CN107544546B - Autonomous positioning method and system for aircraft - Google Patents
Autonomous positioning method and system for aircraft Download PDFInfo
- Publication number
- CN107544546B CN107544546B CN201710952404.4A CN201710952404A CN107544546B CN 107544546 B CN107544546 B CN 107544546B CN 201710952404 A CN201710952404 A CN 201710952404A CN 107544546 B CN107544546 B CN 107544546B
- Authority
- CN
- China
- Prior art keywords
- aircraft
- external force
- preset position
- module
- autonomous positioning
- 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.)
- Active
Links
Images
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
Abstract
The application relates to an autonomous positioning method and system of an aircraft, comprising: acquiring the external force type sensed by the aircraft at a preset position in real time, and analyzing and judging the external force type; generating at least one control instruction of the aircraft based on the result of analyzing and judging the external force type; and controlling the aircraft to execute flying or autonomous positioning actions according to the control instruction of the at least one aircraft. This application can be accurate judge the external force type, through judging the external force type of predetermineeing the position, prevent that the aircraft from carrying out the misjudgement to external force, simultaneously, can simply control aircraft flight action, reduced the control degree of difficulty of aircraft, especially at the control aircraft auto heterodyne in-process pinpointing in-process, can control the aircraft fast to the position of ideal.
Description
Technical Field
The application relates to the technical field of aircraft control, in particular to an autonomous positioning method and system for a self-photographing aircraft
Background
In the prior art, a peripheral wireless remote controller is generally used for controlling an aircraft, or after a mobile terminal is used for wirelessly connecting the aircraft, the flight action of the aircraft or the initial position of the aircraft is controlled through the control of the wireless remote controller or the mobile terminal, however, the requirement for controlling the adjustment of the micro distance of the aircraft is high, and the accurate distance deviation can be achieved through a complicated control process by an operator;
in order to solve the above problems, the conventional improvement is to directly move the aircraft to a desired position through direct manual control of a user, and the aircraft keeps the final position of the manual operation of the user, for example, patent application CN106527479A discloses a control method and a device of an unmanned aerial vehicle, which discloses that when judging whether the aircraft is a non-interference force through the variation trend of line acceleration, hovering operation is performed when the aircraft is the non-interference force, and the control of the initial position of the aircraft is solved to a certain extent.
Content of application
In order to solve the technical problems: the application provides a carry out external force type to the aircraft and judge whether the external force that bears in order to distinguish the aircraft is the technical scheme of interference, has improved the aircraft and has judged whether the precision for the interference force, and the aircraft can simply be controlled to keep accurate control.
The application provides an autonomous positioning method of an aircraft, which comprises the following steps:
acquiring the external force type sensed by the aircraft at a preset position in real time, and analyzing and judging the external force type;
generating at least one control instruction of the aircraft based on the result of analyzing and judging the external force type;
and controlling the aircraft to execute flying or autonomous positioning actions according to the control instruction of the at least one aircraft.
The method for autonomously positioning the aircraft, wherein before the step of acquiring the external force type sensed by the aircraft at the preset position in real time, the method further comprises: and determining the coordinate and the motion state information of the aircraft, and feeding back the coordinate and the motion state information to a controller of the aircraft in real time.
The autonomous positioning method of the aircraft, wherein the external force type includes: user initiative external force, interference force.
The method for autonomously positioning the aircraft, wherein the analyzing and judging the external force type comprises: the method comprises the steps of sensing pressure of a preset position on an aircraft, wherein the preset position is provided with at least two regions, when the two regions sense that the pressure exceeds a first threshold value simultaneously, judging that the external force is a user active external force, and otherwise, judging that the external force type is an interference force.
The method for autonomous positioning of an aircraft, wherein the at least two zones are located on opposite sides.
The method for autonomously positioning the aircraft, wherein the analyzing and judging the external force type comprises: the pressure of the preset position on the aircraft is sensed through the pressure sensor, the human activity of the preset position is sensed through the infrared sensor, and when the pressure exceeds the second threshold value and the sensed pressure is the pressure of the human activity, the active external force of the user is determined.
