WO2019134148A1 - Procédé et dispositif de commande de véhicule aérien sans pilote, et plate-forme mobile - Google Patents

Procédé et dispositif de commande de véhicule aérien sans pilote, et plate-forme mobile Download PDF

Info

Publication number
WO2019134148A1
WO2019134148A1 PCT/CN2018/071676 CN2018071676W WO2019134148A1 WO 2019134148 A1 WO2019134148 A1 WO 2019134148A1 CN 2018071676 W CN2018071676 W CN 2018071676W WO 2019134148 A1 WO2019134148 A1 WO 2019134148A1
Authority
WO
WIPO (PCT)
Prior art keywords
unmanned aerial
aerial vehicle
uav
distance
controlling
Prior art date
Application number
PCT/CN2018/071676
Other languages
English (en)
Chinese (zh)
Inventor
高翔
王军
张彬
Original Assignee
深圳市大疆创新科技有限公司
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
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201880031255.0A priority Critical patent/CN110612496A/zh
Priority to PCT/CN2018/071676 priority patent/WO2019134148A1/fr
Publication of WO2019134148A1 publication Critical patent/WO2019134148A1/fr

Links

Images

Classifications

    • 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
    • G05D1/10—Simultaneous control of position or course in three dimensions

Definitions

  • the embodiment of the invention relates to the technical field of drones, and in particular to a control method, a control device and a movable platform of an unmanned aerial vehicle.
  • Embodiments of the present invention provide a control method, a control device, and a movable platform for an unmanned aerial vehicle, which are used to implement obstacle avoidance and ensure flight safety.
  • an embodiment of the present invention provides a method for controlling an unmanned aerial vehicle, including:
  • the UAV When the distance is less than the first preset distance, controlling the UAV to fly in a first direction and then fly in a second direction;
  • the first direction is a direction away from the obstacle surface, and the second direction is a proximity obstacle Direction of the face;
  • an embodiment of the present invention provides a control device for an unmanned aerial vehicle, including: a distance sensor and a processor;
  • the distance sensor is configured to acquire a distance between the UAV and the obstacle surface
  • the processor is configured to control the UAV to fly in a first direction and then fly in a second direction when the distance acquired by the distance sensor is less than a first preset distance; the first direction is away a direction of the obstacle surface, the second direction being a direction close to the obstacle surface;
  • an embodiment of the present invention provides a readable storage medium, where the readable storage medium stores a computer program; when the computer program is executed, the first aspect of the present invention is implemented as described in the embodiment of the present invention.
  • the control method of the human aircraft is not limited to a third aspect.
  • an embodiment of the present invention provides a mobile platform, including: a power device, and a control device according to the second aspect of the present invention;
  • the power unit is for outputting power.
  • the control method, the control device and the movable platform of the unmanned aerial vehicle obtained by the embodiment of the invention obtain the distance between the unmanned aerial vehicle and the obstacle surface; and when the distance is less than the first preset distance, the unmanned person is controlled Flying the aircraft away from the obstacle surface, and then controlling the unmanned aerial vehicle to fly toward the obstacle surface; then controlling the unmanned aerial vehicle to stop flying toward the obstacle surface, the unmanned aerial vehicle stopping toward the second
  • the distance between the UAV and the obstacle surface is greater than or equal to the first preset distance when flying in the direction, thereby ensuring a certain distance between the UAV and the obstacle surface, thereby realizing obstacle avoidance and ensuring
  • the flight is safe, and the present embodiment controls the UAV to achieve a bounce-like flight trajectory during the obstacle avoidance process, so that the player's control of the UAV is more interesting, and the user experience is improved to increase the low-level player to the UAV. interest of.
  • FIG. 1 is a schematic architectural diagram of an unmanned flight system in accordance with an embodiment of the present invention
  • FIG. 2 is a flowchart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of an unmanned aerial vehicle flying in a first direction and then flying in a second direction according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of an unmanned aerial vehicle flying in a first direction according to an embodiment of the present invention
  • FIG. 5 is a schematic diagram of an unmanned aerial vehicle flying in a second direction according to an embodiment of the present invention
