CN107977016A - A kind of unmanned plane cluster makes a return voyage control method - Google Patents
A kind of unmanned plane cluster makes a return voyage control method Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
Make a return voyage control method the present invention relates to a kind of unmanned plane cluster, the unmanned plane cluster includes N number of unmanned plane, and N number of unmanned plane is in hovering flight space；Reception is maked a return voyage specified；Hovering position is detected to the air line distance for destination of making a return voyage, detects the current residual electricity of unmanned plane；Judge whether the current residual electricity meets to make a return voyage to fly to destination；If it is, rectilinear flight is to destination of making a return voyage, if it is not, then adjustment is maked a return voyage, mode or adjustment are maked a return voyage destination.The present invention can control the efficiency that a large amount of unmanned plane clusters make a return voyage, the strategy that makes a return voyage is adjusted according to the remaining capacity of unmanned plane in real time, meanwhile, it is capable to reduce limitation when a large amount of unmanned planes make a return voyage to ground area of making a return voyage, the cost of clustered control is reduced, saves the human cost for the clustered control that makes a return voyage.
Description
Technical field
The present invention relates to a kind of control method of unmanned plane, more particularly to a kind of unmanned plane cluster makes a return voyage control method.
Background technology
UAV abbreviation unmanned plane, english abbreviation UAV, is to utilize radio robot and the program provided for oneself
The not manned aircraft that control device manipulates.It can be divided into from technical standpoint definition：Unmanned helicopter, unmanned fixed-wing aircraft, nobody
Multi-rotor aerocraft, unmanned airship, unmanned parasol etc..
Unmanned plane is widely used in electric inspection process, crops monitoring, environmental monitoring, movies-making, streetscape shooting, express delivery throwing
Pass, Post disaster relief, remote sensing mapping etc. field.In the prior art, entirety is formed by the unmanned plane of enormous amount to show into row information
Show, advertisement putting is to gradually form trend.
The cooperation of unmanned plane cluster becomes current important development trend, there is the control range of bigger, interaction to supply, task
Share.Collaborative Control unmanned plane group system is able to carry out complex task, shortens and performs task time, improves efficiency of turning out for work.
The cooperative groups of unmanned plane cluster establish underaction, it is necessary to which a large amount of manpowers carry out the overhaul of the equipments of early period, especially in the prior art
It is before being flown, it is necessary to which by a large amount of unmanned planes overhauled, manually rule alignment is set, it is necessary to expend big on the ground
Measure manpower and time.Due to unmanned plane cluster in the prior art fly and make a return voyage be required for planar development take off and
Make a return voyage, cause area occupied big, it is of high cost, it is high to unmanned plane cluster aviation applications scene requirement.Being badly in need of one kind can quickly control
System, which is maked a return voyage, controls the mode of unmanned plane, further to reduce the cost of clustered control, improves control efficiency.
The content of the invention
To solve above-mentioned technical problem：The application proposes that a kind of unmanned plane cluster makes a return voyage control method, the unmanned plane collection
Group includes N number of unmanned plane, and N number of unmanned plane is in hovering flight space；
Reception is maked a return voyage specified；
Hovering position is detected to the air line distance for destination of making a return voyage, detects the current residual electricity of unmanned plane；
Judge whether the current residual electricity meets to make a return voyage to fly to destination；
If it is, rectilinear flight is to destination of making a return voyage, if it is not, then adjustment is maked a return voyage, mode or adjustment are maked a return voyage destination.
A kind of unmanned plane cluster makes a return voyage control method, and the instruction of making a return voyage includes：Verify N number of unmanned plane
Number order, according to sequencing, the transmission that is delayed respectively makes a return voyage order to unmanned plane, until all unmanned planes are received and maked a return voyage
Order, after order of making a return voyage is sent completely, whether verification unmanned plane all receives order of making a return voyage.
A kind of unmanned plane cluster makes a return voyage control method, and whether the verification unmanned plane all receives the order bag that makes a return voyage
Include：After the unmanned plane receives order of making a return voyage, the feedback signal for receiving order of making a return voyage is sent, centralized control center is according to reception
Feedback signal, feedback signal is numbered with corresponding unmanned plane and is associated, and generates contingency table, whole associations are checked by traversal mode
Table is verified, if contingency table has missing, is retransmited order of once making a return voyage and is given missing feedback signal corresponding unmanned plane, and
The new feedback signal for monitoring whether to receive the corresponding unmanned plane of missing feedback signal is timed, if received, is supplemented
Contingency table, makes a return voyage if it is not, then being changed to regulate and control the unmanned plane manually.
