CN109407706A - Unmanned aerial vehicle (UAV) control method and apparatus - Google Patents
Unmanned aerial vehicle (UAV) control method and apparatus Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
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Abstract
This application involves air vehicle technique field more particularly to a kind of unmanned aerial vehicle (UAV) control method and apparatus.Wherein, it is applied to unmanned plane, comprising: receive the operation instruction information that remote control stick is sent；According to operation instruction information acquisition target block message；Detect the remaining capacity of battery；According to remaining capacity and target block message determines route track；Job task is executed according to route track.The application can carry out operation in block message, target of flying to automatically plot with obtaining target automatically, simplify the operating process that user uses unmanned plane, reduce operation threshold.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle control method and device.
Background
The plant protection unmanned aerial vehicle is controlled by a remote controller in a whole-course manual front-back left-right remote control mode or a semi-automatic AB point mode, and points are required to be taken firstly and then the plant protection unmanned aerial vehicle automatically flies by matching with the remote controller; the other type is full-automatic autonomous flight, a remote controller with a rocker is not needed, an independent handheld terminal is needed to firstly survey and draw a plot during use, a route is planned, then the unmanned aerial vehicle is connected through a ground station, the route is uploaded to the unmanned aerial vehicle, and an instruction is sent to the flight control to execute an automatic task. The existing scheme realizes the automatic operation of the airplane by means of a remote controller or a ground station, has complex operation flow and high technical threshold, and can be skillfully operated by professional flyers or training.
Disclosure of Invention
In view of this, embodiments of the present application provide a method and an apparatus for controlling an unmanned aerial vehicle, so as to simplify an operation process of using the unmanned aerial vehicle by a user and reduce an operation threshold.
In a first aspect, an embodiment of the present application provides an unmanned aerial vehicle control method, which is applied to an unmanned aerial vehicle, and includes: receiving operation instruction information sent by a remote control stick; acquiring target plot information according to the operation instruction information; detecting the residual capacity of the battery; determining a route track according to the residual electric quantity and the target plot information; and executing the operation task according to the air route track.
With reference to the first aspect, embodiments of the present application provide a first possible implementation manner of the first aspect, where: determining a route track according to the residual electric quantity and the target plot information, wherein the determining comprises the following steps: calculating the length of a navigation line according to the residual electric quantity and the target plot information; and determining a course track according to the length of the course.
With reference to the first aspect, an embodiment of the present application provides a second possible implementation manner of the first aspect, where acquiring target parcel information includes: sending target parcel acquisition request information to a cloud platform so that the cloud platform searches target parcel information from a database according to the target parcel acquisition request information; receiving the target parcel information sent by the cloud platform; or, obtaining the target parcel information from a local database.
With reference to the second possible implementation manner of the first aspect, this application provides a third possible implementation manner of the first aspect, where: sending the updated target parcel information to the cloud platform; or receiving and storing the updated target parcel information sent by the cloud platform.
With reference to the first aspect, this application provides a fourth possible implementation manner of the first aspect, where the performing a task according to the flight path trajectory includes: and receiving different instructions sent by different keys of the remote control stick, and modifying the flight parameters.
In a second aspect, the present application provides an unmanned aerial vehicle control device, applied to an onboard end, including: the intelligent module is used for receiving operation instruction information sent by the remote control stick; acquiring target plot information according to the operation instruction information; detecting the residual capacity of the battery; determining a route track according to the residual electric quantity and the target plot information; and the flight control module is used for executing an operation task according to the air route track.
In combination with the second aspect, this application embodiment provides a first possible implementation manner of the second aspect, and the intelligent module is further configured to: calculating the length of a navigation line according to the residual electric quantity and the target plot information; and determining a course track according to the length of the course.
With reference to the second aspect, this application embodiment provides a second possible implementation manner of the second aspect, and the intelligent module is further configured to: sending target parcel acquisition request information to a cloud platform so that the cloud platform searches target parcel information from a database according to the target parcel acquisition request information; receiving the target parcel information sent by the cloud platform; or, obtaining the target parcel information from a local database.
With reference to the second possible implementation manner of the second aspect, this application implementation manner provides a third possible implementation manner of the second aspect, and the intelligent module is further configured to: sending the updated target parcel information to the cloud platform; or receiving and storing the updated target parcel information sent by the cloud platform.
With reference to the second aspect, the present application provides a fourth possible implementation manner of the second aspect, and receives different instructions sent by different keys of the remote control stick to modify the flight parameters.