The method for autonomously positioning the aircraft, wherein the analyzing and judging the external force type comprises: the pressure of a preset position on the aircraft is sensed through the pressure sensor, fingerprint information is detected through the fingerprint sensor, and when the pressure exceeds a second threshold value and the sensed fingerprint information is preset, the external force is judged to be active force of a user.
The autonomous positioning method of the aircraft is characterized in that the preset position is located on the lower side of the aircraft or on one side surface of the aircraft.
The method for autonomously positioning an aircraft, wherein the generating at least one control instruction of the aircraft according to the result of analyzing and judging the external force type specifically includes: when the judgment result is that the user actively applies external force, an active positioning control instruction is generated, the aircraft performs corresponding action along the direction of the external force application, autonomous positioning is performed at the final position, and the coordinate of the autonomous positioning is fed back to the controller; and when the judgment result is the interference force, generating an interference resistance control instruction, and returning the aircraft to the original position before being interfered by the interference force or generating a flying moment with the same magnitude and the opposite direction to the interference force.
The autonomous positioning method of the aircraft, wherein the active positioning control instruction includes: and stopping the flight power of the aircraft, and monitoring the coordinate position of the aircraft in real time.
An autonomous positioning system for an aircraft, comprising:
the detection module is used for acquiring the external force type sensed by the aircraft at a preset position in real time;
the judging module is used for analyzing and judging the external force type;
the control module generates at least one control instruction of the aircraft based on the analysis and judgment result of the judgment module; and controlling the aircraft to execute flying or autonomous positioning actions according to the control instruction of the at least one aircraft.
The autonomous positioning system of an aircraft, wherein the external force types include: user initiative external force, interference force.
The autonomous positioning system of the aircraft comprises a sensing module, wherein the sensing module is arranged at the preset position of the aircraft and used for sensing the pressure borne by the preset position on the aircraft, the preset position comprises at least two regions, at least two sensing modules are arranged on each region, when the two regions sense that the pressure exceeds a first threshold value simultaneously, the autonomous positioning system is judged to be a user active external force, otherwise, the external force type is judged to be an interference force.
The autonomous positioning system of the aircraft is characterized in that the type of the area arrangement comprises a planar structure, a finger-shaped arc concave structure or a press-shaped switch; when the area is set to be a planar structure, the at least two sensing modules are arranged in a transverse or longitudinal straight line; when the area is arranged to be in a finger-shaped arc concave structure, the at least two sensing modules comprise a sensing module arranged at the bottommost end of the concave structure and a sensing module arranged on the concave side wall; when the area is set to be a press-shaped switch, photoelectric switches are arranged on two sides of the switch or a travel switch is arranged at the bottom of the switch, and when the switch is pressed, the photoelectric switches or the travel switch sends out pulse signals.
The autonomous positioning system of the aircraft further comprises a sensing module, wherein the sensing module is arranged at the preset position of the aircraft, and the sensing module comprises a pressure sensor and an infrared sensor.
The autonomous positioning system of the aircraft further comprises a sensing module, wherein the sensing module is arranged at the preset position of the aircraft, and the sensing module comprises a pressure sensor and a fingerprint sensor.
The autonomous positioning system of the aircraft comprises a control module, a positioning module and a feedback module, wherein the control module comprises an instruction generation module, an action control module and a feedback information module; the command generation module generates an active positioning control command when the judgment result is that the user actively exerts external force, the action control module controls the aircraft to perform corresponding actions along the direction of the action of the external force, the aircraft performs autonomous positioning at the final position, and coordinates to be autonomously positioned are obtained through the feedback information module; when the judgment result is the interference force, the action control module generates an interference resistance control instruction, the aircraft returns to the original position before being interfered by the interference force or generates a flying moment with the same size and the opposite direction to the interference force, and the feedback information module acquires coordinate information after the interference force.