A kind of unmanned plane cluster makes a return voyage control method, and the instruction of making a return voyage includes：Select any of center
Unmanned plane is defined as the first unmanned plane, using the first unmanned plane as basic point, to the transmitting of hovering at least two direction of space as basic point
Identification information, the 2-N unmanned plane proportionally distribute the different marks for identifying first unmanned plane transmitting, and according to than
Example flies to corresponding mark direction, and carries out unmanned plane numbering in different directions, and numbering is sent to centralized control center.
A kind of unmanned plane cluster makes a return voyage control method, and the 2-N unmanned plane, which proportionally distributes, finds institute
The different high frequency waves for stating the transmitting of the first unmanned plane specifically include：N-1 unmanned plane divided by the multiple direction, remainder are assigned to
On first direction, the first direction is horizontal direction.
A kind of unmanned plane cluster makes a return voyage control method, described to fly to corresponding mark direction and specifically include：
The 2-N unmanned plane is sequentially found corresponding mark, is found in identification procedure, with described according to the different identification of distribution
Centered on first unmanned plane, by range finder module measurement and the distance of the adjacent unmanned plane, exist according to pre-set flight distance
Corresponding mark direction sequential deployment, during expansion, measures the position for intending reaching by obstacle avoidance module and whether there is unmanned plane,
If it is present fly to the next position；
The 2-N unmanned plane circulates above-mentioned steps, until the whole of the 2-N unmanned plane according to the mark direction of distribution
According to the sequential deployment centered on the first unmanned plane.
A kind of unmanned plane cluster makes a return voyage control method, and the 2-N unmanned plane is on mark direction, with the
One unmanned plane is starting point, carries out stored count, using the concrete numerical value of counting as the numbering of itself, and is sent to centralized control center.
A kind of unmanned plane cluster makes a return voyage control method, and the adjustment mode of making a return voyage specifically includes：Straight line is calculated to return
The required electricity minimum value in destination is arrived in boat flight, compares the magnitude relationship of current residual electricity and the electricity minimum value,
If current residual electricity is less than the electricity minimum value, the difference of electricity minimum value and current residual electricity is asked for, by institute
Difference and threshold value comparison are stated, time and the number of flying rotor are closed in selection.
A kind of unmanned plane cluster makes a return voyage control method, described by the difference and threshold value comparison, and selection, which is closed, to fly
The time of row rotor and number specifically include：By the difference and first threshold, second threshold and the 3rd threshold value comparison, described
One threshold value is more than the second threshold, and the second threshold is more than the 3rd threshold value, if the difference is more than first threshold,
Then close flying rotor once, close a cycle time, if the difference is less than first threshold, more than second threshold, then
It is secondary to close flying rotor, closes a cycle time every time, if the difference is more than second threshold, less than the 3rd threshold value,
It is secondary then to close flying rotor, each 1.5 cycle times of relation；If difference is less than the 3rd threshold value, it is adjusted to control manually
Flight processed is maked a return voyage.
A kind of unmanned plane cluster makes a return voyage control method, and adjustment destination of making a return voyage specifically includes：Calculate straight line
Flight make a return voyage to the required electricity minimum value in destination, the size for comparing current residual electricity and the electricity minimum value is closed
System, if current residual electricity is less than the electricity minimum value, feeds back to centralized control center's remaining capacity deficiency, unmanned plane root
According to current residual electricity calculate can normal flight distance, and using itself as starting point, scan from itself it is nearest can anchor point, than
It is more described can normal flight distance with to it is nearest can anchor point vertical range, if the vertical range be less than it is described can
The distance of normal flight, then feed back to the anchor point of centralized control center's selection, if the vertical range can normally fly more than described
Capable distance, then feed back to centralized control center and control manually and make a return voyage.
The present invention can control the efficiency that a large amount of unmanned plane clusters make a return voyage, and according to the remaining capacity of unmanned plane, adjustment is returned in real time
Boat strategy, meanwhile, it is capable to reduce limitation when a large amount of unmanned planes make a return voyage to ground area of making a return voyage, reduces the cost of clustered control,
Save the human cost for the clustered control that makes a return voyage.
Brief description of the drawings
Fig. 1 makes a return voyage control method schematic diagram for the application unmanned plane cluster.
