WO2016127192A1 - Method for remote controlling a vehicle - Google Patents

Method for remote controlling a vehicle Download PDF

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Publication number
WO2016127192A1
WO2016127192A1 PCT/AT2016/000011 AT2016000011W WO2016127192A1 WO 2016127192 A1 WO2016127192 A1 WO 2016127192A1 AT 2016000011 W AT2016000011 W AT 2016000011W WO 2016127192 A1 WO2016127192 A1 WO 2016127192A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
remote control
characterized
control
method according
Prior art date
Application number
PCT/AT2016/000011
Other languages
German (de)
French (fr)
Inventor
Michael Niedermayr
Moritz WILLBURGER
Original Assignee
Michael Niedermayr
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to ATA74/2015 priority Critical
Priority to ATA74/2015A priority patent/AT516789A1/en
Application filed by Michael Niedermayr filed Critical Michael Niedermayr
Publication of WO2016127192A1 publication Critical patent/WO2016127192A1/en

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Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0011Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
    • G05D1/0016Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement characterised by the operator's input device
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0011Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
    • G05D1/0033Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle

Abstract

In a method for remote controlling a vehicle, a user inputs control commands in a remote control, said control commands being issued at least in part by pointing the remote control to a position to be reached by the vehicle.

Description

 Method for remotely controlling a vehicle

The present invention relates to a method for remote control of a vehicle according to the features of the preamble of claim 1 and a remote control according to the features of the preamble of claim 12.

It is known to control vehicles remotely, with an operator inputting control commands to a remote control and the control commands being converted into control signals for a drive (or multiple drives) of the vehicle. The control commands and / or the control signals (or an intermediate stage occurring during the conversion) are transmitted for example by radio from the remote control to the vehicle.

While in the past the control of such vehicles has not been optimized for easy or more secure use, since the steering was part of the experience or challenge, remote controlled vehicles are now also known which are also intended to provide practical benefits. Such vehicles are commonly referred to as drones.

Efforts have already been made to make the control of these cases easier. Such an attempt is disclosed in US 201 1/0246015 A1. This involves considerable control engineering effort to make the control of the drone as intuitive as possible for the operator.

Nevertheless, the control of drones still requires a great mental performance of the operator, since he has to empathize with the vehicle.

It should be noted that the expression "control" of the vehicle does not mean the regulation or control of a drive in the sense of the control technology - that is to say predetermining a desired value, which is optionally corrected by a measured actual value - but the actions of the operator, which of these meets to move the vehicle in its sense, unless otherwise explicitly stated. The object of the invention is to simplify the control of a remote-controlled vehicle.

With regard to the method, this is achieved by the features of claim 1. With regard to the remote control, this is achieved by the features of claim 12.

This is done with respect to the method in that the control commands are at least partially - preferably completely - given by pointing the remote control to a position to be controlled by the vehicle.

With respect to the remote control, this is done by providing a position sensor for detecting the orientation of the remote control, and

 - detected by the position sensor position data can be transmitted as control commands to the vehicle and / or

 - That a processor of the remote control is adapted to convert the position data into control signals for a drive of the vehicle, wherein the

Control signals can be transmitted to the vehicle.

An advantage of a control according to the invention is that the operator does not have to visualize the further movement of the vehicle from the vehicle's point of view, but that the control commands can be issued from his own point of view.

This is a particularly simple embodiment, since the operator no longer has to provide any mental performance as to how the vehicle must behave in order to reach the desired position. In other words, such an embodiment reduces the complexity of the control to such an extent that it is similar to the operation of a laser pointer.

Protection is also desired for an arrangement of a remote control and a remote controlled vehicle according to the invention.

The conversion of the control commands issued by the operator into the control signals required by the vehicle (or its drive) can be done in a processor, the configuration of the processor not being essential to the invention is, especially in the prior art, a variety of processors are known, which can do the tasks to be performed here.

This processor can do its service in the remote control and / or in the vehicle, in which case the control signals from the remote control to the vehicle are to be transmitted and in the second case the control commands or the position data. It can also be provided that both in the remote control and the vehicle, a processor is arranged and an occurring during the conversion of the control commands in the control signals intermediate is sent from the remote control to the vehicle.

Also for the transmission of the control commands and / or the control signals, various possibilities are known in the prior art. In addition to radio, various other data transmission standards such as W-Lan or NFC techniques (eg Bluetooth) should also be mentioned here. In general, some form of electromagnetic waves is used, and for example, an acoustic transmission from a technical point of view is not excluded a priori.

It should also be mentioned in this connection that the processor need not only be arranged in the remote control and / or the vehicle. Due to the speed of modern data processing systems, the conversion can also be performed in another device.

The invention can be used to control any vehicle remotely, with normally unmanned vehicles remotely controlled, although this is not a limitation from a technical point of view.