  • FIG. 6 is a schematic structural diagram of a control device according to an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of a control device according to another embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of a mobile platform according to an embodiment of the present invention.
  • Embodiments of the present invention provide a control method, a control device, and a movable platform of an unmanned aerial vehicle.
  • the unmanned aerial vehicle involved therein may be a rotorcraft, for example, a multi-rotor aircraft driven by air by a plurality of urging means, and embodiments of the present invention are not limited thereto.
  • FIG. 1 is a schematic architectural diagram of an unmanned flight system in accordance with an embodiment of the present invention. This embodiment is described by taking a rotorcraft unmanned aerial vehicle as an example.
  • the unmanned aerial vehicle system 100 can include an unmanned aerial vehicle 110, a pan/tilt head 120, a display device 130, and a control device 140.
  • the unmanned aerial vehicle 110 may include a power system 150, a flight control system 160, and a rack.
  • the UAV 110 can be in wireless communication with the control device 140 and the display device 130.
  • the rack can include a fuselage and a tripod (also known as a landing gear).
  • the fuselage may include a center frame and one or more arms coupled to the center frame, the one or more arms extending radially from the center frame.
  • the stand is coupled to the fuselage for supporting when the UAV 110 is landing.
  • Power system 150 may include one or more electronic governors (referred to as ESCs) 151, one or more propellers 153, and one or more electric machines 152 corresponding to one or more propellers 153, wherein motor 152 is coupled Between the electronic governor 151 and the propeller 153, the motor 152 and the propeller 153 are disposed on the arm of the unmanned aerial vehicle 110; the electronic governor 151 is configured to receive the driving signal generated by the flight control system 160 and provide driving according to the driving signal. Current is supplied to the motor 152 to control the rotational speed of the motor 152. Motor 152 is used to drive propeller rotation to power the flight of unmanned aerial vehicle 110, which enables unmanned aerial vehicle 110 to achieve one or more degrees of freedom of motion.
  • ESCs electronic governors
  • the UAV 110 can be rotated about one or more axes of rotation.
  • the above-described rotating shaft may include a roll axis, a yaw axis, and a pitch axis.
  • the motor 152 can be a DC motor or an AC motor.
  • the motor 152 may be a brushless motor or a brushed motor.
  • Flight control system 160 may include flight controller 161 and sensing system 162.
  • the sensing system 162 is used to measure the attitude information of the unmanned aerial vehicle, that is, the position information and state information of the UAV 110 in space, for example, three-dimensional position, three-dimensional angle, three-dimensional speed, three-dimensional acceleration, and three-dimensional angular velocity.
  • Sensing system 162 can include, for example, at least one of a gyroscope, an ultrasonic sensor, an electronic compass, an Inertial Measurement Unit (IMU), a vision sensor, a global navigation satellite system, and a barometer.
  • the global navigation satellite system can be a Global Positioning System (GPS).
  • GPS Global Positioning System
  • the flight controller 161 is used to control the flight of the unmanned aerial vehicle 110, for example, the flight of the unmanned aerial vehicle 110 can be controlled based on the attitude information measured by the sensing system 162. It should be understood that the flight controller 161 may control the UAV 110 in accordance with pre-programmed program instructions, or may control the UAV 110 in response to one or more control commands from the control device 140.
  • the pan/tilt 120 can include a motor 122.
  • the pan/tilt is used to carry the imaging device 123.
  • the flight controller 161 can control the motion of the platform 120 via the motor 122.
  • the platform 120 may further include a controller for controlling the motion of the platform 120 by controlling the motor 122.
  • the platform 120 can be independent of the UAV 110 or a portion of the UAV 110.
  • the motor 122 can be a DC motor or an AC motor.
  • the motor 122 may be a brushless motor or a brushed motor.
  • the pan/tilt can be located at the top of the UAV or at the bottom of the UAV.
  • the imaging device 123 may be, for example, a device for capturing an image such as a camera or a video camera, and the imaging device 123 may communicate with the flight controller and perform shooting under the control of the flight controller.
  • the imaging device 123 of the present embodiment includes at least a photosensitive element, such as a Complementary Metal Oxide Semiconductor (CMOS) sensor or a Charge-coupled Device (CCD) sensor.
  • CMOS Complementary Metal Oxide Semiconductor
