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WO2019091226A1 - Procédé de commande de véhicule aérien sans pilote et terminal - Google Patents

Procédé de commande de véhicule aérien sans pilote et terminal Download PDF

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Publication number
WO2019091226A1
WO2019091226A1 PCT/CN2018/106539 CN2018106539W WO2019091226A1 WO 2019091226 A1 WO2019091226 A1 WO 2019091226A1 CN 2018106539 W CN2018106539 W CN 2018106539W WO 2019091226 A1 WO2019091226 A1 WO 2019091226A1
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WIPO (PCT)
Prior art keywords
unmanned aerial
aerial vehicle
route
terminal
information
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2018/106539
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English (en)
Chinese (zh)
Inventor
冯银华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Autel Robotics Co Ltd
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Autel Robotics Co Ltd
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Filing date
Publication date
Application filed by Autel Robotics Co Ltd filed Critical Autel Robotics Co Ltd
Publication of WO2019091226A1 publication Critical patent/WO2019091226A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • 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
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • the present application relates to the field of information technology, and in particular to a control method and terminal for an unmanned aerial vehicle.
  • a drone can be understood as an Unmanned Aerial Vehicle (UAV).
  • UAV Unmanned Aerial Vehicle
  • the mission function of the route becomes more and more important. That is, the unmanned opportunity receives the route task sent by the terminal and conducts the flight according to the route task.
  • the embodiment of the present application provides a control method and terminal for an unmanned aerial vehicle, so that the unmanned aerial vehicle can continue to execute an unfinished flight path.
  • the embodiment of the present application provides a control method for an unmanned aerial vehicle, including:
  • the terminal When the terminal detects disconnection from the UAV, the terminal saves the route information of the flight path of the UAV;
  • the terminal After the terminal re-establishes a connection with the unmanned aerial vehicle, the terminal determines, according to the route information, whether the unmanned aerial vehicle has not completed the flight route;
  • the terminal sends the route information to the unmanned aerial vehicle to control the unmanned aerial vehicle to complete the remaining routes in the flight route according to the route information.
  • the terminal saves the route information of the flight route, including:
  • the terminal saves location information of all waypoints in the flight path of the UAV, and location information of the unmanned aerial vehicle that was last acquired before disconnecting from the UAV;
  • Determining, by the terminal, whether the unmanned aerial vehicle has not completed the flight route according to the route information including:
  • the terminal determines that the unmanned aerial vehicle has not completed the flight path.
  • the method further includes:
  • the terminal determines, according to the location information of the UAV and the location information of all the waypoints in the flight path, the remaining waypoints included in the remaining routes of the flight route, and the remaining waypoints Location information;
  • the terminal saves the route information of the flight route, including:
  • the terminal saves location information of the remaining waypoints and an uncompleted route identifier
  • Determining, by the terminal, whether the unmanned aerial vehicle has not completed the flight route according to the route information including:
  • the terminal determines that the unmanned aerial vehicle has not completed the flight path.
  • the method before the terminal sends the route information to the unmanned aerial vehicle, the method further includes:
  • the terminal outputs prompt information, where the prompt information is used to prompt the user whether to control the unmanned aerial vehicle to complete the remaining route;
  • the terminal After detecting the confirmation operation of the prompt information by the user, the terminal sends the route information to the unmanned aerial vehicle.
  • the method further includes:
  • the terminal saves flight mode and/or flight parameter information corresponding to the flight path
  • the terminal transmits the flight mode and/or flight parameter information to the UAV to control the UAV to complete the remaining course in accordance with the flight mode and/or flight parameter information.
  • the embodiment of the present application further provides a terminal, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the following steps when executing the computer program:
  • the route information is sent to the unmanned aerial vehicle to control the unmanned aerial vehicle to complete the remaining routes in the flight route according to the route information.
  • the method further implements:
  • the method further implements:
  • the method further implements:
  • the prompt information Before transmitting the route information to the unmanned aerial vehicle, outputting prompt information, the prompt information being used to prompt the user whether to control the unmanned aerial vehicle to complete the remaining route;
  • the route information is sent to the unmanned aerial vehicle.
  • the method further implements:
  • the flight mode and/or flight parameter information is transmitted to the UAV to control the UAV to complete the remaining course in accordance with the flight mode and/or flight parameter information.
  • the embodiment of the present application also provides a control device for an unmanned aerial vehicle.
  • the device includes a functional module.
  • the function module is used to implement any of the above methods.