This application carries out accurate judgement through multiple mode external force type, judges through the external force type to predetermineeing the position, prevents that the aircraft from carrying out the misjudgement to external force, simultaneously, can simply control aircraft flight action, has reduced the control degree of difficulty of aircraft, especially at the control aircraft auto heterodyne in-process pinpointing, can control the aircraft fast to the position of ideal. The control that makes the aircraft is simpler, makes its application more general, and user's adaptation crowd is more extensive, has improved user's viscosity, especially when autodyne, can fix a position fast, keeps the angle of shooing.
Drawings
Fig. 1 is a schematic diagram of an autonomous positioning method of an aircraft according to the present application.
FIG. 2 is a schematic view of an autonomous positioning system of an aircraft according to the present application.
Detailed Description
The present application will now be described in further detail with reference to the drawings, it should be noted that the following detailed description is given for illustrative purposes only and is not to be construed as limiting the scope of the present application, as those skilled in the art will be able to make numerous insubstantial modifications and adaptations to the present application based on the above disclosure.
As shown in fig. 1, a schematic diagram of an autonomous positioning method of an aircraft is proposed for the present application, including:
acquiring the external force type sensed by the aircraft at a preset position in real time, and analyzing and judging the external force type;
generating at least one control instruction of the aircraft based on the result of analyzing and judging the external force type;
and controlling the aircraft to execute flying or autonomous positioning actions according to the control instruction of the at least one aircraft.
The method for autonomously positioning the aircraft, wherein before the step of acquiring the external force type sensed by the aircraft at the preset position in real time, the method further comprises: and determining the coordinate and the motion state information of the aircraft, and feeding back the coordinate and the motion state information to a controller of the aircraft in real time.
The autonomous positioning method of the aircraft, wherein the external force type includes: user initiative external force, interference force.
The method for autonomously positioning the aircraft, wherein the analyzing and judging the external force type comprises: the first method is as follows: the method comprises the steps of sensing pressure of a preset position on an aircraft, wherein the preset position is provided with at least two regions, when the two regions sense that the pressure exceeds a first threshold value simultaneously, judging that the external force is a user active external force, and otherwise, judging that the external force type is an interference force. The at least two regions are located on opposite sides.
The method for autonomously positioning the aircraft, wherein the analyzing and judging the external force type comprises: the second method comprises the following steps: the pressure of the preset position on the aircraft is sensed through the pressure sensor, the human activity of the preset position is sensed through the infrared sensor, and when the pressure exceeds the second threshold value and the sensed pressure is the pressure of the human activity, the active external force of the user is determined.
The method for autonomously positioning the aircraft, wherein the analyzing and judging the external force type comprises: the pressure of a preset position on the aircraft is sensed through the pressure sensor, fingerprint information is detected through the fingerprint sensor, and when the pressure exceeds a second threshold value and the sensed fingerprint information is preset, the external force is judged to be active force of a user.
When the user is using for the first time, types in the specific fingerprint information of individual, can select oneself to snatch the fingerprint of the habit finger of aircraft, like the thumb and the forefinger of right hand, during the fingerprint of type in that fingerprint sensor detected, just confirm to be correct user's external force, other external force then all judges interference power, can have better discernment degree to the user to the aircraft like this.
The autonomous positioning method of the aircraft is characterized in that the preset position is located on the lower side of the aircraft or on one side surface of the aircraft.
The method for autonomously positioning an aircraft, wherein the generating at least one control instruction of the aircraft according to the result of analyzing and judging the external force type specifically includes: when the judgment result is that the user actively applies external force, an active positioning control instruction is generated, the aircraft performs corresponding action along the direction of the external force application, autonomous positioning is performed at the final position, and the coordinate of the autonomous positioning is fed back to the controller; and when the judgment result is the interference force, generating an interference resistance control instruction, and returning the aircraft to the original position before being interfered by the interference force or generating a flying moment with the same magnitude and the opposite direction to the interference force.