By adopting the scheme, the command sent by the remote control stick is received; acquiring target plot information; controlling the unmanned aerial vehicle to fly to the target plot according to the target plot information; and executing the job task on the target parcel. This application can automatic acquisition target parcel information, flies to the target parcel automatically and carries out the operation, simplifies the user and uses unmanned aerial vehicle's operation flow, reduces the operation threshold.
Additional features and advantages of the disclosure will be set forth in the description which follows, or in part may be learned by the practice of the above-described techniques of the disclosure, or may be learned by practice of the disclosure.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic view of an application scenario in which a remote control stick controls an unmanned aerial vehicle according to an embodiment of the present application;
fig. 2 is a flowchart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present disclosure;
fig. 3 is a schematic view of a flight trajectory of the unmanned aerial vehicle in a target plot according to the embodiment of the present application;
fig. 4 is a schematic diagram of an unmanned aerial vehicle control device provided in an embodiment of the present application;
fig. 5 is another schematic diagram of a drone control device provided in an embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the embodiments of the present disclosure will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are some, but not all embodiments of the present disclosure. All other embodiments, which can be derived by one of ordinary skill in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
In the unmanned aerial vehicle application technology, unmanned aerial vehicles have been widely used in various industries, and in the field of agricultural plant protection, the unmanned aerial vehicles are controlled by remote controllers or ground control stations; the operation is complex and tedious; for the majority of users, especially for farmers who are not very proficient in unmanned aerial vehicles, the use of unmanned aerial vehicles is inconvenient. Referring to fig. 1, a schematic view of a scene in which a remote control stick provided in the embodiment of the present application operates an unmanned aerial vehicle; in the scene, an intelligent module is arranged in the unmanned aerial vehicle, and the intelligent module is connected with a ground remote control stick through a wireless network and receives a control instruction sent by the remote control stick; the intelligent module is connected with the flight control module through a serial port; the system is used for controlling the unmanned aerial vehicle to realize more intelligent operation; automatically acquiring target plot information; and (5) planning a route. The intelligent module is also connected with modules such as extensible voice, USB and 4G. And among the prior art, remote controller or control station fly the accuse module and send the instruction to among the unmanned aerial vehicle, fly the flight of accuse module control unmanned aerial vehicle, including advancing, retreat, turn etc. control is loaded down with trivial details, if the user is not too expert in the use of control station or remote controller, can cause the difficulty in controlling for the user.
Based on this, this application has proposed a unmanned aerial vehicle control method, describe in detail through the specific embodiment below.
Referring to the flowchart of the drone control method shown in fig. 2, the method includes the following steps:
step S202, receiving operation instruction information sent by a remote control stick;
in a specific implementation, referring to fig. 1, the remote control stick communicates with the drone via a wireless network; a take-off button is arranged on the remote control stick, and the remote control stick sends a take-off instruction to the intelligent module of the unmanned aerial vehicle as long as a user presses the button; during specific implementation, the user can also input voice to the remote control stick, and the remote control stick converts the voice into an instruction and sends the instruction to the unmanned aerial vehicle.
Step S204, obtaining target plot information according to the operation instruction information;
the remote control stick sends starting instruction information to the unmanned aerial vehicle; and after receiving the starting instruction information, the unmanned aerial vehicle automatically acquires the target plot information.
In specific implementation, if only one target plot is available in a farmer, the unmanned aerial vehicle can directly acquire the information of the target plot;
if there are a plurality of target plots in the peasant household to be located different position, then unmanned aerial vehicle can obtain target plot information according to the orientation of current position and aircraft nose, if there are four different target plots in four directions of southeast northwest of the peasant household, the peasant household aims at the direction of aircraft nose north, then unmanned aerial vehicle automatic selection is located the target plot in north as the target plot.
The target parcel information includes a coordinate position range of the target parcel; the target land parcel information also comprises the shape and the boundary range of the target land parcel and the position information of the obstacle;
in specific implementation, the range of the measured target plot can be artificially blurred in advance, if the shape of the target plot is an irregular shape, the irregular shape can be approximately regarded as a regular shape, the irregular shape is preferably adjusted to be a rectangular shape, and a rectangular shape map and coordinates of four points are stored as target plot information, so that the unmanned aerial vehicle can calculate and determine the sailing track conveniently and better.