  • the embodiment of the present application further provides a computer readable storage medium storing computer executable instructions for the control method of the unmanned aerial vehicle.
  • the terminal when the terminal is disconnected from the UAV, the terminal may save the route information of the flight path of the UAV. Further, after the terminal re-establishes a connection with the unmanned aerial vehicle, it can determine whether the drone completes the flight route according to the saved route information, and if it is determined that the unmanned aerial vehicle has not completed the flight route, the route information can be sent to the unmanned aerial vehicle. Therefore, the unmanned aerial vehicle can complete the remaining routes according to the route information. In the above manner, the efficiency of the UAV acquiring the flight path can be improved, the user operation can be simplified, and the power consumption of the UAV during the flight can be reduced.
  • FIG. 1 is a flowchart of a method for controlling an unmanned aerial vehicle according to Embodiment 1 of the present application;
  • FIG. 2 is a flowchart of a method for controlling an unmanned aerial vehicle according to Embodiment 2 of the present application;
  • FIG. 3 is a flowchart of a method for controlling an unmanned aerial vehicle according to Embodiment 3 of the present application;
  • FIG. 4 is a flowchart of a method for controlling an unmanned aerial vehicle according to Embodiment 4 of the present application;
  • FIG. 5 is a schematic structural diagram of a terminal according to an embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of a module of a control device for an unmanned aerial vehicle according to an embodiment of the present application.
  • FIG. 1 shows a control method of an unmanned aerial vehicle provided by Embodiment 1 of the present application, which can be performed by a terminal.
  • the terminal may be a terminal that includes an Android operating system, an iOS operating system, a Windows operating system, or other operating systems, such as a smart phone, a mobile computer, a tablet computer, a PDA (Personal Digital Assistant), and the like.
  • An unmanned aerial vehicle related application can be installed in the terminal, and the application can communicate with the unmanned aerial vehicle.
  • the application can receive flight information of the unmanned aerial vehicle through the terminal, such as flight status, flight parameters, and the like.
  • the application can send commands to the unmanned aerial vehicle through the terminal to control the flight state of the unmanned aerial vehicle and the like.
  • the terminal can also be connected to a remote control device for transmitting remote control commands to the unmanned aerial vehicle, for example, the flight direction of the remote control aircraft.
  • the communication between the terminal and the UAV can be directly implemented, or implemented by a remote control device, and is not limited herein.
  • the terminal can be configured with a function of interacting with the user.
  • the terminal can be configured with a hardware function such as a touch display screen, or can be implemented by displaying the human-computer interaction interface and the like through the application program on the terminal.
  • the combination of the above may be included, and is not limited herein.
  • the method may include the following steps.
  • Step 101 When the terminal detects disconnection from the UAV, the terminal saves the route information of the flight path of the UAV.
  • the terminal is connected to the UAV, and the terminal and the UAV may be directly connected by wireless, or the terminal may be connected to the UAV through the UAV remote controller, which is not limited herein.
  • the terminal can interact with the UAV.
  • the terminal does not obtain the signal returned by the UAV for a specified time, it may be determined that the UAV is disconnected, wherein the UAV may perform due to insufficient battery power, abnormal weather, and natural Disasters, too far distance from the terminal, etc., result in disconnection from the terminal.
  • the UAV can take measures such as returning to the starting point or emergency landing according to a preset flight strategy.
  • the route information saved by the terminal may be location information of all the waypoints in the flight path of the UAV, and the unmanned aerial vehicle that is last acquired before disconnecting from the UAV
  • the location information, or the route information saved by the terminal may also be the location information of the remaining waypoints and the unfinished route identifier.
  • the manner in which the terminal saves the route information may be associated with the unmanned aerial vehicle, that is, the terminal is connected to different unmanned aerial vehicles, and the manner in which the terminal stores the route information is different.
  • the manner in which the terminal saves the route information is associated with the flight route, that is, the different flight routes, and the manner in which the terminal stores the route information is different.
  • the terminal may save the route information in a manner of alternate rotation or the like.
  • the manner in which the terminal saves the route information is not limited.
  • the flight path of the UAV may include a plurality of waypoints, each of which corresponds to location information, and the location information may include longitude information and latitude information of the waypoint.
  • the flight route may include a completed waypoint and a remaining waypoint
  • the completed waypoint refers to a waypoint included in the completed route in the flight route
  • the remaining waypoint refers to a waypoint included in the unfinished route in the flight route, That is, the waypoints included in the remaining routes.