  • CCD Charge-coupled Device
  • the display device 130 is located at the ground end of the unmanned aerial vehicle system 100, can communicate with the unmanned aerial vehicle 110 wirelessly, and can be used to display attitude information of the unmanned aerial vehicle 110. In addition, an image taken by the imaging device can also be displayed on the display device 130. It should be understood that the display device 130 may be a stand-alone device or may be integrated in the control device 140.
  • the control device 140 is located at the ground end of the unmanned aerial vehicle system 100 and can communicate with the unmanned aerial vehicle 110 in a wireless manner for remote manipulation of the unmanned aerial vehicle 110.
  • the above-mentioned nomenclature of the components of the unmanned flight system is for the purpose of identification only and is not to be construed as limiting the embodiments of the invention. It should be noted that the UAV may include all or part of the above components.
  • FIG. 2 is a flowchart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention. As shown in FIG. 2, the method in this embodiment may include:
  • the distance between the unmanned aerial vehicle and the obstacle surface is obtained, wherein the embodiment can obtain the unmanned aerial vehicle and the obstacle by means of laser ranging, ultrasonic ranging, infrared ranging, visual ranging, and the like.
  • the obstacle surface may be, for example, a floor, a wall surface, a ceiling surface, a hand, etc., which is not limited in this embodiment.
  • the distance between the UAV and the obstacle surface may be acquired at a preset time interval, or the distance between the UAV and the obstacle surface may be acquired in real time.
  • the distance between the determinations may be a preset interval of the system, such as 0.01, 0.05, 0.1, 0.2, 0.5, 1, 2 seconds, etc., or may be a time interval set by the user; if the distance is less than the first preset distance, It indicates that the UAV is about to touch the obstacle surface, and then the embodiment controls the UAV to fly in the first direction, and then controls the UAV to fly in the second direction, as shown in FIG.
  • the first direction is a direction away from the obstacle surface
  • the second direction is a direction close to the obstacle surface
  • the embodiment controls the unmanned aerial vehicle to fly away from the obstacle surface, and then controls the unmanned aerial vehicle to fly toward the obstacle surface.
  • the unmanned aerial vehicle is controlled to stop flying in the second direction, and when the unmanned aerial vehicle stops flying in the second direction, between the unmanned aerial vehicle and the obstacle surface
  • the distance is greater than or equal to the first preset distance, thereby ensuring a certain distance between the UAV and the obstacle surface.
  • the distance between the unmanned aerial vehicle and the obstacle surface is obtained; when the distance is less than the first preset distance, the unmanned aerial vehicle is controlled to fly away from the obstacle surface, and then the unmanned aerial vehicle is controlled to Flying in a direction close to the obstacle surface; then controlling the unmanned aerial vehicle to stop flying in a direction approaching the obstacle surface, between the unmanned aerial vehicle and the obstacle surface when the unmanned aerial vehicle stops flying in the second direction
  • the distance is greater than or equal to the first preset distance, thereby ensuring a certain distance between the UAV and the obstacle surface, achieving obstacle avoidance and ensuring flight safety, and the present embodiment controls the UAV to avoid obstacles.
  • a similar bounce flight trajectory is realized, which makes the player's control of the UAV more interesting and improves the user experience, so as to increase the interest of the younger players in the UAV.
  • the first direction is above the UAV and the second direction is below the UAV.
  • the first direction is below the UAV and the second direction is above the UAV.
  • the first direction is the rear of the unmanned aerial vehicle
  • the second direction is the front of the unmanned aerial vehicle
  • the first direction is the front of the UAV and the second direction is the rear of the UAV.
  • the first direction is the right side of the UAV
  • the second direction is the left side of the UAV
  • the first direction is the left side of the unmanned aerial vehicle
  • the second direction is the right side of the unmanned aerial vehicle
  • one implementation of controlling the UAV to fly in a first direction is to control the UAV to first accelerate the flight and then decelerate the flight toward the first direction.
  • the unmanned aerial vehicle is first controlled to accelerate in the first direction, and after the acceleration flight is completed, the unmanned aerial vehicle is controlled to decelerate in the first direction.
