CN116483127A - Unmanned aerial vehicle off-site take-off and landing method, unmanned aerial vehicle control terminal and storage medium - Google Patents
Unmanned aerial vehicle off-site take-off and landing method, unmanned aerial vehicle control terminal and storage medium Download PDFInfo
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Abstract
The invention belongs to the technical field of unmanned aerial vehicle control, and provides an unmanned aerial vehicle off-site take-off and landing method, an unmanned aerial vehicle control terminal and a storage medium. The off-site take-off and landing method of the unmanned aerial vehicle comprises the steps of issuing a pole tower mission route, calculating the safe return range of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to take off and execute the pole tower mission route; judging whether the unmanned aerial vehicle can return to the home or not according to the duration and weather conditions of the unmanned aerial vehicle, and selecting a temporary landing point to land if the unmanned aerial vehicle cannot return to the home or not and does not have the condition of returning to an airport; if the vehicle can return normally, waiting for the vehicle to stop in a safe area for returning; controlling the unmanned aerial vehicle to return to the voyage and accurately descending to the mobile airport.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle control, and particularly relates to an unmanned aerial vehicle off-site take-off and landing method, an unmanned aerial vehicle control terminal and a storage medium.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
Unmanned aerial vehicle inspection has the characteristics of high efficiency, high precision and high safety, and unmanned aerial vehicle airport automatic inspection becomes a more common automatic inspection mode. Traditional unmanned aerial vehicle airport is fixed airport, needs to install at fixed place and can only patrol and examine the region in the radius of patrolling and examining. This gets rid of the problem that the patrol personnel need to master unmanned aerial vehicle operation skills, but also increases the limitation of the patrol area to a certain extent.
For a field environment for mobile airport applications. The existing GPS coordinate point landing has the problem of safe landing between the unmanned aerial vehicle and the mobile airport, the existing collaborative path planning method has the problems that the actual situation of field operation is not met, the constructed objective function is only related to the unmanned aerial vehicle path, the influence of the vehicle path is not considered, and the like, such as:
unmanned aerial vehicle and airport's safe distance detection: during the movement of a mobile airport, it is difficult for an operator to determine the safe distance between the airport and the unmanned aerial vehicle. Through the landing of current GPS coordinate point, can exist that the mobile airport has left unmanned aerial vehicle's the biggest safe flight distance inevitably, can lead to unmanned aerial vehicle not enough electric quantity to get back to the airport like this to lead to unmanned aerial vehicle to fry the machine.
The vehicle path planning and unmanned aerial vehicle task allocation combined optimization method and device have the problem that the practical dissatisfaction is not high in the unmanned aerial vehicle pole tower inspection operation application value. In the scheme, when an integer programming model of TT I-TSP-D is constructed, goods are distributed by referencing to unmanned aerial vehicles, a model adopted is an unordered unmanned aerial vehicle inspection tower extraction point and a vehicle parking point, and the arrangement of a line tower is usually a straight line or an approximate straight line in the actual situation. Meanwhile, the scheme is used for constructing a model objective function only related to the unmanned aerial vehicle path without considering the influence of the vehicle path, the unmanned aerial vehicle path is not overlapped with the vehicle path, the actual situation of moving an airport operation road is an important situation which must be considered, and a plurality of towers are also constructed along the road.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides an unmanned aerial vehicle off-site take-off and landing method, an unmanned aerial vehicle control terminal and a storage medium, which can realize off-site take-off and landing of an unmanned aerial vehicle in mobile operation of an airport, increase the safety of off-site take-off and landing of the unmanned aerial vehicle, break away from the limitation of a traditional fixed airport inspection area, ensure that the unmanned aerial vehicle lands along the mobile airport, and ensure the safety of cooperative movement of the unmanned aerial vehicle and the mobile airport.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the first aspect of the invention provides a method for taking off and landing an unmanned aerial vehicle in different places.
A method of off-site take-off and landing of an unmanned aerial vehicle, comprising:
the safe return range of the unmanned aerial vehicle is calculated while the pole tower mission route is issued, and the pole tower mission route task is controlled to be executed by the unmanned aerial vehicle in a take-off mode;
judging whether the unmanned aerial vehicle can return to the home or not according to the duration and weather conditions of the unmanned aerial vehicle, and selecting a temporary landing point to land if the unmanned aerial vehicle cannot return to the home or not and does not have the condition of returning to an airport; if the vehicle can return normally, waiting for the vehicle to stop in a safe area for returning;
controlling the unmanned aerial vehicle to return to the voyage and accurately descending to the mobile airport.