  • the completed route or the remaining route in the flight route may be determined according to the position information of the unmanned aerial vehicle acquired by the terminal last time.
  • Step 102 After the terminal re-establishes a connection with the unmanned aerial vehicle, the terminal determines, according to the route information, whether the unmanned aerial vehicle has not completed the flight route.
  • the terminal may determine, according to whether the uncompleted route identifier is included in the route information, whether the unmanned aerial vehicle has not completed the flight route. If the terminal determines that the route information includes the unfinished route identifier, it may be determined that the unmanned aerial vehicle has not completed the flight route.
  • the terminal may determine whether the route information includes the location information of the UAV and the location information of all the waypoints in the flight route. If it is determined to be included, it can be determined according to the above location information whether the unmanned aerial vehicle has not completed the flight route.
  • Step 103 If yes, the terminal sends the route information to the unmanned aerial vehicle to control the unmanned aerial vehicle to complete remaining routes in the flight route according to the route information.
  • the terminal may send location information of all the waypoints in the flight path of the UAV and location information of the unmanned aerial vehicle to the unmanned aerial vehicle, or send location information of the remaining waypoints. To the unmanned aerial vehicle.
  • a new flight route may be formulated for the UAV, for example, from the stored flight.
  • One or more flight routes are selected as new flight routes in the route, and the new flight route is sent to the unmanned aerial vehicle, which is not limited herein.
  • the terminal when the terminal is disconnected from the UAV, the terminal may save the route information of the flight path of the UAV. Further, after the terminal re-establishes a connection with the unmanned aerial vehicle, it can determine whether the drone completes the flight route according to the saved route information, and if it is determined that the unmanned aerial vehicle has not completed the flight route, the route information can be sent to the unmanned aerial vehicle. Therefore, the unmanned aerial vehicle can complete the remaining routes according to the route information. In the above manner, the efficiency of the UAV acquiring the flight path can be improved, the user operation can be simplified, and the power consumption of the UAV during the flight can be reduced.
  • the method can include the following steps.
  • Step 201 When the terminal detects disconnection from the UAV, the terminal saves location information of all the waypoints in the UAV flight path, and last acquired before disconnecting from the UAV The location information of the unmanned aerial vehicle.
  • the terminal does not need to judge whether the unmanned aerial vehicle completes the current route, and can save the location information of all the waypoints in the flight route and the position information of the last acquired unmanned aerial vehicle.
  • Step 202 The terminal re-establishes a connection with the UAV.
  • the unmanned aerial vehicle is the same as the unmanned aerial vehicle in step 201.
  • a reconnected UAV and a disconnected UAV are the same unmanned aerial vehicle, ie, the unique identifier of the UAV.
  • the reconnected UAV is of the same type as the disconnected UAV, or the same airspace, and is not limited herein.
  • Step 203 The terminal determines, according to the location information of the unmanned aerial vehicle and the location information of the all waypoints, whether the unmanned aerial vehicle reaches the end of the flight path; if not, step 204 is performed. If yes, the process ends;
  • Step 204 The terminal sends location information of the UAV and location information of the all waypoints to the UAV to control the UAV to complete remaining routes in the flight path.
  • the unmanned aerial vehicle can fly to the position represented by the position information according to the position information of the transmitted unmanned aerial vehicle. And according to the location information of all waypoints and the location of the unmanned aerial vehicle, the remaining routes are determined, and the remaining routes are completed.
  • the terminal may determine location information of the remaining waypoints of the remaining routes according to the location information of the unmanned aerial vehicle and the location information of all the waypoints, and transmit the location information of the unmanned aerial vehicle and the location information of the remaining waypoints to the unmanned aerial vehicle. . Further, the UAV completes the remaining routes based on the received information.
  • the method may include the following steps:
  • Step 301 When the terminal detects disconnection from the UAV, the terminal acquires location information that is sent by the UAV for the last time before disconnecting;
  • Step 302 the terminal determines whether the unmanned aerial vehicle reaches the end of the flight path, if yes, step 303 is performed, if not, step 304 is performed;
  • Step 303 the terminal saves all the waypoint information and the completed route identifier in the flight route, or only saves the completed route identifier, and performs step 305;
  • the completed route identifier indicates that the unmanned aerial vehicle has completed the flight route.
  • the terminal may save or not save the waypoint information in the flight route according to a preset policy.