Particularly preferably, the invention can be used in aircraft. Further advantageous embodiments of the invention are defined in the dependent claims.

For a particularly precise control it can be provided that the relative position in the form of a coordinate triplet in a coordinate system is taken into account. For particular forms of remotely controlled vehicles, such as boats or certain land vehicles, it may also be useful to use less than three coordinates. In order to make the operation particularly easy for the operator, it may be provided that the coordinate system originating at the position of the remote control and / or the operator is used.

For a particularly simple calculation of a new position or a new direction of movement, it may be provided to use a spherical coordinate system.

A similar advantage can also provide an embodiment in which it is provided that the distance of the vehicle from the remote control and / or the operator by a - realized preferably by means of a touch-sensitive screen - control element of the remote control is set. A separate representation of the control element is not necessary. The representation can also be combined with other elements for controlling the vehicle or for other purposes. In fact, it is not absolutely necessary to display anything on the touchscreen.

 Control by showing and adjusting the distance can be used to advantage particularly in vehicles that are allowed to hold their position. For example, in the case of aircraft which rely on movement, for example to maintain altitude (aircraft), pointing can indicate the direction of the flight.

It can be provided that the remote control has means over which the control is to be released. In particular, when the control is performed by pointing to the remote control, this can be achieved that the operator can store the remote control and perform other activities. In a particularly preferred embodiment in this respect, the remote control on a touch-sensitive screen (touch screen) and the controller can be released by touching the screen. It can be provided that the termination of the touch disables the control again. But this is not necessarily so. For example, the deactivation of the control can also be achieved by actuating a switch, wherein the switch can of course be displayed on the touch-sensitive screen.

Preferably, it may further be provided, the measuring device is at least partially spaced from the remote control and the vehicle. This allows a particularly small or handy construction of the remote control and the vehicle. The measuring device can be carried separately by the operator.

In a further preferred embodiment, the vehicle may be designed as an aircraft, preferably with at least one rotor and particularly preferably with four rotors.

Particularly preferably, it can be provided that a relative position between the remote control and the vehicle is taken into account in the conversion of the control commands into the control signals. For the determination of the relative position different measuring instruments / measuring methods or a combination of these can be used. On the one hand, only sensors that are located in the vehicle can be used for this purpose. This allows the relative position of the vehicle to be determined to its starting point. It is assumed that the vehicle starts at the location of the operator. Among others, the following sensors are suitable (in brackets it is indicated in each case which coordinate parameters in a Cartesian coordinate system can be determined by the respective measurement method):

 • pressure sensor, absolute height of the vehicle (z)

 • Ultrasonic sensor, absolute distance between vehicle and ground, walls (x, y, z) · Infrared sensor, absolute distance between vehicle and ground, walls (x, y, z)

• GNSS (Global Navigation Satellite System); e.g. GPS, absolute position of the vehicle (x, y, z)

 • Acceleration sensors with double integration of the measured values (x, y, z)

• Optical flow sensor (speed) with integration of the measured values (x, y, z) • Camera or stereo cameras (3d position reconstruction from multiple images, recognition of the operator) (x, y, z)

 The latter is in principle also suitable for determining the position of the vehicle from the remote control.

In addition, the relative position of the vehicle may also be determined by a combination of subsystems located in the vehicle and the operator. The following systems are suitable for this:

 • Differential GNSS (DGNSS). A receiver is located at the operator, one in the vehicle. The data of the first receiver will be sent to the

Vehicle transmitted and combined there with data of the second receiver.

• The remote control is equipped with LEDs (eg: infrared) and the vehicle with photodiodes or cameras. By detecting the light emitted by the LEDs, the vehicle can determine its rotational position (ie the orientation in space) relative to the operator. The strength of the signal also provides information about the distance between the operator and the vehicle. If the light-emitting diodes are operated pulsed, the distance can also be determined via a time-of-flight measurement. It is also possible to equip the remote control with detectors and the vehicle with LEDs. · Sound measurement. The vehicle (remote control) is equipped with a sound source and the remote control (vehicle) with one or more microphones. The distance can be determined via a triggered transit time measurement. Several microphones also make it possible to determine the rotational position.

• radio measurement. The same principle as with the sound measurement, however radio waves are used here.

 • Measurement of the field strength of an electromagnetic field via an array of antennas. Preferably, the field is generated on the vehicle and measured on the remote control. But it can also be solved the other way round. This method is also used in avalanche transceivers.

Particularly preferred may be an embodiment in which as a measuring device at least one satellite navigation module - preferably two satellite navigation modules (DGNSS) - and / or a pressure sensor and / or an acceleration sensor - preferably However, three acceleration sensors, one per spatial direction - and / or a stereo camera can be used.

It can be provided that the control commands are implemented by the vehicle immediately or after a fixed start time by driving the position. The latter makes it possible to leave the vehicle a trajectory defined in advance by pointing.