The autonomous positioning method of the aircraft, wherein the active positioning control instruction includes: and stopping the flight power of the aircraft, and monitoring the coordinate position of the aircraft in real time.
When the first use mode is pressing, the user needs to press the area of the preset position with larger strength, so that the aircraft can detect external force, and misjudgment of the aircraft is avoided.
As a preferred embodiment, technologies such as ultrasonic wave, infrared, light sensation, and voice may also be adopted to perform user active external force control or interference force control, for example, according to ultrasonic, infrared, and light sensation wave sensors in corresponding directions (up, down, left, right, front, back, etc.) of the aircraft, when the sensors detect signals of the directions, the sensors perform determination to determine whether the aircraft is in user active control, if the aircraft is in user active control, the aircraft stays at the last position of the user active control, otherwise, the aircraft returns to the original position.
As a preferred embodiment, the autonomous positioning control is performed by voice, when the aircraft receives a voice command from an operator, the aircraft performs flight positioning according to the voice, for example, after the aircraft receives a voice signal of a specified user, when the voice of the user includes a movement of 20cm to the left, the aircraft moves 20cm to the left, and if there is no specified distance, for example, the aircraft moves to the left, the aircraft moves a set fixed distance to the left. The voice information needs to be subjected to audio debugging in advance to verify the voice identity of the user.
Fig. 2 is a schematic diagram of an autonomous positioning system of an aircraft according to the present application, including:
the detection module is used for acquiring the external force type sensed by the aircraft at a preset position in real time;
the judging module is used for analyzing and judging the external force type;
the control module generates at least one control instruction of the aircraft based on the analysis and judgment result of the judgment module; and controlling the aircraft to execute flying or autonomous positioning actions according to the control instruction of the at least one aircraft.
The autonomous positioning system of an aircraft, wherein the external force types include: user initiative external force, interference force.
The autonomous positioning system of the aircraft comprises a sensing module, wherein the sensing module is arranged at the preset position of the aircraft and used for sensing the pressure borne by the preset position on the aircraft, the preset position comprises at least two regions, at least two sensing modules are arranged on each region, when the two regions sense that the pressure exceeds a first threshold value simultaneously, the autonomous positioning system is judged to be a user active external force, otherwise, the external force type is judged to be an interference force.
The autonomous positioning system of the aircraft is characterized in that the type of the area arrangement comprises a planar structure, a finger-shaped arc concave structure or a press-shaped switch; when the area is set to be a planar structure, the at least two sensing modules are arranged in a transverse or longitudinal straight line; when the area is arranged to be in a finger-shaped arc concave structure, the at least two sensing modules comprise a sensing module arranged at the bottommost end of the concave structure and a sensing module arranged on the concave side wall; when the area is set to be a press-shaped switch, photoelectric switches are arranged on two sides of the switch or a travel switch is arranged at the bottom of the switch, and when the switch is pressed, the photoelectric switches or the travel switch sends out pulse signals.
The autonomous positioning system of the aircraft further comprises a sensing module, wherein the sensing module is arranged at the preset position of the aircraft, and the sensing module comprises a pressure sensor and an infrared sensor.
The autonomous positioning system of the aircraft further comprises a sensing module, wherein the sensing module is arranged at the preset position of the aircraft, and the sensing module comprises a pressure sensor and a fingerprint sensor.
The autonomous positioning system of the aircraft comprises a control module, a positioning module and a feedback module, wherein the control module comprises an instruction generation module, an action control module and a feedback information module; the command generation module generates an active positioning control command when the judgment result is that the user actively exerts external force, the action control module controls the aircraft to perform corresponding actions along the direction of the action of the external force, the aircraft performs autonomous positioning at the final position, and coordinates to be autonomously positioned are obtained through the feedback information module; when the judgment result is the interference force, the action control module generates an interference resistance control instruction, the aircraft returns to the original position before being interfered by the interference force or generates a flying moment with the same size and the opposite direction to the interference force, and the feedback information module acquires coordinate information after the interference force.