The target parcel information also includes whether there is an obstacle in the range of the target parcel, and if there is an obstacle, the target parcel information also includes coordinates of the obstacle. For example, if there are two big trees in a farmland, the geographical coordinate positions of the big trees are recorded. The obstacle avoiding method is used for planning and avoiding the obstacle when the flight track of the unmanned aerial vehicle is formulated. Or when the unmanned aerial vehicle carries out actual operation on the target land, the unmanned aerial vehicle avoids according to the coordinate position of the obstacle, and avoids colliding with the obstacle.
Step S206, detecting the residual capacity of the battery;
in specific implementation, the remaining capacity of the BATTERY may be detected by using a BATTERY management system BMS (BATTERY management system MANAGEMENT SYSTEM) to obtain the remaining capacity of the BATTERY.
And S208, determining a route track according to the residual capacity and the target plot information.
Wherein, unmanned aerial vehicle can calculate the distance that can fly that corresponds with the residual capacity according to how much of residual capacity.
And further calculating the flying track according to the distance, which mainly comprises the following steps: calculating the approximate distance between the takeoff point and the land parcel; and the number of cycles to and from the target plot; the number of times of reciprocation is calculated according to the width range of the target land in the target land information, so that the reciprocating track on the target land can be determined.
And step S210, executing the operation task according to the air route track.
Wherein, the unmanned aerial vehicle carries out the operation task according to the track that has calculated in advance. And when the unmanned aerial vehicle carries out actual operation on the target ground, can also judge the adjustment to the coordinate position of self according to target plot information, avoid self coordinate to exceed the scope of target plot.
The method comprises the steps of receiving operation instruction information sent by a remote control stick; acquiring target plot information according to the operation instruction information; determining a route track according to the residual electric quantity and the target plot information; and executing the operation task according to the air route track. This application can automatic acquisition target parcel information, flies to the target parcel automatically and carries out the operation, simplifies the user and uses unmanned aerial vehicle's operation flow, reduces the operation threshold.
In order to control the unmanned aerial vehicle to perform work on the target land, in one possible embodiment, the determining the route track according to the remaining power and the target land information includes: calculating the length of a navigation line according to the residual electric quantity and the target plot information; determining a course track according to the length of a course;
the length of the flight line refers to the flight distance of the unmanned aerial vehicle in the air; the flight distance of the unmanned aerial vehicle in the air is related to the residual capacity. The more the remaining power, the larger the flight distance; the length of the flight line not only comprises the distance from the starting point of the unmanned aerial vehicle to the target plot, but also comprises the total flying distance of the unmanned aerial vehicle flying on the target plot in a reciprocating and circulating operation mode.
According to the experimental experience value, the corresponding relation between the residual electric quantity of the unmanned aerial vehicle and the flying distance can be obtained. The flight distance can be obtained according to the residual electric quantity;
subtracting the round-trip distance from the departure point to the target plot from the total flight distance to obtain the flight distance on the target plot; according to the shape of the target land, the reciprocating track of the unmanned aerial vehicle on the target land can be determined. Refer to fig. 3 for a schematic view of a flight trajectory of the drone at a target plot according to the embodiment of the present application. In the drawings, the target plot is rectangular in shape; the target parcel information includes a width AB of the target parcel. After flying to a target plot from a flying point, the unmanned aerial vehicle carries out reciprocating operation on the target plot; and returning to the flying point after the work is finished. Assuming that the remaining capacity of the unmanned aerial vehicle is 90%, in the figure, the unmanned aerial vehicle makes four round trips on the target land; if the remaining power of the unmanned aerial vehicle is relatively small, if 45%, the number of times that the unmanned aerial vehicle makes a round trip on the target land is reduced to two.
The above is to consider that under the condition that the medicine amount in the medicine box is enough, in the actual situation, when the work is carried out on the target land, the flight track on the target land is also related to the medicine amount in the medicine barrel. If the dosage is used up, the unmanned aerial vehicle can return to the air in time and does not perform circular operation any more;
in order to more conveniently acquire the target parcel information, in one possible embodiment, the acquiring the target parcel information includes: sending target parcel acquisition request information to the cloud platform so that the cloud platform searches the target parcel information from the database according to the target parcel acquisition request information; receiving target plot information sent by a cloud platform; alternatively, the target parcel information is obtained from a local database.