It can also be provided that the vehicle has a device for subtracting a visual signal. This device may for example be a light source (example: LED) or a device for settling smoke (black, white or colored).

This makes it possible to realize a kind of "painting in the sky." Through film / video or photography - possibly with a long exposure time - images can be created from it.

Further advantages and details of the invention are apparent from the figures and the associated description of the figures. Show

Fig. 1 a and 1 b, the spatial situation in an embodiment of the

 Invention,

 2a to 2c different examples of degrees of freedom of control of an embodiment according to the invention,

 Fig. 3a and 3b show two alternatives for controlling an additional

 Degree of freedom

 4 is a flowchart for the operation of the invention,

5a and 5b representations of a vehicle according to the invention and a remote control according to the invention and

 Fig. 6 is a flowchart for the operation of a drone.

In Figures 1 a and 1 b, the principle of an embodiment of the invention control is illustrated. The operator B stops at the origin P 0 and holds the remote control 2 in his hand. He directs this to the point Pi whereupon the Vehicle 1 goes to this point Pi. The distance between P i and P 0 , denoted by r, is inputted by the operator B on the remote control 2.

The vehicle 1 may be a four-rotor drone in this case. Drones are often referred to as UAV for Unmanned Aerial Vehicle. Such a vehicle 1 is shown in FIG. 5a.

In FIG. 1 b, FIG. 1 a is somewhat further abstracted in order to clarify the coordinate triplet (Γ, θ, φ). With regard to FIG. 1 b, it is first to be said that the XY plane is as a rule given through the earth's surface, for example, before the start of the operation by matching between the vehicle 1 and the remote control 2, the X or Y axis (and so that the other axis) is determined. The Z-axis is then the vertical. Position sensors in the remote control 2 can then provide the angles Θ and φ, where Θ denotes the angular deviation from the vertical of the relative vector from P 0 (operator position) to Pi (intended vehicle position) and φ is the angle between the X axis and the projection is included on the XY plane of said vector.

The now available coordinate triplet (Γ, θ, φ) can then be used to characterize the point P, whereby the processor 7 can generate control signals for the drives of the vehicle 1. These will be the necessary, relative change in position of the vehicle 1 from the actual position (η, θ ι, φ ι), which corresponds to the current position of the vehicle 1, and the desired position (r S , 6 s, § s) , which corresponds to the coordinate triplet (Γ, Θ, Φ) determined by the remote control, calculated using the following equations:

ΔΓ = r s -n,

Δθ = θ 3 - θι,

Δφ = φ δ - φι.

ΔΓ, Δθ and Δφ are used as control signals for the drives of the vehicle 1 to achieve the desired position change. The result is a control in which the operator B with the remote control 2 only needs to point to the desired position and must specify the distance to control the drone. Of course, can be traversed by continuous specification of positions Pi also a trajectory, which is specified by the operator B.

In Figures 2a to 2c, the various forms of movement of the vehicle 1 are shown, which are triggered by certain control commands of the operator B.

In Fig. 2a, the operator B moves the remote control 2 in a vertical plane (the drawing plane). The vehicle 1 then performs a movement on a circular arc in this plane, that is, the distance r to the operator B of the vehicle 1 remains constant.

In FIG. 2b, the operator B executes a pivoting movement in a horizontal plane (shown in perspective). The vehicle 1 moves again in the horizontal plane on a circular arc, that is, the distance r to the operator B remains the same.

In Fig. 2c, the operator B does not perform any movement of the remote control as a whole, but adjusts the distance between the operator B or the remote control 2 and the vehicle 1 by means of a swiping movement on the touch-sensitive screen. It is also possible to use a control element (slider) displayed on the touch-sensitive screen. The vehicle 1 accordingly moves on an axis defined by the default direction of the remote control 2 away from the operator B or towards the operator B.

Other control degrees of freedom of the vehicle 1 with the control according to the invention can also be controlled.

FIGS. 3 a and 3 b show two examples of rotations of the vehicle 1 about a vertical axis through the vehicle 1.

In Figure 3a, this movement is realized by the operator B by a rolling movement of the remote control 2 about the pointing axis. In Figure 3b, this is done by a on the touch-sensitive screen 4 controller shown - preferably perpendicular to the control direction for the distance r.

FIG. 4 shows a flowchart of a control according to the invention of a vehicle. In this case, the desired position P-i in the form of the Euler angles Θ and φ and the distance r to the vehicle 1 are specified by the remote control 2. These data are transmitted to the UAV, which calculates and executes the necessary actions for the correction of the position from the newly specified coordinate triplet (τ, θ, φ). The processor 7 for converting the operating commands into the operating signals is thus arranged in the vehicle 1 in this embodiment.

