WO2020119720A1 - Procédé et appareil de recherche de véhicule aérien sans pilote et véhicule aérien sans pilote - Google Patents

Procédé et appareil de recherche de véhicule aérien sans pilote et véhicule aérien sans pilote Download PDF

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Publication number
WO2020119720A1
WO2020119720A1 PCT/CN2019/124569 CN2019124569W WO2020119720A1 WO 2020119720 A1 WO2020119720 A1 WO 2020119720A1 CN 2019124569 W CN2019124569 W CN 2019124569W WO 2020119720 A1 WO2020119720 A1 WO 2020119720A1
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Prior art keywords
drone
auxiliary
warning sound
retrieval
power supply
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PCT/CN2019/124569
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English (en)
Chinese (zh)
Inventor
杨坚
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深圳市道通智能航空技术有限公司
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Publication of WO2020119720A1 publication Critical patent/WO2020119720A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/02—Arrangements or adaptations of signal or lighting devices

Definitions

  • the invention relates to the technical field of unmanned aerial vehicles, in particular to an auxiliary unmanned aerial vehicle retrieval method, device and unmanned aerial vehicle.
  • drones play a variety of important roles in various fields. Whether it is military use at the national level or entertainment use at the personal level, there are drones. Development, more people will be keen on the use of drones, especially consumer-grade drones.
  • the drone When the user uses the drone to fly, when an abnormal situation occurs, the drone may crash. For example, when the drone is flying over a long distance, the battery power is too fast, it triggers a severe low battery alarm, and the landing is caused. The battery is alarmed and landed, which is like a drone flying due to a critical sensor failure.
  • Embodiments of the present invention provide an auxiliary drone retrieval method, device, and unmanned aerial vehicle, which can better implement an auxiliary retrieval warning sound when the drone is dropped due to severe low power or due to a drone failure
  • the device emits an auxiliary recovery warning sound to remind the search personnel to pay attention, which is convenient for the recovery of the drone, especially the drone that falls in a hidden place.
  • a first aspect of an embodiment of the present invention provides an auxiliary drone retrieval method.
  • the drone includes an auxiliary retrieval warning sound device.
  • the drone retrieval method includes:
  • auxiliary retrieval warning sound device is activated to issue an auxiliary retrieval warning sound.
  • the assisted drone retrieval method further includes:
  • the drone can obtain the position information of the remote controller or the pilot, then:
  • the auxiliary retrieval warning sound device is activated to emit the auxiliary retrieval warning sound.
  • the auxiliary alarm sound device includes a motor and/or a buzzer of the drone.
  • the auxiliary alarm sound device includes the motor of the drone and the buzzer, and the method further includes:
  • the assisted drone retrieval method further includes:
  • the assisted drone retrieval method further includes:
  • the buzzer is controlled to emit the auxiliary retrieval warning sound.
  • the buzzer includes a main power supply and a backup power supply, both of which are used to supply power to the buzzer, wherein the main power supply is the drone Power supply, the method also includes:
  • the standby power supply is controlled to supply power to the buzzer.
  • a second aspect of an embodiment of the present invention provides an auxiliary drone retrieval device.
  • the auxiliary drone retrieval device includes:
  • the judgment module is used to judge whether the drone can obtain the position information of the remote controller or the pilot;
  • Auxiliary retrieval warning tone module used to issue auxiliary retrieval warning tone
  • the judgment module judges that the drone cannot obtain the position information of the remote controller or the pilot, the judgment module is also used to:
  • control module controls the auxiliary retrieval warning sound module to emit the auxiliary retrieval warning sound.
  • the judgment module is further used to:
  • control module controls the auxiliary retrieval warning sound module to issue the auxiliary retrieval warning sound.
  • the auxiliary alarm sound device includes a motor and/or a buzzer of the drone.
  • the auxiliary alarm sound device includes the motor of the drone and the buzzer, and the judgment module is further configured to:
  • control module controls the buzzer to issue the auxiliary retrieval warning sound.
  • the determination module determines that the motor has not stopped, the determination module is further used to:
  • control module controls the motor to issue the auxiliary retrieval warning sound.
  • the control module is used to control the buzzer to emit The assistant retrieves the warning sound.