Embodiment
The application is described in further detail below in conjunction with the accompanying drawings, it is necessary to it is indicated herein to be, implement in detail below
Mode is served only for that the application is further detailed, it is impossible to the limitation to the application protection domain is interpreted as, the field
Technical staff can make the application some nonessential modifications and adaptations according to above-mentioned application content.
Embodiment one：
As shown in Figure 1, proposing that a kind of unmanned plane cluster makes a return voyage control method for the application, the unmanned plane cluster includes N number of nothing
Man-machine, N number of unmanned plane is in hovering flight space；
Reception is maked a return voyage specified；
Hovering position is detected to the air line distance for destination of making a return voyage, detects the current residual electricity of unmanned plane；
Judge whether the current residual electricity meets to make a return voyage to fly to destination；
If it is, rectilinear flight is to destination of making a return voyage, if it is not, then adjustment is maked a return voyage, mode or adjustment are maked a return voyage destination.
A kind of unmanned plane cluster makes a return voyage control method, and the instruction of making a return voyage includes：Verify N number of unmanned plane
Number order, according to sequencing, the transmission that is delayed respectively makes a return voyage order to unmanned plane, until all unmanned planes are received and maked a return voyage
Order, after order of making a return voyage is sent completely, whether verification unmanned plane all receives order of making a return voyage.
A kind of unmanned plane cluster makes a return voyage control method, and whether the verification unmanned plane all receives the order bag that makes a return voyage
Include：After the unmanned plane receives order of making a return voyage, the feedback signal for receiving order of making a return voyage is sent, centralized control center is according to reception
Feedback signal, feedback signal is numbered with corresponding unmanned plane and is associated, and generates contingency table, whole associations are checked by traversal mode
Table is verified, if contingency table has missing, is retransmited order of once making a return voyage and is given missing feedback signal corresponding unmanned plane, and
The new feedback signal for monitoring whether to receive the corresponding unmanned plane of missing feedback signal is timed, if received, is supplemented
Contingency table, makes a return voyage if it is not, then being changed to regulate and control the unmanned plane manually.
A kind of unmanned plane cluster makes a return voyage control method, and the adjustment mode of making a return voyage specifically includes：Straight line is calculated to return
The required electricity minimum value in destination is arrived in boat flight, compares the magnitude relationship of current residual electricity and the electricity minimum value,
If current residual electricity is less than the electricity minimum value, the difference of electricity minimum value and current residual electricity is asked for, by institute
Difference and threshold value comparison are stated, time and the number of flying rotor are closed in selection.
A kind of unmanned plane cluster makes a return voyage control method, described by the difference and threshold value comparison, and selection, which is closed, to fly
The time of row rotor and number specifically include：By the difference and first threshold, second threshold and the 3rd threshold value comparison, described
One threshold value is more than the second threshold, and the second threshold is more than the 3rd threshold value, if the difference is more than first threshold,
Then close flying rotor once, close a cycle time, if the difference is less than first threshold, more than second threshold, then
It is secondary to close flying rotor, closes a cycle time every time, if the difference is more than second threshold, less than the 3rd threshold value,
It is secondary then to close flying rotor, each 1.5 cycle times of relation；If difference is less than the 3rd threshold value, it is adjusted to control manually
Flight processed is maked a return voyage.
A kind of unmanned plane cluster makes a return voyage control method, and adjustment destination of making a return voyage specifically includes：Calculate straight line
Flight make a return voyage to the required electricity minimum value in destination, the size for comparing current residual electricity and the electricity minimum value is closed
System, if current residual electricity is less than the electricity minimum value, feeds back to centralized control center's remaining capacity deficiency, unmanned plane root
According to current residual electricity calculate can normal flight distance, and using itself as starting point, scan from itself it is nearest can anchor point, than
It is more described can normal flight distance with to it is nearest can anchor point vertical range, if the vertical range be less than it is described can
The distance of normal flight, then feed back to the anchor point of centralized control center's selection, if the vertical range can normally fly more than described
Capable distance, then feed back to centralized control center and control manually and make a return voyage.
Embodiment two：
As shown in Figure 1, proposing that a kind of unmanned plane cluster makes a return voyage control method for the application, the unmanned plane cluster includes N number of nothing
Man-machine, N number of unmanned plane is in hovering flight space；
Reception is maked a return voyage specified；
Hovering position is detected to the air line distance for destination of making a return voyage, detects the current residual electricity of unmanned plane；
Judge whether the current residual electricity meets to make a return voyage to fly to destination；
If it is, rectilinear flight is to destination of making a return voyage, if it is not, then adjustment is maked a return voyage, mode or adjustment are maked a return voyage destination.