  • a possible implementation of controlling the unmanned aerial vehicle to accelerate the flight and then decelerate the flight in the first direction is to control the unmanned aerial vehicle to accelerate the flight in the first direction until Controlling the UAV to decelerate in the first direction when the distance between the UAV and the obstacle surface is greater than or equal to the second preset distance; the second preset distance is greater than the first preset distance.
  • controlling the unmanned aerial vehicle to accelerate the flight in the first direction detecting the distance between the unmanned aerial vehicle and the obstacle surface during the accelerated flight, and determining whether the distance is smaller than the second preset distance, if the distance is smaller than the second preset The distance continues to control the unmanned aerial vehicle to accelerate in the first direction. If the distance is greater than or equal to the second predetermined distance, the control of the unmanned aerial vehicle is accelerated to the first direction, and the unmanned aerial vehicle is controlled to the first Slow down the direction.
  • the flying speed is defined when the UAV is flying in the first direction, that is, the defined speed is the first preset speed, and after the unmanned aerial vehicle is controlled to accelerate in the first direction, if the unmanned aerial vehicle is facing the first
  • the unmanned aerial vehicle is controlled to fly at a constant speed in the first direction; if the flight speed of the unmanned aerial vehicle in the first direction is less than the first preset speed, then the control is continued.
  • the unmanned aerial vehicle accelerates in the first direction.
  • the flying speed of the UAV in the first direction is greater than or equal to the first preset speed, and the distance between the UAV and the obstacle surface is greater than or equal to the second preset distance, then no one is controlled.
  • the aircraft flies at a constant speed in the first direction, but directly controls the unmanned aerial vehicle to decelerate in the first direction; if the flying speed of the unmanned aerial vehicle in the first direction is greater than or equal to the first preset speed, and the unmanned aerial vehicle and the obstacle When the distance between the faces is less than the second preset distance, the UAV is controlled to fly at a constant speed in the first direction until the distance between the UAV and the obstacle surface is greater than or equal to the second preset distance. The aircraft decelerated in the first direction.
  • the schematic diagram of controlling the unmanned aerial vehicle to fly in the first direction can be, for example, as shown in FIG.
  • one implementation of controlling the UAV to fly in a second direction is to control the UAV to first accelerate the flight and then decelerate the flight toward the second direction.
  • the unmanned aerial vehicle is first controlled to accelerate in the second direction, and after the acceleration flight is completed, the unmanned aerial vehicle is controlled to decelerate in the second direction.
  • a possible implementation of controlling the unmanned aerial vehicle to accelerate the flight and then decelerate the flight in the second direction is: controlling the unmanned aerial vehicle to accelerate the flight in the second direction until Controlling the UAV to decelerate in the second direction when the distance between the UAV and the obstacle surface is less than or equal to a third preset distance; the third preset distance is greater than the first preset distance. Firstly controlling the unmanned aerial vehicle to accelerate the flight in the second direction, detecting the distance between the unmanned aerial vehicle and the obstacle surface during the accelerated flight, and determining whether the distance is greater than the third preset distance, if the distance is greater than the third preset The distance continues to control the unmanned aerial vehicle to accelerate in the second direction.
  • the control of the unmanned aerial vehicle is accelerated to the second direction, and the unmanned aerial vehicle is controlled to the second Slow down the direction.
  • the third preset distance described above may be equal to the second preset distance described above.
  • the flight speed is defined when the UAV is flying in the second direction, that is, the defined speed is the second preset speed, and after the UAV is controlled to accelerate in the second direction, if the UAV is facing the first
  • the unmanned aerial vehicle is controlled to fly at a constant speed in the second direction; if the flight speed of the unmanned aerial vehicle in the second direction is less than the second preset speed, then the control is continued.
  • the unmanned aerial vehicle accelerates in the second direction.