  • the buzzer includes a main power supply and a backup power supply, both of which are used to supply power to the buzzer, wherein the main power supply is the drone Power supply, the judgment module is also used to:
  • the control module controls the backup power supply to supply power to the buzzer.
  • a third aspect of an embodiment of the present invention provides a drone, including a fuselage, a controller provided on the fuselage, a memory communicatively connected to the controller, and an auxiliary retrieval device electrically connected to the controller
  • the memory stores program instructions
  • the controller is used to execute the program instructions to implement the above-mentioned auxiliary drone retrieval method.
  • the fuselage includes an arm
  • the auxiliary alarm sound recovery device includes a motor provided on the arm.
  • the auxiliary retrieval warning sound device includes a buzzer provided on the fuselage.
  • the buzzer has a main power supply and a backup power supply, wherein the main power supply is the power supply of the drone.
  • the beneficial effects of the embodiments of the present invention are: by starting the assistant when the drone is landing due to severe low power or due to a failure of the drone, and the distance between the drone and the home point is too far Retrieve warning sound device, to issue auxiliary retrieval warning sound to remind the search personnel to pay attention, to facilitate the retrieval of drones, especially the drones falling in a hidden place.
  • the method for assisting the retrieval of the unmanned aerial vehicle of this embodiment can be realized through software upgrade on the basis of the existing unmanned aerial vehicle.
  • FIG. 1 is a flowchart of an embodiment of a method for assisting a drone retrieval according to the present invention
  • FIG. 2 is a flow chart of another embodiment of a method for assisting UAV retrieval in the present invention.
  • FIG. 3 is a flowchart of another embodiment of the auxiliary drone retrieval method of the present invention when the buzzer includes a main power supply and a backup power supply;
  • FIG. 4 is a structural block diagram of an auxiliary drone retrieval device of the present invention.
  • FIG. 5 is a structural block diagram of a drone according to the present invention.
  • Figure 1 shows a schematic flow chart of a method for assisting the retrieval of drones.
  • the drone is specifically a rotary-wing drone, which includes at least one motor, the motor has a power mode, and the motor is used to provide power for driving the drone in the power mode.
  • the drone includes four motors, and each motor is used to drive a propeller.
  • the motor provides power for the flight from the drone.
  • the processor of an exemplary UAV controls the corresponding motor through electronic tuning.
  • the method for assisting the recovery of an unmanned aerial vehicle includes the following steps:
  • Step S110 It is determined that the drone has landed due to severe low power or due to a malfunction of the drone.
  • the drone or control device can monitor the drone hardware status and/or flight attitude in real time, such as battery power and power consumption Speed, motor temperature, wind speed, flight speed, sensor status, etc. At the same time, some information that can reflect the abnormal state of the drone can be pre-stored in the memory and processor of the drone. When the drone is in an abnormal state, the drone has a high probability of communication interruption, flight loss control, and/or crash.
  • abnormal conditions include: drone battery power down too fast, battery power is too low, wind speed exceeds the wind speed threshold, headwind when returning from the wind when flying away, main sensors (such as inertial measurement unit (IMU, Inertial Measurement Unit) ), barometer, etc.) failure, motor failure in the power system, the falling speed is greater than the falling threshold, or the communication connection fails, etc.
  • main sensors such as inertial measurement unit (IMU, Inertial Measurement Unit)
  • barometer barometer
  • the drone will land due to severe low power or due to a failure of the drone; Unusual drone.
  • the severe low is triggered Power alarm, and automatically landed.
  • UAV failures include inertial measurement unit IMU failure, barometer failure, power system failure, etc.
  • IMU inertial measurement unit
  • barometer a UAV fails or even fails, or a power system failure of the UAV occurs, the UAV fails and no one is present.
  • the aircraft is automatically controlled landing or runaway landing.
  • Step S120 Determine whether the drone can obtain the position information of the remote controller or the pilot.
  • a communication connection may be established between the drone and the terminal used by the remote controller or the pilot. After it is determined in step S110 that the drone has landed due to severe low power or due to a malfunction of the drone, the drone attempts to establish communication with the terminal used by the remote control or pilot and obtain the position of the terminal used by the remote controller or pilot information.
  • step S130 is executed.