As an embodiment, the furthest area of flight of the unmanned aerial vehicle is a gradually shrinking circle.
The calculation process of the safe return range of the unmanned aerial vehicle is as follows: abstracting the tower into a point; unmanned plane flying speed v and endurance time t; the unmanned aerial vehicle endurance time t is assumed to be attenuated according to a function F (t) in the flight process; the formula of the path of the maximum safe area of the unmanned aerial vehicle in the process that one tower flies to the other tower is as follows:where A, B, C is a constant, x is a longitude coordinate and y is a latitude coordinate.
As an implementation mode, the maximum safe distance of the unmanned aerial vehicle in the pole and tower inspection process is the remaining airplane endurance time multiplied by the flying speed at the end of pole and tower inspection.
As an implementation mode, the road information in the safe landing range of the unmanned aerial vehicle is automatically matched and acquired by combining the known map route information.
As an implementation mode, the process of selecting the temporary landing place of the unmanned aerial vehicle is as follows:
acquiring longitude and latitude coordinates of the unmanned aerial vehicle and longitude and latitude coordinates of a mobile airport, and dividing the distance between the unmanned aerial vehicle and a connecting line of the mobile airport into a plurality of coordinate points with set distances through equidistant separation;
and removing the points which are not in accordance with the landing conditions, respectively acquiring the altitude of the coordinate set, calculating the ground coordinate angle of the adjacent points to be smaller than the set angle area, and selecting the point which is in accordance with the conditions and is closest to the mobile airport as the recommended temporary landing point.
As an implementation mode, the unmanned aerial vehicle is returned to the air and accurately lowered to the mobile airport by combining the vision fine-descent technology.
The second aspect of the invention provides a control terminal of a unmanned aerial vehicle.
An unmanned aerial vehicle control terminal, comprising:
the task issuing and returning range calculating module is used for issuing a pole tower task route and calculating the safe returning range of the unmanned aerial vehicle at the same time, and controlling the unmanned aerial vehicle to take off and execute the pole tower route task;
the normal return judgment module is used for judging whether the unmanned aerial vehicle can return normally according to the duration and weather conditions of the unmanned aerial vehicle, and selecting a temporary landing point to land if the unmanned aerial vehicle cannot return normally and does not have the condition of returning to an airport; if the vehicle can return normally, waiting for the vehicle to stop in a safe area for returning;
and the return control and accurate landing module is used for controlling the unmanned aerial vehicle to return and accurately descend to the mobile airport.
As an implementation manner, in the task issuing and returning range calculating module, the furthest area of the unmanned aerial vehicle flying is a gradually shrinking circle.
The calculation process of the unmanned aerial vehicle safe return range comprises the following steps: abstracting the tower into a point; unmanned plane flying speed v and endurance time t; the unmanned aerial vehicle endurance time t is assumed to be attenuated according to a function F (t) in the flight process; the formula of the path of the maximum safe area of the unmanned aerial vehicle in the process that one tower flies to the other tower is as follows:where A, B, C is a constant, x is a longitude coordinate and y is a latitude coordinate.
As an implementation manner, in the normal return determination module, the process of selecting the temporary landing location of the unmanned aerial vehicle is as follows:
acquiring longitude and latitude coordinates of the unmanned aerial vehicle and longitude and latitude coordinates of a mobile airport, and dividing the distance between the unmanned aerial vehicle and a connecting line of the mobile airport into a plurality of coordinate points with set distances through equidistant separation;
and removing the points which are not in accordance with the landing conditions, respectively acquiring the altitude of the coordinate set, calculating the ground coordinate angle of the adjacent points to be smaller than the set angle area, and selecting the point which is in accordance with the conditions and is closest to the mobile airport as the recommended temporary landing point.
A third aspect of the present invention provides a computer-readable storage medium.
A computer readable storage medium having stored thereon a computer program which when executed by a processor realizes the steps in the method of off-site take-off and landing of a drone as described above.
Compared with the prior art, the invention has the beneficial effects that:
the off-site take-off and landing method of the unmanned aerial vehicle applied to the mobile airport is provided, so that the off-site take-off and landing of the unmanned aerial vehicle in the mobile operation of the airport are realized, the safety of the off-site take-off and landing of the unmanned aerial vehicle is improved, and the limitation of a traditional fixed airport inspection area is eliminated; the technical problems to be solved by the method include landing of the unmanned aerial vehicle in different places after taking off, and ensuring that the unmanned aerial vehicle lands along with a mobile airport; the problem of unmanned aerial vehicle and mobile airport position move the security of returning to the journey that causes has been solved, unmanned aerial vehicle and mobile airport's security of cooperative motion has been ensured.