In Figure 5a, a vehicle 1 is shown. This has four rotors 5 and one drive 3 per rotor. Furthermore, a camera 6 is provided, whereby aerial images or videos can be created in a simple manner by means of the control according to the invention.

Schematically also the processor 7 is shown, which is connected both to the drives 3, as well as has a data connection 8, by means of which data from the remote control 2 can be received.

FIG. 5b shows a remote control 2 according to the invention with a touch-sensitive screen 4. It should be noted that smartphones can in principle have all the technical facilities to serve as remote control 2 according to the invention. This guarantees a simple implementation of the invention.

As already mentioned, it is provided in this embodiment that the processor 7 is arranged on the vehicle 1. Optionally, the processor 7 could also be formed by a processor 7 in the remote control 2.

The detection of the relative position between the vehicle 1 and the remote control 2 is achieved in this embodiment by a combination of the following measuring devices: Two satellite navigation modules (DGNSS), one located in vehicle 1 and one carried by operator B. (It may be convenient to run the module separately from the remote control 2.)

- In each case a pressure sensor at the operator B and the vehicle. 1

 An acceleration sensor in the vehicle 1.

 - A stereo camera in the vehicle 1.

FIG. 6 shows a self-explanatory flow chart for the operation of a UAV according to the invention.

Claims

claims
1 . Method for remotely controlling a vehicle (1), wherein control commands are input by an operator (B) on a remote control (2), characterized in that the control commands at least partially by pointing the remote control (2) to a position to be controlled by the vehicle (1) are given.
2. The method according to claim 1, characterized in that the control commands are converted into control signals for a drive (3) of the vehicle.
3. The method according to claim 2, characterized in that a relative position between the remote control (2) and vehicle (1) is taken into account in the conversion of the control commands in the control signals.
4. The method according to claim 3, characterized in that the relative position is detected by means of a measuring device.
5. The method according to claim 4, characterized in that as a measuring device at least one satellite navigation module - preferably two satellite navigation modules - and / or a pressure sensor and / or one or more acceleration sensors and / or a stereo camera are used.
6. The method according to claim 3, characterized in that the relative position in the form of a coordinate triplet (Γ, θ, φ) is taken into account in a coordinate system.
7. The method according to any one of claims 1 to 6, characterized in that a coordinate system originating at the position of the remote control (2) and / or the operator (B) is used.
8. The method according to any one of claims 1 to 7, characterized in that are used as the coordinate system spherical coordinates.
9. The method according to any one of claims 1 to 8, characterized in that the distance (r) of the vehicle from the remote control (2) and / or the operator (B) by a - preferably by means of a touch-sensitive screen (4) realized - control element the remote control is set.
10. The method according to any one of claims 1 to 9, characterized in that the control commands from the vehicle (1) are implemented immediately or after a specified start time by driving the position.
1 1. Method according to one of claims 1 to 10, wherein a vehicle is remotely controlled.
12. Remote control for a vehicle, in particular for carrying out a method according to one of claims 1 to 1 1, characterized in that a position sensor for detecting the orientation of the remote control (2) is provided and
 - Position data detected by the position sensor can be transmitted as control commands to the vehicle (1) and / or
 - That a processor (7) of the remote control (2) is adapted to convert the position data into control signals for a drive (3) of the vehicle (1), wherein the control signals to the vehicle (1) can be transmitted.
13. Remote control according to claim 12, characterized in that the remote control (2) has a touch-sensitive screen (4), by means of which a control element for a distance (r) of the vehicle (1) from the remote control (2) and / or the operator (B) is feasible.
14. Remote control according to claim 12 or 13, characterized in that the remote control (2) has a touch-sensitive screen (4), wherein the input of the control commands by touching the screen (4) is releasable.
15. Arrangement of a remote-controlled vehicle (1) and a remote control (2) according to one of claims 12 to 14.
16. The arrangement according to claim 15, characterized in that a processor (7) for converting the control commands in the control signals in the vehicle (1) is arranged.
17. Arrangement according to claim 15 or 16, characterized in that a measuring device is provided, by means of which a relative position of the vehicle (1) relative to the remote control (2) and / or the operator (B) can be detected.
18. Arrangement according to claim 17, characterized in that the measuring device is arranged at least partially spaced from the remote control (2) and the vehicle (1).
19. Arrangement according to one of claims 15 to 18, characterized in that the vehicle (1) as an aircraft, preferably with at least one rotor (5) and particularly preferably with four rotors (5) is formed.
20. Arrangement according to one of claims 15 to 19, characterized in that the vehicle (2) comprises a device for setting a visual signal.
PCT/AT2016/000011 2015-02-13 2016-02-12 Method for remote controlling a vehicle WO2016127192A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
ATA74/2015 2015-02-13
ATA74/2015A AT516789A1 (en) 2015-02-13 2015-02-13 Method for remotely controlling a vehicle

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