A kind of unmanned plane cluster makes a return voyage control method, and the instruction of making a return voyage includes：Select any of center
Unmanned plane is defined as the first unmanned plane, using the first unmanned plane as basic point, to the transmitting of hovering at least two direction of space as basic point
Identification information, the 2-N unmanned plane proportionally distribute the different marks for identifying first unmanned plane transmitting, and according to than
Example flies to corresponding mark direction, and carries out unmanned plane numbering in different directions, and numbering is sent to centralized control center.
A kind of unmanned plane cluster makes a return voyage control method, and the 2-N unmanned plane, which proportionally distributes, finds institute
The different high frequency waves for stating the transmitting of the first unmanned plane specifically include：N-1 unmanned plane divided by the multiple direction, remainder are assigned to
On first direction, the first direction is horizontal direction.
A kind of unmanned plane cluster makes a return voyage control method, described to fly to corresponding mark direction and specifically include：
The 2-N unmanned plane is sequentially found corresponding mark, is found in identification procedure, with described according to the different identification of distribution
Centered on first unmanned plane, by range finder module measurement and the distance of the adjacent unmanned plane, exist according to pre-set flight distance
Corresponding mark direction sequential deployment, during expansion, measures the position for intending reaching by obstacle avoidance module and whether there is unmanned plane,
If it is present fly to the next position；
The 2-N unmanned plane circulates above-mentioned steps, until the whole of the 2-N unmanned plane according to the mark direction of distribution
According to the sequential deployment centered on the first unmanned plane.
A kind of unmanned plane cluster makes a return voyage control method, and the 2-N unmanned plane is on mark direction, with the
One unmanned plane is starting point, carries out stored count, using the concrete numerical value of counting as the numbering of itself, and is sent to centralized control center.
A kind of unmanned plane cluster makes a return voyage control method, and the adjustment mode of making a return voyage specifically includes：Straight line is calculated to return
The required electricity minimum value in destination is arrived in boat flight, compares the magnitude relationship of current residual electricity and the electricity minimum value,
If current residual electricity is less than the electricity minimum value, the difference of electricity minimum value and current residual electricity is asked for, by institute
Difference and threshold value comparison are stated, time and the number of flying rotor are closed in selection.
A kind of unmanned plane cluster makes a return voyage control method, described by the difference and threshold value comparison, and selection, which is closed, to fly
The time of row rotor and number specifically include：By the difference and first threshold, second threshold and the 3rd threshold value comparison, described
One threshold value is more than the second threshold, and the second threshold is more than the 3rd threshold value, if the difference is more than first threshold, closes
Close flying rotor once, close a cycle time, if the difference is less than first threshold, more than second threshold, then close
Flying rotor is secondary, closes a cycle time every time, if the difference is more than second threshold, less than the 3rd threshold value, then closes
It is secondary to close flying rotor, each 1.5 cycle times of relation；If difference is less than the 3rd threshold value, it is adjusted to control manually and flies
Row makes a return voyage.
A kind of unmanned plane cluster makes a return voyage control method, and adjustment destination of making a return voyage specifically includes：Calculate straight line
Flight make a return voyage to the required electricity minimum value in destination, the size for comparing current residual electricity and the electricity minimum value is closed
System, if current residual electricity is less than the electricity minimum value, feeds back to centralized control center's remaining capacity deficiency, unmanned plane root
According to current residual electricity calculate can normal flight distance, and using itself as starting point, scan from itself it is nearest can anchor point, than
It is more described can normal flight distance with to it is nearest can anchor point vertical range, if the vertical range be less than it is described can
The distance of normal flight, then feed back to the anchor point of centralized control center's selection, if the vertical range can normally fly more than described
Capable distance, then feed back to centralized control center and control manually and make a return voyage.
The present invention can control the efficiency that a large amount of unmanned plane clusters make a return voyage, and according to the remaining capacity of unmanned plane, adjustment is returned in real time
Boat strategy, meanwhile, it is capable to reduce limitation when a large amount of unmanned planes make a return voyage to ground area of making a return voyage, reduces the cost of clustered control,
Save the human cost for the clustered control that makes a return voyage.
Claims (10)
- The control method 1. a kind of unmanned plane cluster makes a return voyage, the unmanned plane cluster include N number of unmanned plane, at N number of unmanned plane In hovering flight space；It is characterized in that：Reception is maked a return voyage specified；Hovering position is detected to the air line distance for destination of making a return voyage, detects the current residual electricity of unmanned plane；Judge whether the current residual electricity meets to make a return voyage to fly to destination；If it is, rectilinear flight is to destination of making a return voyage, if it is not, then adjustment is maked a return voyage, mode or adjustment are maked a return voyage destination.