This application carries out accurate judgement through multiple mode external force type, judges through the external force type to predetermineeing the position, prevents that the aircraft from carrying out the misjudgement to external force, simultaneously, can simply control aircraft flight action, has reduced the control degree of difficulty of aircraft, especially at the control aircraft auto heterodyne in-process pinpointing, can control the aircraft fast to the position of ideal. The control that makes the aircraft is simpler, makes its application more general, and user's adaptation crowd is more extensive, has improved user's viscosity, especially when autodyne, can fix a position fast, keeps the angle of shooing.
Claims (12)
1. A method for autonomous positioning of an aircraft, comprising:
acquiring the external force type sensed by the aircraft at a preset position in real time, and analyzing and judging the external force type; the external force type at the preset position is judged, so that the external force is prevented from being judged by the aircraft; the external force types include: the method comprises the following steps of (1) actively applying external force and interference force to a user, wherein the step of analyzing and judging the external force type comprises the following steps: sensing the pressure of a preset position on the aircraft, wherein the preset position is provided with at least two regions, when the two regions simultaneously sense that the pressure exceeds a first threshold value, judging that the pressure is a user active external force, and otherwise, judging that the type of the external force is an interference force;
generating at least one control instruction of the aircraft based on the result of analyzing and judging the external force type;
and controlling the aircraft to execute flying or autonomous positioning actions according to the control instruction of the at least one aircraft.
2. The method for autonomously locating an aircraft according to claim 1, wherein said step of acquiring in real time the type of external force sensed by the aircraft at the preset position is preceded by the steps of: and determining the coordinate and the motion state information of the aircraft, and feeding back the coordinate and the motion state information to a controller of the aircraft in real time.
3. The method for autonomously locating an aircraft according to claim 1, wherein said analyzing the type of external force comprises: the pressure of the preset position on the aircraft is sensed through the pressure sensor, the human activity of the preset position is sensed through the infrared sensor, and when the pressure exceeds the second threshold value and the sensed pressure is the pressure of the human activity, the active external force of the user is determined.
4. The method for autonomously locating an aircraft according to claim 1, wherein said analyzing the type of external force comprises: the pressure of a preset position on the aircraft is sensed through the pressure sensor, fingerprint information is detected through the fingerprint sensor, and when the pressure exceeds a second threshold value and the sensed fingerprint information is preset, the external force is judged to be active force of a user.
5. Method for autonomous positioning of an aircraft according to claim 3 or 4, characterized in that said at least two zones are situated on opposite sides.
6. The method for autonomously positioning an aircraft according to claim 1, wherein said generating at least one control command for the aircraft based on the result of said analyzing and determining the type of external force comprises: when the judgment result is that the user actively applies external force, an active positioning control instruction is generated, the aircraft performs corresponding action along the direction of the external force application, autonomous positioning is performed at the final position, and the coordinate of the autonomous positioning is fed back to the controller; and when the judgment result is the interference force, generating an interference resistance control instruction, and returning the aircraft to the original position before being interfered by the interference force or generating a flying moment with the same magnitude and the opposite direction to the interference force.
7. The method for autonomous positioning of an aircraft according to claim 6, characterized in that said active positioning control instructions comprise: and stopping the flight power of the aircraft, and monitoring the coordinate position of the aircraft in real time.
8. An autonomous positioning system of an aircraft, comprising:
the detection module is used for acquiring the external force type sensed by the aircraft at a preset position in real time; the external force type at the preset position is judged, so that the external force is prevented from being judged by the aircraft; the external force types include: the method comprises the following steps of (1) actively applying external force and interference force to a user, wherein the step of analyzing and judging the external force type comprises the following steps: the sensing module is arranged at the preset position of the aircraft and used for sensing the pressure born by the preset position on the aircraft, the preset position is provided with at least two areas, each area is provided with at least two sensing modules, when the two areas sense that the pressure exceeds a first threshold value at the same time, the external force is judged to be a user active external force, otherwise, the external force type is judged to be an interference force;
the judging module is used for analyzing and judging the external force type;
the control module generates at least one control instruction of the aircraft based on the analysis and judgment result of the judgment module; and controlling the aircraft to execute flying or autonomous positioning actions according to the control instruction of the at least one aircraft.