Additional aspects of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
FIG. 1 is a flowchart of a method for off-site take-off and landing of an unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 2 is an example of a planned drone inspection safety range in accordance with an embodiment of the present invention;
FIG. 3 is a security check after completion of each tower of an embodiment of the present invention;
fig. 4 is a selection of a temporary landing point of an unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
Example 1
According to fig. 1, the embodiment provides a method for taking off and landing a unmanned aerial vehicle in different places, which includes:
step 1: the safe return range of the unmanned aerial vehicle is calculated while the pole tower mission route is issued, and the pole tower mission route task is controlled to be executed by the unmanned aerial vehicle in a take-off mode;
wherein, because the tower is very small relative to the whole mission route, the tower is abstracted into a point; unmanned plane flying speed v and endurance time t; the unmanned aerial vehicle endurance time t is assumed to be attenuated according to a function F (t) in the flight process; the furthest area of the unmanned aerial vehicle flight is a gradually shrinking circle. From this can release unmanned aerial vehicle in the in-process of another shaft tower of one shaft tower departure to the biggest safe area route formula is:where A, B, C is a constant, x is a longitude coordinate and y is a latitude coordinate. The flight path of the unmanned aerial vehicle is point-to-point in a straight line due to the fact that the remaining flight time s of the unmanned aerial vehicle is known. Therefore, at a certain point on the flight path, the maximum flight distance (maximum safe distance) is a circle with vs as a radius. Therefore, the maximum flight distance is a straight line, the distance of any point on the straight line according to the flight path is vs, and the straight line image gradually approaches to the flight path. Ax+by+c=0 is a straight line equation. A. B, C can be calculated from two points.
The maximum safe distance of the unmanned aerial vehicle is calculated, the safe distance range is drawn on the map through the access map, as shown in fig. 2, the circle is the maximum flight radius at a certain point, and the safe landing area of the unmanned aerial vehicle is arranged in a straight line (the straight line is essentially the tangent line of countless circles consisting of the maximum flight distances of countless points on the path). The machine nest can move to the safe landing area to wait according to the map identification.
The maximum safe distance of the unmanned aerial vehicle in the pole and tower inspection process is the time of endurance of the remaining aircraft when the pole and tower inspection is finished multiplied by the flight speed. By combining the route information given by the Goldmap developer platform, the road information in the safe landing range of the unmanned aerial vehicle can be automatically matched and obtained, so that the airport can be moved to the safe landing range of the unmanned aerial vehicle in advance, and the normal landing of the unmanned aerial vehicle is ensured.
The unmanned aerial vehicle landing safety area planning algorithm model adopted by the embodiment is simple and efficient, and is beneficial to quick response of a user side.
Step 2: judging whether the unmanned aerial vehicle can return to the home or not according to the duration and weather conditions of the unmanned aerial vehicle, and selecting a temporary landing point to land if the unmanned aerial vehicle cannot return to the home or not and does not have the condition of returning to an airport; if the vehicle can return normally, waiting for the vehicle to stop in a safe area for returning;
in a specific implementation process, the unmanned aerial vehicle needs to ensure that the unmanned aerial vehicle can safely return to an airport in the process of executing a pole and tower task, and the unmanned aerial vehicle endurance time t is calculated to be eight times of actual test endurance time, so that the unmanned aerial vehicle can safely land under the limit condition. Meanwhile, as the unmanned aerial vehicle is used for executing the pole tower inspection operation, the same pole tower is not allowed to be pulled up directly and returned to the navigation during inspection in order to ensure safety. Therefore, after the operation of the last point of the tower is completed, the conditions of residual electric quantity, rain, wind speed and the like are judged, and if the flight conditions are not met, the return is directly prompted.
In step 2, as shown in fig. 4, the process of selecting the temporary landing location of the unmanned aerial vehicle is as follows:
acquiring longitude and latitude coordinates of the unmanned aerial vehicle and longitude and latitude coordinates of a mobile airport, and dividing the distance between the unmanned aerial vehicle and a connecting line of the mobile airport into a plurality of coordinate points with a set distance (for example, 0.5 m) by equidistant separation;
and removing points (such as lakes, forests, house buildings and the like) which are not in accordance with the preset landing conditions, respectively acquiring the altitude of a coordinate set, calculating an area of which the ground coordinate angle of the adjacent point is smaller than a set angle (such as 20 degrees), and selecting the point which is in accordance with the conditions and is closest to the mobile airport as a recommended temporary landing point.