- The control method 2. a kind of unmanned plane cluster as claimed in claim 1 makes a return voyage, it is characterised in that the instruction bag that makes a return voyage Include：The number order of N number of unmanned plane is verified, according to sequencing, the transmission that is delayed respectively makes a return voyage order to unmanned plane, until All unmanned planes receive order of making a return voyage, and after order of making a return voyage is sent completely, whether verification unmanned plane all receives order of making a return voyage.
- The control method 3. a kind of unmanned plane cluster as claimed in claim 2 makes a return voyage, it is characterised in that the verification unmanned plane is No whole, which receives order of making a return voyage, to be included：After the unmanned plane receives order of making a return voyage, the feedback letter for receiving order of making a return voyage is sent Number, feedback signal is numbered and associated, generate contingency table, led to according to the feedback signal of reception by centralized control center with corresponding unmanned plane Cross traversal mode and check that whole contingency tables are verified, if contingency table has missing, retransmit order of once making a return voyage to missing The corresponding unmanned plane of feedback signal, and be timed and monitor whether to receive the new anti-of the corresponding unmanned plane of missing feedback signal Feedback signal, if received, supplements contingency table, makes a return voyage if it is not, then being changed to regulate and control the unmanned plane manually.
- The control method 4. a kind of unmanned plane cluster as claimed in claim 1 makes a return voyage, it is characterised in that the instruction bag that makes a return voyage Include：Select center any unmanned plane be used as basic point, be defined as the first unmanned plane, using the first unmanned plane as basic point, to hang Stop at least two direction of space transmitting identification information, the 2-N unmanned plane proportionally distributes identification the first unmanned plane hair The different marks penetrated, and corresponding mark direction is proportionally flown to, and unmanned plane numbering is carried out in different directions, it will compile Number it is sent to centralized control center.
- The control method 5. a kind of unmanned plane cluster as claimed in claim 4 makes a return voyage, it is characterised in thatThe different high frequency waves that the 2-N unmanned plane proportionally distributes searching the first unmanned plane transmitting specifically wrap Include：N-1 unmanned plane divided by the multiple direction, remainder are assigned on first direction, and the first direction is horizontal direction.
- The control method 6. a kind of unmanned plane cluster as claimed in claim 5 makes a return voyage, it is characterised in that it is described fly to it is corresponding Mark direction specifically includes：The 2-N unmanned plane is sequentially found corresponding mark, is found in identification procedure, with described according to the different identification of distribution Centered on first unmanned plane, by range finder module measurement and the distance of the adjacent unmanned plane, exist according to pre-set flight distance Corresponding mark direction sequential deployment, during expansion, measures the position for intending reaching by obstacle avoidance module and whether there is unmanned plane, If it is present fly to the next position；The 2-N unmanned plane circulates above-mentioned steps, until the whole of the 2-N unmanned plane according to the mark direction of distribution According to the sequential deployment centered on the first unmanned plane.
- The control method 7. a kind of unmanned plane cluster as claimed in claim 6 makes a return voyage, it is characterised in that the 2-N nobody Machine is on mark direction, using the first unmanned plane as starting point, stored count is carried out, using the concrete numerical value of counting as the volume of itself Number, and it is sent to centralized control center.
- The control method 8. a kind of unmanned plane cluster as claimed in claim 1 makes a return voyage, it is characterised in that described to adjust mode of making a return voyage Specifically include：Calculate straight line and make a return voyage flight to the required electricity minimum value in destination, compare current residual electricity and the electricity Measure minimum value magnitude relationship, if current residual electricity is less than the electricity minimum value, ask for electricity minimum value with currently The difference of remaining capacity, by the difference and threshold value comparison, time and the number of flying rotor are closed in selection.
- The control method 9. a kind of unmanned plane cluster as claimed in claim 8 makes a return voyage, it is characterised in that it is described by the difference with Threshold value comparison, the time of flying rotor is closed in selection and number specifically includes：By the difference and first threshold, second threshold and 3rd threshold value comparison, the first threshold are more than the second threshold, and the second threshold is more than the 3rd threshold value, if institute State difference and be more than first threshold, then close flying rotor once, a cycle time is closed, if the difference is less than the first threshold Value, more than second threshold, then closing flying rotor is secondary, closes a cycle time every time, if the difference is more than second Threshold value, less than the 3rd threshold value, then closing flying rotor is secondary, each 1.5 cycle times of relation；If difference is less than the 3rd threshold Value, then be adjusted to control flight to make a return voyage manually.