  • Step S130 Determine whether the distance between the drone and the home point is greater than a first preset value.
  • the distance between the drone and the home point is calculated according to the position of the drone itself and the position of the home point.
  • the home point can be the take-off point, end point, etc. of the drone
  • the position information of the drone home point can be preset before the flight
  • the drone can get unmanned according to its own position and the position information of the home point The distance between the aircraft and the home point.
  • the first preset value can be set by the user, such as 10 meters. It can be set according to the drone flight environment and drone performance. The first preset value may be larger if flying in a place where the obstruction is lower and less; if flying in a place where the obstruction is higher and denser, the first preset value needs to be set smaller.
  • the distance between the drone and the home point is specifically the distance in the horizontal direction.
  • step S140 is executed.
  • auxiliary retrieval when the drone is far away from the personnel at the home point, that is, greater than the first preset value, auxiliary retrieval is required, and the user is paid attention by controlling the drone to issue an auxiliary retrieval warning sound.
  • the person at the home point can also look for the drone visually without assistance.
  • Step S140 Activate the auxiliary retrieval warning sound device to issue an auxiliary retrieval warning sound.
  • the auxiliary alarm sound device includes a motor and/or a buzzer of the drone.
  • a pulse signal may be preset to control the vibration of the drone motor to emit an auxiliary retrieval warning sound.
  • the UAV's processor inputs a set drive signal to the ESC, so that the rotor of the ESC drive motor vibrates at a certain frequency to sound.
  • the motor is controlled to accelerate and/or decelerate to emit an auxiliary retrieval warning sound.
  • the UAV's processor accelerates the motor's rotation speed several times through ESCs, or alternately accelerates and decelerates to make a "babble" sound.
  • control motor drives the propeller of the drone to rotate, and the rotation speed of the motor is less than a preset value, so that the propeller emits an auxiliary retrieval warning sound.
  • the motor drives the propeller to rotate slowly, such as one revolution per second, which can cause the propeller to touch the leaves, grass, etc. and issue an auxiliary retrieval warning sound.
  • step S120 determines that the drone can obtain the position information of the remote controller or the flying hand, then the step is performed S150.
  • Step S150 Determine whether the position information of the drone away from the remote controller or the flying pilot is greater than a second preset value.
  • the drone can obtain the position information of the terminal used by the remote control or the pilot, then calculate the relationship between the drone and the remote control or the pilot according to the position of the drone itself and the location of the remote control or the terminal used by the pilot The distance between.
  • step S150 determines that the position information of the drone from the remote controller or the pilot is greater than the second preset value, it is determined whether the distance between the drone and the home point is greater than the first preset value. If it is determined that the distance between the drone and the home point is greater than the first preset value, the auxiliary retrieval warning sound device is activated to emit the auxiliary retrieval warning sound.
  • the flying hand or its assistant when the position information of the drone away from the remote control or the flying hand is greater than the second preset value, it is difficult for the flying hand or its assistant to directly look for the drone; Whether the distance between the points is greater than the first preset value, if the distance between the drone and the home point is also greater than the first preset value, it is difficult for the staff at the home point to directly look for the drone; Control the UAV to issue an auxiliary retrieval warning sound to arouse the user's attention. If the distance between the drone and the home point is not greater than the first preset value, the staff at the home point can directly look for the drone without assistance.
  • the flying hand or its assistant can directly look for the drone without assistance; thus also There is no need to determine whether the distance between the drone and the home point is greater than the first preset value, and there is no need for the staff at the home point to find the aircraft.
  • the second preset value can be set by the user, such as 200 meters. It can be set according to the drone flight environment and drone performance. The second preset value may be larger if the flight is low and the obstruction is low; if the flight is high and dense, the second preset value needs to be set smaller. It is worth noting that the first preset value and the second preset value may be the same or different, and are determined according to actual needs.
  • the distance between the position information of the drone and the remote controller or the pilot is specifically the distance in the horizontal direction.
  • the auxiliary retrieval warning sound device includes the motor and the buzzer of the drone, and the auxiliary drone retrieval method further includes:
  • Step S101 Determine whether the motor stops.
  • Step S102 If the motor stops, control the buzzer to issue the auxiliary recovery warning sound.
  • step S103 is executed.