  • the flying speed of the UAV in the second direction is greater than or equal to the second preset speed, and the distance between the UAV and the obstacle surface is less than or equal to the third preset distance, then no one is controlled.
  • the aircraft flies at a constant speed in the second direction, but directly controls the unmanned aerial vehicle to decelerate in the second direction; if the flying speed of the unmanned aerial vehicle in the second direction is greater than or equal to the second preset speed, and the unmanned aerial vehicle and the obstacle
  • the UAV is controlled to fly at a constant speed in the first direction until the distance between the UAV and the obstacle surface is less than or equal to the third preset distance.
  • the aircraft decelerated in the second direction if the flying speed of the UAV in the second direction is greater than or equal to the second preset speed, and the distance between the UAV and the obstacle surface is less than or equal to the third preset distance.
  • controlling the UAV to stop flying in the second direction comprises: controlling the flying speed of the UAV to the second direction to be reduced to 0, Controlling the UAV to stop flying in the second direction.
  • the unmanned aerial vehicle is controlled to decelerate in the second direction, and the flight speed decreases as the flight time increases. When the flight speed decreases to zero, the unmanned aerial vehicle no longer has a flight speed in the second direction. The unmanned aerial vehicle stops.
  • the schematic diagram of controlling the unmanned aerial vehicle to fly in the second direction can be, for example, as shown in FIG. 5.
  • the one possible implementation of controlling the UAV to fly in a first direction and then in a second direction is to control the UAV to fly in the first direction until The UAV is controlled to fly in the second direction when the flying speed of the UAV in the second direction is the third preset speed.
  • the third preset speed is 0, that is, the unmanned aerial vehicle is controlled to accelerate in the first direction and then decelerate in the first direction, and when the flying speed of the unmanned aerial vehicle in the first direction is 0, the control is performed.
  • the unmanned aerial vehicle flies in the second direction.
  • the above-mentioned obstacle surfaces may not be the same obstacle surface.
  • the previous obstacle surface is the ground, when the hand reaches the ground, Below the aircraft, the obstacle surface detected by the UAV is changed to the hand.
  • the embodiments of the present invention ensure that a certain distance between the UAV and the obstacle surface is maintained by the above solutions, thereby avoiding obstacles and ensuring flight safety, and the present embodiment controls the process of the UAV in obstacle avoidance.
  • the realization of a similar bounce flight trajectory makes the player's control of the UAV more interesting and enhances the user experience to increase the interest of the younger players in the UAV.
  • FIG. 6 is a schematic structural diagram of a control apparatus according to an embodiment of the present invention.
  • the control apparatus 600 of this embodiment may include a distance sensor 601 and a processor 602.
  • the distance sensor 601 is configured to acquire a distance between the UAV and the obstacle surface
  • the processor 602 is configured to control the UAV to fly in a first direction and then fly in a second direction when the distance acquired by the distance sensor 601 is less than a first preset distance; the first direction In a direction away from the obstacle surface, the second direction is a direction close to the obstacle surface
  • the processor 602 is specifically configured to: control the unmanned aerial vehicle to accelerate the flight and then decelerate the flight toward the first direction.
  • the processor 602 is specifically configured to: control the unmanned aerial vehicle to accelerate flight in the first direction until a distance between the unmanned aerial vehicle and the obstacle surface acquired by the distance sensor When the second preset distance is greater than or equal to the second preset distance, the unmanned aerial vehicle is controlled to decelerate in the first direction; the second preset distance is greater than the first preset distance.
  • the processor 602 is further configured to: after controlling the unmanned aerial vehicle to accelerate the flight in the first direction, if the flying speed of the unmanned aerial vehicle in the first direction is greater than or equal to the first When the speed is preset, the UAV is controlled to fly at a constant speed in the first direction.
  • the processor 602 is specifically configured to: control the unmanned aerial vehicle to fly in the second direction and then accelerate the flight.