9. The autonomous positioning system of an aircraft according to claim 8, characterized in that said type of regional setting comprises a planar structure, a concave structure with a circular arc of a finger or a push switch; when the area is set to be a planar structure, the at least two sensing modules are arranged in a transverse or longitudinal straight line; when the area is arranged to be in a finger-shaped arc concave structure, the at least two sensing modules comprise a sensing module arranged at the bottommost end of the concave structure and a sensing module arranged on the concave side wall; when the area is set to be a press-shaped switch, photoelectric switches are arranged on two sides of the switch or a travel switch is arranged at the bottom of the switch, and when the switch is pressed, the photoelectric switches or the travel switch sends out pulse signals.
10. The autonomous positioning system of an aircraft according to claim 8, further comprising a sensing module disposed in said preset position of the aircraft, said sensing module comprising a pressure sensor, an infrared sensor.
11. The autonomous positioning system of an aircraft according to claim 8, further comprising a sensing module disposed at said preset position of the aircraft, said sensing module comprising a pressure sensor, a fingerprint sensor.
12. The autonomous positioning system of an aircraft according to claim 8, characterized in that said control module comprises an instruction generation module, a motion control module, a feedback information module; the command generation module generates an active positioning control command when the judgment result is that the user actively exerts external force, the action control module controls the aircraft to perform corresponding actions along the direction of the action of the external force, the aircraft performs autonomous positioning at the final position, and coordinates to be autonomously positioned are obtained through the feedback information module; when the judgment result is the interference force, the action control module generates an interference resistance control instruction, the aircraft returns to the original position before being interfered by the interference force or generates a flying moment with the same size and the opposite direction to the interference force, and the feedback information module acquires coordinate information after the interference force.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710952404.4A CN107544546B (en) | 2017-10-13 | 2017-10-13 | Autonomous positioning method and system for aircraft |
| PCT/CN2017/115515 WO2019071785A1 (en) | 2017-10-13 | 2017-12-11 | Autonomous aircraft position-holding method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710952404.4A CN107544546B (en) | 2017-10-13 | 2017-10-13 | Autonomous positioning method and system for aircraft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107544546A CN107544546A (en) | 2018-01-05 |
| CN107544546B true CN107544546B (en) | 2020-04-28 |
Family
ID=60966988
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710952404.4A Active CN107544546B (en) | 2017-10-13 | 2017-10-13 | Autonomous positioning method and system for aircraft |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107544546B (en) |
| WO (1) | WO2019071785A1 (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102221925A (en) * | 2011-04-22 | 2011-10-19 | 惠州Tcl移动通信有限公司 | Movable terminal and touch input recognition method thereof |
| CN105072248A (en) * | 2015-07-06 | 2015-11-18 | 努比亚技术有限公司 | Control method of terminal device, and corresponding terminal device |
| CN106527479A (en) * | 2016-11-29 | 2017-03-22 | 广州极飞科技有限公司 | Control method of unmanned aerial vehicle and apparatus thereof |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101764507B1 (en) * | 2014-12-30 | 2017-08-02 | 계명대학교 산학협력단 | Control apparatus of unmanned aerial vehicle and method using the same |
| CN104598108B (en) * | 2015-01-02 | 2020-12-22 | 北京时代沃林科技发展有限公司 | Method for proportionally remotely controlling remotely controlled equipment in intelligent terminal touch mode |