  • Step S103 Determine whether the current power of the drone is sufficient to cause the motor to issue the auxiliary recovery warning sound. If yes, step S104 is executed.
  • Step S104 Control the motor to issue the auxiliary retrieval warning sound.
  • the motor is controlled to emit the auxiliary retrieval warning sound.
  • the preset auxiliary power threshold is not greater than the preset severe low power threshold.
  • the motor can be controlled to issue an auxiliary retrieval warning sound when the drone's power is greater than the auxiliary power threshold.
  • step S105 is executed.
  • Step S105 Control the buzzer to issue the auxiliary retrieval warning sound.
  • the power of the drone if the power of the drone is less than the preset auxiliary power threshold, if the motor is still running in the preset auxiliary recovery mode to issue an auxiliary recovery warning sound, it may cause damage to the battery. It may be that the searching personnel have no time to find the drone because the power is quickly exhausted; therefore, it is judged that the power is insufficient to cause the motor to issue the auxiliary recovery warning sound, and at this time, the buzzer is controlled to emit the auxiliary recovery warning sound.
  • the motor will not control the buzzer to issue an auxiliary recovery warning sound
  • a warning tone for assisting retrieval is issued to assist personnel searching for drones.
  • the motor on the drone can be used for example, if the four motors simultaneously emit a warning sound to help retrieve the aircraft, the sound is louder, which is more conducive to finding the drone.
  • the motor runs in a preset auxiliary retrieval mode and emits an auxiliary retrieval warning sound, which consumes the power of the drone. Therefore, it is necessary to monitor whether the current power of the drone is lower than the preset power threshold.
  • the control of the motor to stop running at the predetermined auxiliary search is stopped.
  • the auxiliary retrieval warning sound is stopped, and the buzzer is controlled to emit the auxiliary retrieval warning sound to assist the personnel searching for the drone.
  • the buzzer includes a main power supply and a backup power supply, both of which are used to supply power to the buzzer, wherein the main power supply is the Man-machine power supply.
  • the backup power source is a rechargeable coin cell or capacitor.
  • the method for assisting UAV retrieval further includes:
  • Step S106 Determine whether the main power supply is normal.
  • Step S107 If the main power supply is abnormal, control the standby power supply to supply power to the buzzer.
  • the backup power supply is controlled to supply power to the buzzer. If the main power supply of the drone is thrown out or unable to supply power for other reasons, the buzzer can also be powered by the backup power supply, thereby controlling the buzzer to issue an auxiliary retrieval warning sound to assist the personnel searching for the drone.
  • the buzzer can be operated by the main power supply; if the main power supply is abnormal or severely low in power, the buzzer can be operated by the backup power supply.
  • the operation of the buzzer can be designed according to the power saving mode to emit a sound at a certain frequency, for example, 1 Hz, that is, one sound per second.
  • the warning time of the warning sound is extended; on the other hand, even if the main power supply of the abnormal bomber drone is thrown out during the landing of the aircraft, it can still issue an auxiliary retrieval warning sound.
  • Each step of the assisted drone retrieval method in the above embodiment may be performed by a drone.
  • some or all steps of the assisted drone retrieval method may be communicated with the drone The connected remote controller and other control devices execute.
  • the processor of the control device such as the remote controller executes some steps of the auxiliary UAV retrieval method, it coordinates with the UAV processor through a communication connection, and the UAV processor performs at least the auxiliary UAV retrieval method.
  • Other steps when the processor of the control device executes all the steps of the auxiliary drone retrieval method, the processor of the control device sends an instruction to the processor of the drone, and the processor of the drone directly controls the motor according to the instruction It runs in the preset auxiliary retrieval mode, so that the control device can indirectly control the UAV's motor to run in the preset auxiliary retrieval mode to issue an auxiliary retrieval warning sound.
  • the assisted drone retrieval method performed by the remote control and other control devices and the assisted drone retrieval method performed by the drone are based on two aspects under the same inventive concept.
  • the implementation process of the human-machine retrieval method is described in detail, so those skilled in the art can clearly understand the implementation process of the auxiliary drone retrieval method performed by the control device in this implementation according to the foregoing description. I will not repeat them here.
  • Figure 4 is a schematic structural diagram of an auxiliary UAV retrieval device.