  • the processor 602 is specifically configured to: control the unmanned aerial vehicle to accelerate flight in the second direction until the distance between the unmanned aerial vehicle and the obstacle surface acquired by the distance sensor 601 When the distance is less than or equal to the third preset distance, the UAV is controlled to decelerate in the second direction; the third preset distance is greater than the first preset distance.
  • the processor 602 is further configured to: after controlling the UAV to accelerate the flight in the second direction, if the flying speed of the UAV in the second direction is greater than or equal to the second When the speed is preset, the UAV is controlled to fly at a constant speed in the second direction.
  • the processor 602 is specifically configured to: control a flight speed of the UAV to the second direction to be reduced to 0 to control the UAV to stop flying in the second direction. .
  • the processor 602 is specifically configured to: control the UAV to fly in the first direction until a flight speed of the UAV in the first direction is a third pre- The UAV is controlled to fly in the second direction when the speed is set.
  • the third preset speed is zero.
  • the first direction is above the UAV, and the second direction is below the UAV;
  • the first direction is below the unmanned aerial vehicle, and the second direction is above the unmanned aerial vehicle;
  • the first direction is a rear of the unmanned aerial vehicle, and the second direction is a front side of the unmanned aerial vehicle;
  • the first direction is the front of the UAV, and the second direction is the rear of the UAV;
  • the first direction is the right side of the UAV, and the second direction is the left side of the UAV;
  • the first direction is the left side of the unmanned aerial vehicle
  • the second direction is the right side of the unmanned aerial vehicle
  • the distance sensor 601 includes at least one of a laser ranging sensor, an ultrasonic ranging sensor, an infrared ranging sensor, and a visual ranging sensor.
  • control device 600 of the present embodiment may further include: a speed sensor 603; and the speed sensor 603 is configured to acquire a flight speed of the unmanned aerial vehicle.
  • control device of this embodiment may be used to implement the technical solutions in the foregoing method embodiments, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • FIG. 8 is a schematic structural diagram of a mobile platform according to an embodiment of the present invention.
  • the mobile platform 800 of the present embodiment may include: a power device 801 and a control device 802.
  • the power unit 801 is configured to output power.
  • the control device 802 can adopt the structure of the device embodiment shown in FIG. 6 or FIG. 7.
  • the technical solution of any of the foregoing method embodiments can be executed, and the implementation principle and technical effects are similar, and details are not described herein again.
  • the movable platform 800 can be an unmanned aerial vehicle.
  • the foregoing program may be stored in a computer readable storage medium, and the program is executed when executed.
  • the foregoing storage medium includes: read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, and the like, which can store program codes. Medium.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un procédé et un dispositif de commande d'un véhicule aérien sans pilote, et une plate-forme mobile. Le procédé consiste à : acquérir une distance entre un véhicule aérien sans pilote et un obstacle (S201) ; si la distance est inférieure à une première distance prédéfinie, commander le véhicule aérien sans pilote afin que celui-ci s'éloigne de l'obstacle dans une première direction, et commander ensuite le véhicule aérien sans pilote afin que celui-ci vole en direction de l'obstacle dans une seconde direction ; et commander le véhicule aérien sans pilote afin que celui-ci cesse de voler en direction de l'obstacle. Lorsque le véhicule aérien sans pilote cesse de voler dans la seconde direction, la distance entre le véhicule aérien sans pilote et l'obstacle est supérieure ou égale à la première distance prédéfinie, ce qui permet au véhicule aérien sans pilote de maintenir une certaine distance par rapport à l'obstacle pour réaliser un évitement d'obstacle, et de garantir la sécurité du vol. Dans le processus d'évitement d'obstacle, le véhicule aérien sans pilote est commandé de façon à voler par rebonds afin que l'utilisateur trouve plus amusant de commander le véhicule aérien sans pilote, ce qui permet d'améliorer l'expérience de l'utilisateur et d'augmenter le plaisir des jeunes utilisateurs de véhicules aériens sans pilote.
PCT/CN2018/071676 2018-01-05 2018-01-05 Procédé et dispositif de commande de véhicule aérien sans pilote, et plate-forme mobile WO2019134148A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201880031255.0A CN110612496A (zh) 2018-01-05 2018-01-05 无人飞行器的控制方法、控制装置和可移动平台
PCT/CN2018/071676 WO2019134148A1 (fr) 2018-01-05 2018-01-05 Procédé et dispositif de commande de véhicule aérien sans pilote, et plate-forme mobile