The target parcel of the user can be measured in advance, and the target parcel information is sent to the cloud-end platform to be stored; when needed, the unmanned aerial vehicle directly acquires the target plot information from the cloud platform. During specific implementation, a plurality of different target parcel information of a plurality of different users is stored in the cloud platform, and each target parcel information is identified; the unmanned aerial vehicle sends the identification of the target plot information of the user to the cloud platform; and the cloud platform determines the target plot information required by the unmanned aerial vehicle according to the identification of the target plot, and sends the target plot information to the unmanned aerial vehicle. When the number of users is huge; when the number of the target plots is huge and considerable, a unified cloud platform is arranged to manage the information of the target plots and is responsible for providing unmanned aerial vehicle inquiry, and a good management effect is achieved.
Or, the target parcel information is acquired from a database in which the target parcel information is stored in advance in the unmanned aerial vehicle.
The user can measure the target plot in advance and store the target plot information in the database of the unmanned aerial vehicle; when needed, the unmanned aerial vehicle only needs to read the plot information in the database, and does not need to acquire the plot information from the cloud platform, so that the interaction process with the cloud platform is saved.
In order to update the target parcel information in time, in one possible embodiment, the method further comprises
And receiving and storing the updated target plot information sent by the cloud platform.
Wherein, the target land may be changed, including the change of position and the change of boundary range; updating the information of the corresponding target land block, and sending the updated information of the target land block to the cloud platform in time and storing the updated information of the target land block in the cloud platform; the drone may obtain updated target parcel information from the cloud platform and store the updated target parcel information locally. When needing unmanned aerial vehicle to carry out the operation, just can use the target parcel information after the update, avoid delaying to use old target parcel information and cause the error.
In order to facilitate the adjustment of the flight parameters during the flight, in one possible embodiment, the performing of the task according to the course trajectory comprises: and receiving different instructions sent by different keys of the remote control stick, and modifying the flight parameters.
A plurality of different keys can be arranged, flight parameters can be modified through the combination of the keys, for example, for the flight height or speed, the speed or height can be increased through the '+' key; the reduction in speed or height is achieved by a "-" key.
In order to more intelligently achieve interaction with the user, in a possible implementation, the step after receiving the command information sent by the remote control stick further comprises: and judging whether the unmanned aerial vehicle is suitable for executing the flight task, if not, giving an alarm, and not executing the flight task.
Among these, situations that are not suitable for performing a flight mission include: a relevant sensor is in failure and cannot work normally; the electronic components are in failure and cannot work normally; too low residual capacity, etc. are not suitable for performing flight missions. When the unmanned aerial vehicle detects the above condition, the unmanned aerial vehicle sends out a buzzer sound to prompt the user that the unmanned aerial vehicle is not suitable for flying operation. The user can check the faults in time.
In order to avoid errors of a preset track, when the unmanned aerial vehicle works on a target land, the GPS of the unmanned aerial vehicle is required to detect the coordinate position of the unmanned aerial vehicle in real time, the coordinate position of the unmanned aerial vehicle is compared with the coordinate range of the target land, and if the unmanned aerial vehicle exceeds the coordinate range of the target land, the unmanned aerial vehicle turns around to execute circular operation; and if the coordinate range of the target land block is not exceeded, the unmanned aerial vehicle continues flying.
Corresponding to the above method, the present application also provides an unmanned aerial vehicle control device, see the unmanned aerial vehicle control device shown in fig. 4, the device includes: the method comprises the following steps: the intelligent module 41 is used for receiving operation instruction information sent by the remote control stick; acquiring target plot information according to the operation instruction information; detecting the residual capacity of the battery; determining a route track according to the residual electric quantity and the target plot information; and the flight control module 42 is used for executing the operation task according to the air route track.
The intelligent module 41 of the device is used for receiving the operation instruction information sent by the remote control stick; acquiring target plot information according to the operation instruction information; detecting the residual capacity of the battery; determining a route track according to the residual electric quantity and the target plot information; and the flight control module 42 is used for executing the operation task according to the flight path track. This application can automatic acquisition target parcel information, flies to the target parcel automatically and carries out the operation, simplifies the user and uses unmanned aerial vehicle's operation flow, reduces the operation threshold.
In a possible embodiment, the intelligent module 41 is also configured to: calculating the length of a navigation line according to the residual electric quantity and the target plot information; and determining a course track according to the length of the course.
In a possible embodiment, the intelligent module 41 is also configured to: and receiving and storing the updated target plot information sent by the cloud platform.
In a possible embodiment, the intelligent module 41 is also configured to: and receiving different instructions sent by different keys of the remote control stick, and modifying the flight parameters.
Fig. 5 is another unmanned aerial vehicle controlling means schematic diagram that this application embodiment provided, is applied to unmanned aerial vehicle, includes: a processor 501, a memory 502, and a bus 503; the memory 502 stores machine-readable instructions executable by the processor 501, the processor 501 and the memory 502 communicating over a bus 503. In addition, the control device may further include a communication interface 504, and the communication interface 504 and the memory 502 are connected by a bus 503.
The Memory 502 may include a high-speed Random Access Memory (RAM) and may also include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface 504 (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network, and the like can be used.
Bus 503 may be an ISA bus, PCI bus, EISA bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 5, but this does not indicate only one bus or one type of bus. The memory 502 is used for storing a program, and the processor 501 executes the program after receiving an execution instruction, and the method executed by the method or the apparatus disclosed in any of the foregoing embodiments of the present application may be applied to the processor 501, or implemented by the processor 501.
The processor 501 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 501. The Processor 501 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 502, and the processor 501 reads the information in the memory 502 and completes the steps of the method in combination with the hardware.
The application provides a brand-new control mode, simplifies the operation flow that the user used unmanned aerial vehicle, lowers the operation threshold, only needs simple one-key completion take-off automatic operation, and is just as convenient as using the air conditioner remote controller.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. An unmanned aerial vehicle control method is applied to an airborne terminal, and comprises the following steps:
receiving operation instruction information sent by a remote control stick;
acquiring target plot information according to the operation instruction information;
detecting the residual capacity of the battery;
determining a route track according to the residual electric quantity and the target plot information;
and executing the operation task according to the air route track.
2. The method of claim 1, wherein determining a course trajectory from the remaining power and the target parcel information comprises:
calculating the length of a navigation line according to the residual electric quantity and the target plot information;
and determining a course track according to the length of the course.
3. The method of claim 1, wherein the obtaining target parcel information comprises:
sending target parcel acquisition request information to a cloud platform so that the cloud platform searches target parcel information from a database according to the target parcel acquisition request information;
receiving the target parcel information sent by the cloud platform;
or,
and acquiring the target parcel information from a local database.
4. The method of claim 3, wherein the method further comprises:
and receiving and storing the updated target plot information sent by the cloud platform.
5. The method of claim 1, wherein performing a task according to the course trajectory comprises:
and receiving different instructions sent by different keys of the remote control stick, and modifying the flight parameters.
6. The utility model provides an unmanned aerial vehicle controlling means is applied to the airborne end, its characterized in that includes:
the intelligent module is used for receiving operation instruction information sent by the remote control stick; acquiring target plot information according to the operation instruction information; detecting the residual capacity of the battery; determining a route track according to the residual electric quantity and the target plot information;
and the flight control module is used for executing an operation task according to the air route track.
7. The apparatus of claim 6, wherein the intelligence module is further to:
calculating the length of a navigation line according to the residual electric quantity and the target plot information;
and determining a course track according to the length of the course.
8. The apparatus of claim 6, wherein the intelligence module is further to:
sending target parcel acquisition request information to a cloud platform so that the cloud platform searches target parcel information from a database according to the target parcel acquisition request information;
receiving the target parcel information sent by the cloud platform;
or, obtaining the target parcel information from a local database.
9. The apparatus of claim 8, wherein the intelligence module is further to:
and receiving and storing the updated target plot information sent by the cloud platform.
10. The apparatus of claim 6, wherein the intelligence module is further to:
and receiving different instructions sent by different keys of the remote control stick, and modifying the flight parameters.
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| CN110275546A (en) * | 2019-07-31 | 2019-09-24 | 河海大学常州校区 | A kind of unmanned plane is formed into columns search and method for scheduling task |
| CN111754357A (en) * | 2019-10-28 | 2020-10-09 | 广州极飞科技有限公司 | Job control method, device, system, equipment and readable storage medium |
| CN112815943A (en) * | 2020-12-31 | 2021-05-18 | 广州极飞科技股份有限公司 | Method and device for determining unmanned equipment operation route and unmanned equipment |
| CN113484765A (en) * | 2021-08-03 | 2021-10-08 | 广州极飞科技股份有限公司 | Method and device for determining duration of unmanned aerial vehicle, processing equipment and medium |
| CN116433178A (en) * | 2023-04-10 | 2023-07-14 | 北京泛华国金工程咨询有限公司 | Forestry data accounting method, device, system and medium based on three-dimensional laser |
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