- The control method 10. a kind of unmanned plane cluster as claimed in claim 1 makes a return voyage, it is characterised in that described to adjust the mesh that makes a return voyage Ground specifically include：Calculate straight line and make a return voyage flight to the required electricity minimum value in destination, compare current residual electricity and institute The magnitude relationship of electricity minimum value is stated, if current residual electricity is less than the electricity minimum value, feeds back to centralized control center Remaining capacity deficiency, unmanned plane according to current residual electricity calculate can normal flight distance, and using itself as starting point, scan from Itself it is nearest can anchor point, relatively described in can normal flight distance with to it is nearest can anchor point vertical range, if The vertical range be less than it is described can normal flight distance, then the anchor point of centralized control center's selection is fed back to, if described hang down Straight distance be more than it is described can normal flight distance, then feed back to centralized control center and carry out control manually and make a return voyage.
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| CN109116863A (en) * | 2018-08-24 | 2019-01-01 | 北京京东尚科信息技术有限公司 | Unmanned plane dispatching method, device, system, electronic equipment and readable medium |
| CN109917810A (en) * | 2019-04-12 | 2019-06-21 | 中国人民解放军国防科技大学 | Unmanned aerial vehicle cluster energy management method |
| CN110244723A (en) * | 2019-06-10 | 2019-09-17 | 华东师范大学 | A kind of unmanned boat independently makes a return voyage control method and unmanned boat |
| CN110673640A (en) * | 2019-10-21 | 2020-01-10 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle control method, device, equipment and storage medium |
| CN113190046A (en) * | 2021-05-17 | 2021-07-30 | 广东鸿源智能科技有限公司 | Unmanned aerial vehicle cluster control method and device |
| CN113485421A (en) * | 2021-07-05 | 2021-10-08 | 上海狮尾智能化科技有限公司 | Unmanned aerial vehicle flight inspection method, system, equipment and medium |
| CN114374894A (en) * | 2022-01-21 | 2022-04-19 | 北京航空航天大学东营研究院 | Method for improving flight verification data integrity of unmanned aerial vehicle |
| CN114527782A (en) * | 2021-11-19 | 2022-05-24 | 嘉兴恒创电力设计研究院有限公司 | Unmanned aerial vehicle flight path planning method and system based on power grid map |
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| CN109116863A (en) * | 2018-08-24 | 2019-01-01 | 北京京东尚科信息技术有限公司 | Unmanned plane dispatching method, device, system, electronic equipment and readable medium |
| CN109116863B (en) * | 2018-08-24 | 2021-12-03 | 北京京东乾石科技有限公司 | Unmanned aerial vehicle scheduling method, device, system, electronic equipment and readable medium |
| CN109917810A (en) * | 2019-04-12 | 2019-06-21 | 中国人民解放军国防科技大学 | Unmanned aerial vehicle cluster energy management method |
| CN110244723A (en) * | 2019-06-10 | 2019-09-17 | 华东师范大学 | A kind of unmanned boat independently makes a return voyage control method and unmanned boat |
| CN110673640A (en) * | 2019-10-21 | 2020-01-10 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle control method, device, equipment and storage medium |
| CN110673640B (en) * | 2019-10-21 | 2022-02-08 | 深圳市道通智能航空技术股份有限公司 | Unmanned aerial vehicle control method, device, equipment and storage medium |
| CN113190046A (en) * | 2021-05-17 | 2021-07-30 | 广东鸿源智能科技有限公司 | Unmanned aerial vehicle cluster control method and device |
| CN113485421A (en) * | 2021-07-05 | 2021-10-08 | 上海狮尾智能化科技有限公司 | Unmanned aerial vehicle flight inspection method, system, equipment and medium |
| CN114527782A (en) * | 2021-11-19 | 2022-05-24 | 嘉兴恒创电力设计研究院有限公司 | Unmanned aerial vehicle flight path planning method and system based on power grid map |
| CN114374894A (en) * | 2022-01-21 | 2022-04-19 | 北京航空航天大学东营研究院 | Method for improving flight verification data integrity of unmanned aerial vehicle |
| CN114374894B (en) * | 2022-01-21 | 2024-02-02 | 东营航空产业技术研究院 | Method for improving flight verification data integrity of unmanned aerial vehicle |
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