The longitude and latitude coordinates of the unmanned aerial vehicle and the longitude and latitude coordinates of the mobile airport are acquired through RTK positioning information, and therefore accurate positioning at the RTK centimeter level is adopted, and landing is safer and more accurate.
In this embodiment, the normal flight procedure of the unmanned aerial vehicle is that the inspection is finished and the unmanned aerial vehicle falls back to the aircraft nest. The temporary landing point is used for selecting the temporary landing point to recommend to the user so as to achieve the purpose of temporary safe landing because the unmanned aerial vehicle cannot return to the aircraft nest under the special condition or emergency shown in fig. 3.
In other embodiments, the user may also select a landing point within the safe range of the unmanned plane to land according to the observation.
Step 3: controlling the unmanned aerial vehicle to return to the voyage and accurately descending to the mobile airport.
Specifically, unmanned aerial vehicle returns to the journey and combines accurate mobile airport of falling of vision smart technology accurate drop.
According to the method, factors such as actual distribution rules of the circuit towers, road environment, abnormal flight condition judgment of the unmanned aerial vehicle, actual inspection operation and the like are combined, so that the unmanned aerial vehicle can safely take off and land in different places, application consideration is comprehensive, and the method is more practical.
Example two
The embodiment provides an unmanned aerial vehicle control terminal, it includes:
the task issuing and returning range calculating module is used for issuing a pole tower task route and calculating the safe returning range of the unmanned aerial vehicle at the same time, and controlling the unmanned aerial vehicle to take off and execute the pole tower route task;
the normal return judgment module is used for judging whether the unmanned aerial vehicle can return normally according to the duration and weather conditions of the unmanned aerial vehicle, and selecting a temporary landing point to land if the unmanned aerial vehicle cannot return normally and does not have the condition of returning to an airport; if the vehicle can return normally, waiting for the vehicle to stop in a safe area for returning;
and the return control and accurate landing module is used for controlling the unmanned aerial vehicle to return and accurately descend to the mobile airport.
In the task issuing and returning range calculating module, the calculating process of the unmanned aerial vehicle safe returning range is as follows: abstracting the tower into a point; unmanned plane flying speed v and endurance time t; the unmanned aerial vehicle endurance time t is assumed to be attenuated according to a function F (t) in the flight process; the formula of the path of the maximum safe area of the unmanned aerial vehicle in the process that one tower flies to the other tower is as follows:where A, B, C is a constant, x is a longitude coordinate and y is a latitude coordinate.
In the normal return judgment module, the process of selecting the temporary landing place of the unmanned aerial vehicle is as follows:
acquiring longitude and latitude coordinates of the unmanned aerial vehicle and longitude and latitude coordinates of a mobile airport, and dividing the distance between the unmanned aerial vehicle and a connecting line of the mobile airport into a plurality of coordinate points with set distances through equidistant separation;
and removing the points which are not in accordance with the landing conditions, respectively acquiring the altitude of the coordinate set, calculating the ground coordinate angle of the adjacent points to be smaller than the set angle area, and selecting the point which is in accordance with the conditions and is closest to the mobile airport as the recommended temporary landing point.
It should be noted that, each module in the embodiment corresponds to each step in the first embodiment one to one, and the implementation process is the same, which is not described here.
Example III
The present embodiment provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps in the off-site take-off and landing method for a drone as set forth in the above embodiment.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, magnetic disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program stored on a computer readable storage medium, which when executed may comprise the steps of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random access Memory (Random AccessMemory, RAM), or the like.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The off-site take-off and landing method of the unmanned aerial vehicle is characterized by comprising the following steps of:
the safe return range of the unmanned aerial vehicle is calculated while the pole tower mission route is issued, and the pole tower mission route task is controlled to be executed by the unmanned aerial vehicle in a take-off mode;
judging whether the unmanned aerial vehicle can return to the home or not according to the duration and weather conditions of the unmanned aerial vehicle, and selecting a temporary landing point to land if the unmanned aerial vehicle cannot return to the home or not and does not have the condition of returning to an airport; if the vehicle can return normally, waiting for the vehicle to stop in a safe area for returning;
controlling the unmanned aerial vehicle to return to the voyage and accurately descending to the mobile airport.
2. The unmanned aerial vehicle off-site take-off and landing method of claim 1, wherein the furthest area of flight of the unmanned aerial vehicle is a progressively smaller circle.
