 | 2016-04-20 | 海南甘霖农业科技发展有限公司 | Farm unmanned aerial vehicle inspection system |
| CN105955292A (en) * | 2016-05-20 | 2016-09-21 | 腾讯科技（深圳）有限公司 | Aircraft flight control method and system, mobile terminal and aircraft |
-
2017
- 2017-04-21 CN CN201710263838.3A patent/CN106919186A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102566580A (en) * | 2011-12-27 | 2012-07-11 | 中国直升机设计研究所 | Unmanned helicopter flight track planning method |
| CN103295213A (en) * | 2013-06-07 | 2013-09-11 | 广州大学 | Image stability augmentation algorithm based on object tracking |
| CN104981748A (en) * | 2014-09-30 | 2015-10-14 | 深圳市大疆创新科技有限公司 | Flight indication method, device and aircraft |
| CN104503462A (en) * | 2014-12-15 | 2015-04-08 | 无锡捷盈科技有限公司 | Unmanned aerial vehicle express deliver unit remotely controlled and received by mobile phone |
| CN105013191A (en) * | 2015-07-22 | 2015-11-04 | 深圳市富微科创电子有限公司 | Toy plane remote control system based on intelligent terminal and remote control method of toy plane remote control system |
| CN105204516A (en) * | 2015-09-23 | 2015-12-30 | 郑州大学 | Biological agriculture monitoring method, device and system |
| CN205179245U (en) * | 2015-11-18 | 2016-04-20 | 海南甘霖农业科技发展有限公司 | Farm unmanned aerial vehicle inspection system |
| CN105511495A (en) * | 2016-02-15 | 2016-04-20 | 国家电网公司 | Control method and system for intelligent unmanned aerial vehicle patrol for power line |
| CN105955292A (en) * | 2016-05-20 | 2016-09-21 | 腾讯科技（深圳）有限公司 | Aircraft flight control method and system, mobile terminal and aircraft |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107368104A (en) * | 2017-07-19 | 2017-11-21 | 济南中维世纪科技有限公司 | Any independent positioning method based on cell phone application and domestic intelligent monopod video camera |
| CN107817813A (en) * | 2017-11-07 | 2018-03-20 | 苏州九号电子科技有限公司 | Unmanned vehicle filming control method and device |
| CN108196574A (en) * | 2018-01-02 | 2018-06-22 | 广州亿航智能技术有限公司 | Unmanned plane continuation of the journey judgment method, device and computer storage media |
| CN109032184A (en) * | 2018-09-05 | 2018-12-18 | 深圳市道通智能航空技术有限公司 | Flight control method, device, terminal device and the flight control system of aircraft |
| CN109270564A (en) * | 2018-10-23 | 2019-01-25 | 河南工业职业技术学院 | A kind of high-precision GNSS measuring device and its measurement method |
| CN110083180A (en) * | 2019-05-22 | 2019-08-02 | 深圳市道通智能航空技术有限公司 | Cloud platform control method, device, controlling terminal and aerocraft system |
| CN110825109A (en) * | 2019-11-12 | 2020-02-21 | 广州极飞科技有限公司 | Spectrum information acquisition method and device and aircraft control method |
| CN110825109B (en) * | 2019-11-12 | 2023-11-21 | 广州极飞科技股份有限公司 | Method and device for acquiring spectrum information and method for controlling aircraft |
| CN114253284A (en) * | 2021-12-22 | 2022-03-29 | 湖北襄开电力设备有限公司 | Unmanned aerial vehicle automatic control method, device, equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106919186A (en) | Unmanned vehicle flight control operation method and device | |
| US10181211B2 (en) | Method and apparatus of prompting position of aerial vehicle | |
| CN106774431B (en) | Method and device for planning air route of surveying and mapping unmanned aerial vehicle | |
| US9682777B2 (en) | System and method for controlling a remote aerial device for up-close inspection | |
| WO2021223124A1 (en) | Position information obtaining method and device, and storage medium | |
| CN106060469A (en) | Image processing system based on photographing of unmanned aerial vehicle and image processing method thereof | |
| CN103438869B (en) | A kind of large scale vegetation coverage aviation Dynamic Acquisition system | |
| CN105527969B (en) | A kind of mountain garden belt investigation and monitoring method based on unmanned plane | |
| CN104932527A (en) | Aircraft control method and device | |
| CN102156481A (en) | Intelligent tracking control method and system for unmanned aircraft | |
| CN110231039A (en) | A kind of location information modification method and terminal device | |
| US9460554B2 (en) | Aerial video annotation | |
| CN104118561B (en) | Method for monitoring large endangered wild animals based on unmanned aerial vehicle technology | |
| CN107466384A (en) | A kind of method and device for following the trail of target | |
| CN112326686A (en) | Unmanned aerial vehicle intelligent cruise pavement disease detection method, unmanned aerial vehicle and detection system | |
| WO2020103108A1 (en) | Semantic generation method and device, drone and storage medium | |
| CN112484704A (en) | Rapid mapping method and device | |
| JP2022509582A (en) | Coordinated virtual interface | |
| CN105956081A (en) | Ground station map updating method and apparatus | |
| JP6087712B2 (en) | DISTRIBUTION DATA DISPLAY DEVICE, METHOD, AND PROGRAM | |
| US10970923B1 (en) | Method and system for virtual area visualization | |
| US9979934B1 (en) | Automated weather sensing system and method using cameras | |
| CN205353775U (en) | Unmanned aerial vehicle | |
| CN203385417U (en) | Large-scale aviation dynamic acquisition system for vegetation coverage | |
| CN113759944A (en) | Automatic inspection method, system and equipment based on designated altitude flight |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170704 |
|
| RJ01 | Rejection of invention patent application after publication |