  • the auxiliary UAV retrieval device includes:
  • the determination module 110 is used to determine that the drone has landed due to severe low power or due to a failure of the drone;
  • the judgment module 120 is used to judge whether the drone can obtain the position information of the remote controller or the pilot;
  • the auxiliary retrieval warning sound module 130 is used to issue an auxiliary retrieval warning sound
  • the control module 140 is used to control the auxiliary retrieval warning sound module 130 to issue an auxiliary retrieval warning sound;
  • the judgment module 120 judges that the drone cannot obtain the position information of the remote controller or the pilot, the judgment module 120 is also used to:
  • control module 140 controls the auxiliary retrieval warning sound module 130 to emit an auxiliary retrieval warning sound.
  • the judgment module 120 is further used to:
  • control module 140 controls the auxiliary retrieval warning sound module 130 to issue an auxiliary retrieval warning sound.
  • the auxiliary alarm sound device 130 includes a drone motor and/or a buzzer.
  • the auxiliary alarm sound recovery device 130 includes a drone motor and a buzzer, and the judgment module 120 is further used to:
  • control module 140 controls the buzzer to issue an auxiliary retrieval warning sound.
  • the determination module 120 determines that the motor is not stopped, the determination module 120 is further used to:
  • control module 140 controls the motor to issue an auxiliary retrieval warning sound.
  • the control module 140 is used to control the buzzer to emit an auxiliary retrieval warning sound.
  • the buzzer includes a main power supply and a backup power supply. Both the main power supply and the backup power supply are used to supply power to the buzzer, where the main power supply is the power supply of the drone, and the judgment module 120 is also used to :
  • the control module 140 controls the backup power supply to supply power to the buzzer.
  • auxiliary drone retrieval device and the auxiliary drone retrieval method according to the embodiments of the present invention are based on two aspects under the same inventive concept.
  • the implementation process of the auxiliary drone retrieval method has been described in detail above Therefore, those skilled in the art can clearly understand the implementation process of the auxiliary drone retrieval device in this embodiment according to the foregoing description, and for the sake of brevity of the description, they will not be repeated here.
  • the present invention can be implemented by means of software plus a necessary general hardware platform.
  • the technical solution of the present invention can be embodied in the form of a software product in essence or part that contributes to the existing technology, and the computer software product can be stored in a storage medium, such as ROM/RAM, magnetic disk , CD, etc., including several instructions to enable a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of various embodiments of the present invention or some parts of the embodiments, such as:
  • a storage medium stores a computer program. If the computer program is executed by a processor, the steps of the aforementioned method for assisting the recovery of an unmanned aerial vehicle are realized.
  • the invention can be used in many general-purpose or special-purpose computing system environments or configurations. Such as drones and so on.
  • FIG. 5 shows a schematic diagram of the structure of a UAV.
  • the drone includes a fuselage 210, a controller 220 provided on the fuselage 210, a memory 230 communicatively connected to the controller 220, and an auxiliary retrieval sound device 240 electrically connected to the controller 220.
  • the memory 230 stores program instructions.
  • the controller 220 is used to execute program instructions to implement the above-mentioned auxiliary UAV retrieval method.
  • the fuselage 210 includes an arm 211, and the auxiliary alarm sound recovery device 240 includes a motor 10 provided on the arm 211.
  • the auxiliary alarm sound device 240 includes a buzzer 20 provided on the body 210.
  • the buzzer 20 has a main power supply 31 and a backup power supply 32, wherein the main power supply 31 is the power supply of the drone.
  • the auxiliary drone retrieval method, the auxiliary drone retrieval device and the drone provided by the embodiments of the present invention are achieved by landing on the drone due to severe low power or due to a failure of the drone, When the distance between the points is too far, the auxiliary retrieval warning sound device is activated to issue the auxiliary retrieval warning sound to remind the searching personnel to pay attention, so that it is easy to retrieve the UAV, especially the UAV that falls in a hidden place.
  • the method for assisting the retrieval of the unmanned aerial vehicle of this embodiment can be realized through software upgrade on the basis of the existing unmanned aerial vehicle.