  • Step 304 the terminal determines, according to the location information of the unmanned aerial vehicle and the location information of the all waypoints, the remaining waypoints included in the remaining routes of the flight route, and the location information of the remaining waypoints, Saving location information of the remaining waypoints and an unfinished route identifier;
  • the terminal determines the location information of the remaining waypoints according to the location information of the unmanned aerial vehicle and the location information of the all waypoints, and further determines the remaining routes.
  • the remaining waypoint may refer to a waypoint that the UAV needs to pass through the current position of the UAV to the end of the flight path.
  • the remaining routes consist of the remaining waypoints.
  • the unfinished route identifier indicates that the unmanned aerial vehicle has not completed the flight route.
  • a flag can be set, for example, when the flag position is 1, it indicates that the route has been completed, and when it is set to 0, it indicates that the route is not completed; of course, when the flag position is 0, it indicates that the route has been completed, and is set to At 1 o'clock, it indicates that the route is not completed; two identifiers may also be set, which respectively correspond to the completed route identifier and the unfinished route identifier, which are not limited herein.
  • Step 305 the terminal re-establishes a connection with the unmanned aerial vehicle
  • Step 306 The terminal determines whether the route information includes an uncompleted route identifier; if yes, step 307 is performed, and if no, the process ends.
  • Step 307 The terminal determines that the UAV does not complete the flight path, and sends location information of the remaining waypoints to the UAV to control the UAV to complete the flight path. The remaining routes.
  • the method may include the following steps:
  • Step 401 When the terminal detects disconnection from the UAV, the terminal saves the route information of the flight path of the UAV;
  • the terminal may further save information of the UAV, and the information of the UAV is used to uniquely identify an UAV;
  • the information of the UAV may include: identification information of the UAV, such as one of the factory serial number of the UAV, the model of the UAV, or the name of the UAV, and the like. Kind or combination.
  • identification information of the UAV such as one of the factory serial number of the UAV, the model of the UAV, or the name of the UAV, and the like.
  • kind or combination In order to enable the aircraft information to be used to uniquely identify an unmanned aerial vehicle, or a type of unmanned aerial vehicle, it is not limited herein.
  • the terminal further saves flight mode and/or flight parameter information corresponding to the flight path;
  • the flight mode corresponding to the flight path may include one or more of the closest distance flight between the waypoints, a preset trajectory flight between the waypoints, N rounds of flying around one or more waypoints, and the like.
  • the flight parameter information may include at least one of: flight speed information, fly height information, distance range information, low battery warning information, return information, and the like.
  • the flight speed information may be for one or more waypoints.
  • the flight altitude information can be for one or more waypoints.
  • the distance range information means that the distance between the UAV and the waypoint needs to be within the distance indicated in the distance range information.
  • the distance range information can be for one or more waypoints.
  • the low battery warning message may be an alarm that is input when the power of the unmanned aerial vehicle is low, for example, the prompt information may be displayed in the terminal, the alarm sound may be sounded, and the like.
  • the return flight information may include a return flight condition and a return flight point information.
  • the UAV's own vision system or GPS record automatically returns to the return point and completes the automatic landing.
  • the return point can also be defaulted to the starting point or updated to the location of the terminal.
  • Step 402 The terminal re-establishes a connection with the UAV;
  • Step 403 The terminal determines, according to the route information, whether the unmanned aerial vehicle has not completed the flight route; if yes, step 404 is performed; if not, the process ends;
  • the terminal further determines whether the unmanned aerial vehicle connected to the UAV is the same as the UAV connected last time, and the UAV can be saved by the terminal.
  • the information is compared with the information of the connected unmanned aerial vehicle. If it is not the same unmanned aerial vehicle, the process is terminated, and a new flight route can be set for the connected unmanned aerial vehicle, which is not limited herein.
  • Step 404 the terminal outputs prompt information, where the prompt information is used to prompt the user whether to control the unmanned aerial vehicle to complete the remaining route;
  • the prompt information may be display prompt information, voice prompt information, etc., and is not limited herein.
  • Step 405 The terminal detects a confirmation operation of the prompt information by the user, and sends the route information to the unmanned aerial vehicle to control the unmanned aerial vehicle to complete the flight route according to the route information. The remaining routes.
  • the confirmation operation of the user may include at least one of a touch operation, a keyboard input operation, and a voice operation.
  • the terminal further transmits the flight mode and/or flight parameter information to the UAV to control the UAV to complete the remaining route according to the flight mode and/or flight parameter information.
  • the UAV passes one or more remaining waypoints according to the received flight mode; or, the UAV completes the route task on the corresponding waypoint according to the flight parameter information.