3. The unmanned aerial vehicle off-site take-off and landing method of claim 1, wherein the maximum safe distance of the unmanned aerial vehicle during the tower inspection is the remaining aircraft endurance time at the end of the tower inspection multiplied by the flight speed.
4. The unmanned aerial vehicle off-site take-off and landing method of claim 1, wherein the road information in the safe landing range of the unmanned aerial vehicle is automatically matched and acquired by combining the known map route information.
5. The unmanned aerial vehicle off-site take-off and landing method of claim 1, wherein the process of selecting the temporary landing site of the unmanned aerial vehicle is as follows:
acquiring longitude and latitude coordinates of the unmanned aerial vehicle and longitude and latitude coordinates of a mobile airport, and dividing the distance between the unmanned aerial vehicle and a connecting line of the mobile airport into a plurality of coordinate points with set distances through equidistant separation;
and removing the points which are not in accordance with the landing conditions, respectively acquiring the altitude of the coordinate set, calculating the ground coordinate angle of the adjacent points to be smaller than the set angle area, and selecting the point which is in accordance with the conditions and is closest to the mobile airport as the recommended temporary landing point.
6. The unmanned aerial vehicle off-site take-off and landing method of claim 1, wherein the unmanned aerial vehicle is returned to and accurately lowered to the mobile airport in combination with a visual fine-landing technique.
7. An unmanned aerial vehicle control terminal, characterized by comprising:
the task issuing and returning range calculating module is used for issuing a pole tower task route and calculating the safe returning range of the unmanned aerial vehicle at the same time, and controlling the unmanned aerial vehicle to take off and execute the pole tower route task;
the normal return judgment module is used for judging whether the unmanned aerial vehicle can return normally according to the duration and weather conditions of the unmanned aerial vehicle, and selecting a temporary landing point to land if the unmanned aerial vehicle cannot return normally and does not have the condition of returning to an airport; if the vehicle can return normally, waiting for the vehicle to stop in a safe area for returning;
and the return control and accurate landing module is used for controlling the unmanned aerial vehicle to return and accurately descend to the mobile airport.
8. The unmanned aerial vehicle control terminal of claim 7, wherein in the mission issuing and return range calculation module, the furthest area of flight of the unmanned aerial vehicle is a progressively smaller circle.
9. The unmanned aerial vehicle control terminal of claim 7, wherein in the normal return determination module, the procedure for selecting the temporary landing location of the unmanned aerial vehicle is:
acquiring longitude and latitude coordinates of the unmanned aerial vehicle and longitude and latitude coordinates of a mobile airport, and dividing the distance between the unmanned aerial vehicle and a connecting line of the mobile airport into a plurality of coordinate points with set distances through equidistant separation;
and removing the points which are not in accordance with the landing conditions, respectively acquiring the altitude of the coordinate set, calculating the ground coordinate angle of the adjacent points to be smaller than the set angle area, and selecting the point which is in accordance with the conditions and is closest to the mobile airport as the recommended temporary landing point.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, realizes the steps in the off-site take-off and landing method of a drone according to any one of claims 1-6.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116954245A (en) * | 2023-09-12 | 2023-10-27 | 湖北华中电力科技开发有限责任公司 | Unmanned aerial vehicle control method and device, mobile machine nest and storage medium |
| CN117151432A (en) * | 2023-10-30 | 2023-12-01 | 天津仁爱学院 | Unmanned aerial vehicle automatic airport allocation method for risk avoidance mode |
| CN118426490A (en) * | 2024-06-27 | 2024-08-02 | 益乘(天津)管理咨询有限公司 | Unmanned aerial vehicle berthing method |
-
2023
- 2023-05-11 CN CN202310540465.5A patent/CN116483127A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116954245A (en) * | 2023-09-12 | 2023-10-27 | 湖北华中电力科技开发有限责任公司 | Unmanned aerial vehicle control method and device, mobile machine nest and storage medium |
| CN116954245B (en) * | 2023-09-12 | 2023-12-01 | 湖北华中电力科技开发有限责任公司 | Unmanned aerial vehicle control method and device, mobile machine nest and storage medium |
| CN117151432A (en) * | 2023-10-30 | 2023-12-01 | 天津仁爱学院 | Unmanned aerial vehicle automatic airport allocation method for risk avoidance mode |
| CN117151432B (en) * | 2023-10-30 | 2024-01-23 | 天津仁爱学院 | Unmanned aerial vehicle automatic airport allocation method for risk avoidance mode |
| CN118426490A (en) * | 2024-06-27 | 2024-08-02 | 益乘(天津)管理咨询有限公司 | Unmanned aerial vehicle berthing method |
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