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2018/071676 WO2019134148A1 (fr) 2018-01-05 2018-01-05 Procédé et dispositif de commande de véhicule aérien sans pilote, et plate-forme mobile

Publications (1)

Publication Number Publication Date
WO2019134148A1 true WO2019134148A1 (fr) 2019-07-11

Family

ID=67143619

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/071676 WO2019134148A1 (fr) 2018-01-05 2018-01-05 Procédé et dispositif de commande de véhicule aérien sans pilote, et plate-forme mobile

Country Status (2)

Country Link
CN (1) CN110612496A (fr)
WO (1) WO2019134148A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100100269A1 (en) * 2008-10-20 2010-04-22 Honeywell International Inc. Systems and Methods for Unmanned Aerial Vehicle Navigation
CN103543751A (zh) * 2013-09-12 2014-01-29 深圳市大疆创新科技有限公司 无人飞行器的控制装置及无人飞行器
CN105607642A (zh) * 2015-09-18 2016-05-25 广东中安金狮科创有限公司 无人机自动在三维空间测距避让和穿越飞行的方法
CN106094870A (zh) * 2016-08-23 2016-11-09 成都翼高九天科技有限公司 一种基于无线通讯无人机的飞行控制系统
CN106774363A (zh) * 2016-12-02 2017-05-31 河北省自动化研究所 无人机飞行控制系统和方法

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101968353B (zh) * 2010-09-29 2012-02-08 清华大学 基于激光探测和图像识别的无人直升机地形跟踪方法
CN106131790B (zh) * 2016-08-18 2021-01-15 联想(北京)有限公司 移动装置的控制方法和移动装置
WO2018094583A1 (fr) * 2016-11-22 2018-05-31 深圳市大疆创新科技有限公司 Procédé de commande d'évitement d'obstacle de véhicule aérien sans pilote, dispositif de commande de vol, et véhicule aérien sans pilote

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100100269A1 (en) * 2008-10-20 2010-04-22 Honeywell International Inc. Systems and Methods for Unmanned Aerial Vehicle Navigation
CN103543751A (zh) * 2013-09-12 2014-01-29 深圳市大疆创新科技有限公司 无人飞行器的控制装置及无人飞行器
CN105607642A (zh) * 2015-09-18 2016-05-25 广东中安金狮科创有限公司 无人机自动在三维空间测距避让和穿越飞行的方法
CN106094870A (zh) * 2016-08-23 2016-11-09 成都翼高九天科技有限公司 一种基于无线通讯无人机的飞行控制系统
CN106774363A (zh) * 2016-12-02 2017-05-31 河北省自动化研究所 无人机飞行控制系统和方法

Also Published As

Publication number Publication date
CN110612496A (zh) 2019-12-24

Similar Documents

Publication Publication Date Title
US11222549B2 (en) Collision detection and avoidance
US10377484B2 (en) UAV positional anchors
US20220083078A1 (en) Method for controlling aircraft, device, and aircraft
US10692174B2 (en) Course profiling and sharing
WO2018209702A1 (fr) Procédé de commande de véhicule aérien sans pilote, véhicule aérien sans pilote et support d'informations lisible par machine
WO2018053877A1 (fr) Procédé de commande, dispositif de commande, et système de distribution
CN109074168B (zh) 无人机的控制方法、设备和无人机
WO2022033307A1 (fr) Procédé et appareil d'évitement d'obstacle et véhicule aérien sans pilote
US11798172B2 (en) Maximum temperature point tracking method, device and unmanned aerial vehicle
WO2019227289A1 (fr) Procédé et dispositif de commande de chronophotographie
WO2018040006A1 (fr) Procédé, dispositif et système de contrôle, véhicule aérien, porteur, et dispositif de commande
WO2019128275A1 (fr) Procédé et dispositif de commande de photographie, et aéronef
WO2020133410A1 (fr) Procédé et dispositif de capture d'images
CN111344651B (zh) 无人机的控制方法和无人机
WO2020062089A1 (fr) Procédé d'étalonnage de capteur magnétique et plateforme mobile
WO2020244648A1 (fr) Procédé et appareil de commande de véhicule aérien, et véhicule aérien
WO2021223176A1 (fr) Procédé et dispositif de commande pour véhicule aérien sans pilote
US20200027238A1 (en) Method for merging images and unmanned aerial vehicle
WO2019134148A1 (fr) Procédé et dispositif de commande de véhicule aérien sans pilote, et plate-forme mobile
WO2019134142A1 (fr) Procédé de commande de véhicule aérien sans pilote, système de véhicule aérien sans pilote et dispositif de commande
WO2022094808A1 (fr) Procédé et appareil de commande de prise de photographies, véhicule aérien sans pilote, dispositif et support de stockage lisible
WO2022109801A1 (fr) Procédé et système de commande coopérative pour tête de berceau et aéronef
WO2022205294A1 (fr) Procédé et appareil de commande d'engin volant sans pilote embarqué, engin volant sans pilote embarqué, et support d'enregistrement
CN116101507A (zh) 旋翼飞机的控制方法、装置、旋翼飞机及存储介质

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18897987

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18897987

Country of ref document: EP

Kind code of ref document: A1