  • auxiliary drone retrieval method, the auxiliary drone retrieval device and the drone provided by the embodiments of the present invention are operated by the drone motor to assist the retrieval when the power of the drone is sufficient Mode, sounding the warning sound for assisting in retrieving the aircraft, which is more conducive to finding personnel to find the flying drone through the sound.
  • auxiliary drone retrieval method, the auxiliary drone retrieval device and the drone provided by the embodiments of the present invention control the motor to run in a preset auxiliary retrieval mode at an appropriate timing by estimating the starting time
  • the warning sound is turned on only after the search personnel arrive at the scene, to a certain extent, reducing the possibility of the drone being found and picked up by others.
  • the auxiliary drone retrieval method, the auxiliary drone retrieval device and the drone provided by the embodiments of the present invention are extended on the one hand by the combination of a backup power supply, especially a rechargeable backup power supply and a buzzer The warning time of the warning sound is displayed. On the other hand, even if the battery of the abnormal bomber drone is thrown out during the landing of the drone, the warning sound can still be issued.

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  • Aviation & Aerospace Engineering (AREA)
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Abstract

La présente invention concerne un procédé et un appareil de recherche de véhicule aérien sans pilote et un véhicule aérien sans pilote. Le véhicule aérien sans pilote comprend un appareil sonore d'avertissement de recherche auxiliaire (130). Le procédé de recherche auxiliaire de véhicule aérien sans pilote comprend les étapes suivantes : déterminer qu'un véhicule aérien sans pilote atterrit en raison d'une batterie très faible ou d'une défaillance ; déterminer si le véhicule aérien sans pilote peut obtenir des informations de position d'une télécommande ou d'un pilote de drone ; si le véhicule aérien sans pilote ne parvient pas à obtenir des informations de position de la télécommande ou du pilote de drone, déterminer si une distance entre le véhicule aérien sans pilote et un point de retour est supérieure à une première valeur prédéfinie ; si oui, démarrer l'appareil sonore d'avertissement de recherche auxiliaire (130) pour envoyer un son d'avertissement de recherche auxiliaire. En démarrant l'appareil sonore d'avertissement de recherche auxiliaire (130) lorsqu'un véhicule aérien sans pilote atterrit en raison d'une batterie très faible ou d'une défaillance et lorsqu'une distance entre le véhicule aérien sans pilote et un point de retour est trop éloignée pour envoyer un son d'avertissement de recherche auxiliaire afin de rappeler à une personne effectuant la recherche de prêter attention, le véhicule aérien sans pilote peut être facilement trouvé, en particulier si le véhicule aérien sans pilote est caché. De plus, le procédé de recherche auxiliaire de véhicule aérien sans pilote peut être mis en œuvre au moyen d'une mise à niveau d'un logiciel sur la base de véhicules aériens sans pilote existants.
PCT/CN2019/124569 2018-12-12 2019-12-11 Procédé et appareil de recherche de véhicule aérien sans pilote et véhicule aérien sans pilote WO2020119720A1 (fr)

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CN114550436A (zh) * 2021-12-29 2022-05-27 西南技术物理研究所 一种基于车载系统的遥控信号交叉定位方法
CN116189308A (zh) * 2023-03-09 2023-05-30 杰能科世智能安全科技(杭州)有限公司 一种无人机飞手检测方法、系统及存储介质

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CN109573028B (zh) * 2018-12-12 2022-04-15 深圳市道通智能航空技术股份有限公司 一种辅助无人机找回方法、装置和无人机
CN110375716B (zh) * 2019-07-23 2022-01-14 深圳市道通智能航空技术股份有限公司 无人飞行器寻找信息生成方法及无人飞行器
WO2021031186A1 (fr) * 2019-08-22 2021-02-25 深圳市大疆创新科技有限公司 Procédé de commande d'alimentation électrique pour plateforme mobile, dispositif, plateforme mobile et support
CN111222820B (zh) * 2019-11-15 2020-12-29 深圳市东方拓宇科技有限公司 基于5g通讯的商品的配送方法和装置
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CN114089783B (zh) * 2021-11-17 2022-06-07 湖南精飞智能科技有限公司 基于5g北斗技术的无人机智能终端
CN114578855B (zh) * 2022-03-03 2022-09-20 北京新科汇智科技发展有限公司 一种无人机备降方法及系统

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