| WO2017049183A1 (en) * | 2015-09-18 | 2017-03-23 | Nixie Labs, Inc. | Stowable unmanned aerial vehicles and associated systems and methods |
| TWI535478B (en) * | 2015-11-18 | 2016-06-01 | Control method of unmanned aerial vehicle and its control system | |
| CN105539874B (en) * | 2016-01-08 | 2019-03-15 | 天津远度科技有限公司 | A kind of unmanned plane hand throws winged method and system |
| CN205396523U (en) * | 2016-01-13 | 2016-07-27 | 深圳一电航空技术有限公司 | Unmanned aerial vehicle |
| CN105739533B (en) * | 2016-03-29 | 2019-09-03 | 普宙飞行器科技（深圳）有限公司 | A kind of unmanned aerial vehicle (UAV) control method and system based on touch sensible interaction |
| CN106020220B (en) * | 2016-05-24 | 2023-12-08 | 零度智控（北京）智能科技有限公司 | Unmanned aerial vehicle, unmanned aerial vehicle flight control method and unmanned aerial vehicle flight control device |
| CN107153425A (en) * | 2017-07-06 | 2017-09-12 | 杨顺伟 | Unmanned plane external force resistance interference method and device |
-
2017
- 2017-10-13 CN CN201710952404.4A patent/CN107544546B/en active Active
- 2017-12-11 WO PCT/CN2017/115515 patent/WO2019071785A1/en active Application Filing
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102221925A (en) * | 2011-04-22 | 2011-10-19 | 惠州Tcl移动通信有限公司 | Movable terminal and touch input recognition method thereof |
| CN105072248A (en) * | 2015-07-06 | 2015-11-18 | 努比亚技术有限公司 | Control method of terminal device, and corresponding terminal device |
| CN106527479A (en) * | 2016-11-29 | 2017-03-22 | 广州极飞科技有限公司 | Control method of unmanned aerial vehicle and apparatus thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019071785A1 (en) | 2019-04-18 |
| CN107544546A (en) | 2018-01-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9278451B2 (en) | Robot system and method for controlling robot system | |
| US10524046B2 (en) | Systems and methods for automatic speech recognition | |
| US10335964B2 (en) | Method and system for controlling robot | |
| JP5526942B2 (en) | Robot apparatus, control method and program for robot apparatus | |
| CN105912120B (en) | Mobile robot man-machine interaction control method based on recognition of face | |
| US20160361820A1 (en) | Grasp assist device with automatic mode control logic | |
| US20210370192A1 (en) | Hand gesture controlled flying toy | |
| EP3240198B1 (en) | Mobile terminal and antenna determining method | |
| CN107813306B (en) | Robot and motion control method and device thereof | |
| US20190310659A1 (en) | Control System and Method for Drone with Remote Controller | |
| US20180095552A1 (en) | Remote control device for display screen and method for remotely controlling display screen | |
| CN105678990A (en) | Remote controller, and detection and control method thereof | |
| CN107544546B (en) | Autonomous positioning method and system for aircraft | |
| CN114148836B (en) | Robot autonomous ladder taking method and device | |
| CN111309152A (en) | Man-machine flexible interaction system and method based on intention recognition and impedance matching | |
| CN106157380A (en) | A kind of card taking gate intelligence device for ejecting | |
| EP3005566B1 (en) | Switch-actuating apparatus, mobile device, and method for actuating a switch by means of the presence of a heat-emitting part | |
| EP4155150A3 (en) | Self-learning-based interpretation of driver's intent for evasive steering | |
| CN109917919A (en) | A kind of gesture control vehicle intelligent system and its control method | |
| EP2985008A3 (en) | Robotic exoskeleton multi-modal control system | |
| KR102135822B1 (en) | Artificial intelligent robot having autonomous driving, and autonomous driving method for artificial intelligent robot | |
| JP4839939B2 (en) | Autonomous mobile device | |
| KR102302001B1 (en) | Method and system for diagnosing spatial perception and adaptation ability using visual and sensorimotor modulation on virtual reality | |
| CN113110432A (en) | Robot posture adjusting method and device, robot and storage medium | |
| KR102270424B1 (en) | Method and system recognizing gesture using points and angles |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |