CN110402421A - 一种飞行器降落保护方法、装置及飞行器 - Google Patents

一种飞行器降落保护方法、装置及飞行器 Download PDF

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Publication number
CN110402421A
CN110402421A CN201780002740.0A CN201780002740A CN110402421A CN 110402421 A CN110402421 A CN 110402421A CN 201780002740 A CN201780002740 A CN 201780002740A CN 110402421 A CN110402421 A CN 110402421A
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China
Prior art keywords
image
determining
area
aircraft
preset threshold
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CN201780002740.0A
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English (en)
Inventor
朱颖
宋宇
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Autel Robotics Co Ltd
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Autel Robotics Co Ltd
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Publication of CN110402421A publication Critical patent/CN110402421A/zh
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0017—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information
    • G08G5/0021—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located in the aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • 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
    • G05D1/0055—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/0202—Control of position or course in two dimensions specially adapted to aircraft
    • 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
    • G05D1/04—Control of altitude or depth
    • G05D1/06—Rate of change of altitude or depth
    • G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
    • G05D1/0653—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
    • G05D1/0676—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G06V20/13—Satellite images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G06V20/17—Terrestrial scenes taken from planes or by drones
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0073—Surveillance aids
    • G08G5/0086—Surveillance aids for monitoring terrain
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/02—Automatic approach or landing aids, i.e. systems in which flight data of incoming planes are processed to provide landing data
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/02—Automatic approach or landing aids, i.e. systems in which flight data of incoming planes are processed to provide landing data
    • G08G5/025—Navigation or guidance aids
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography

Abstract

一种飞行器降落保护方法，包括：获取待降落区域的图像；确定图像中的特征点；根据特征点判断待降落区域是否为危险降落区域；如果是，则控制飞行器中止降落或控制飞行器飞离危险降落区域。该方法可以根据获取到的图像判断待降落区域是否为危险降落区域，保证了飞行器降落的安全性。还包括一种飞行器降落保护装置，以及一种飞行器。

Description

PCT国内申请，说明书已公开。

Claims (36)

  1. PCT国内申请，权利要求书已公开。
CN201780002740.0A 2017-12-26 2017-12-26 一种飞行器降落保护方法、装置及飞行器 Pending CN110402421A (zh)

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PCT/CN2017/118662 WO2019127023A1 (zh) 2017-12-26 2017-12-26 一种飞行器降落保护方法、装置及飞行器

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CN110402421A true CN110402421A (zh) 2019-11-01

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US (1) US10796148B2 (zh)
EP (1) EP3528081A4 (zh)
CN (1) CN110402421A (zh)
WO (1) WO2019127023A1 (zh)

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US10796148B2 (en) 2020-10-06
EP3528081A4 (en) 2019-11-13
EP3528081A1 (en) 2019-08-21
WO2019127023A1 (zh) 2019-07-04
US20190197291A1 (en) 2019-06-27

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