  • the embodiment of the present application further provides a terminal, where the terminal may be a terminal including an Android operating system, an iOS operating system, a Windows operating system, or another operating system, such as a smart phone, a mobile computer, a tablet computer, a PDA, or an image. Display terminals, etc.
  • the terminal is used to implement the foregoing embodiments and implementation manners, and details have been omitted for description.
  • the terminal of the embodiment of the present application includes: a memory 51, a processor 52, and a computer program stored on the memory 51 and executable on the processor.
  • the processor implements the following steps when executing the computer program:
  • the route information is sent to the unmanned aerial vehicle to control the unmanned aerial vehicle to complete the remaining routes in the flight route according to the route information.
  • the method further implements:
  • the method further implements:
  • the terminal may further include an input/output device 53 for interacting with the user according to the control of the processor, and the input/output device 53 may include an input unit 531 and an output unit 532, wherein the input unit 531
  • the touch screen, the keyboard, the mouse, the microphone, and the like may be included for receiving input operations of the user, including a confirmation operation of the user, a setting operation, and the like.
  • the output unit 532 may include a display screen, a speaker, and the like for outputting a prompt or providing an option for selection by a user, such as an image or a sound.
  • the input unit 531 and the output unit 332 may be combined together, such as a touch screen or the like.
  • the method further implements:
  • the prompt information is used to prompt the user whether to control the unmanned aerial vehicle to complete the remaining route;
  • the route information is sent to the unmanned aerial vehicle.
  • the prompt information, the voice prompt information, and the like can be displayed by the output unit 532.
  • the prompt window can also include “Yes” and "No” two button controls.
  • the input unit 531 detects that the user clicks the "Yes” button control, the route information is transmitted to the UAV.
  • the method further implements:
  • the flight mode and/or flight parameter information is transmitted to the UAV to control the UAV to complete the remaining course in accordance with the flight mode and/or flight parameter information.
  • the terminal may also include other devices, such as communication devices, etc., for enabling a communication connection with the UAV.
  • Other devices or circuit configurations included in the terminal are not limited herein.
  • the embodiment of the present application further provides a control device for an unmanned aerial vehicle, which is used to implement the foregoing embodiments and implementation manners, and has not been described again.
  • a control device for an unmanned aerial vehicle which is used to implement the foregoing embodiments and implementation manners, and has not been described again.
  • the term "module” can be software, hardware, or a combination of both to implement the functions described above.
  • control device of the UAV of the embodiment of the present application includes:
  • a saving module 61 configured to save route information of a flight path of the unmanned aerial vehicle when detecting disconnection from the unmanned aerial vehicle;
  • the first judging module 62 is configured to determine, according to the route information, whether the unmanned aerial vehicle has not completed the flight path after reestablishing a connection with the unmanned aerial vehicle;
  • the sending module 63 is configured to send the route information to the UAV if the first determining module determines to be YES, to control the UAV to complete the remaining in the flight path according to the route information. route.
  • the saving module 61 is configured to save location information of all the waypoints in the flight path of the UAV, and the last acquired unmanned aerial vehicle before disconnecting from the UAV location information;
  • the determining module 62 is configured to determine, according to the location information of the UAV and the location information of the all waypoints, whether the UAV arrives at an end point of the flight path; if not, determine the None The human aircraft did not complete the flight route.
  • the device further includes a second determining module, configured to, when detecting disconnection from the UAV, according to being disconnected from the UAV The last acquired position information, determining whether the unmanned aerial vehicle reaches the end of the flight path;
  • the saving module 61 is further configured to: when the second determining module determines to be no, determine the remaining routes of the flight route according to the location information of the unmanned aerial vehicle and the location information of all the waypoints in the flight route. The remaining waypoints included, and the location information of the remaining waypoints, the location information of the remaining waypoints and the unfinished route identifiers are saved;
  • the first determining module 62 is configured to determine whether the route information includes an uncompleted route identifier; if yes, determine that the unmanned aerial vehicle does not complete the flight route.
  • the device further includes an output module, configured to output prompt information, where the prompt information is used to prompt the user whether to control the unmanned aerial vehicle to complete the remaining route;
  • the sending module 63 is configured to send the route information to the unmanned aerial vehicle after detecting a confirmation operation of the prompt information by the user.
  • the saving module 61 is further configured to save flight mode and/or flight parameter information corresponding to the flight path;
  • the sending module 63 is further configured to send the flight mode and/or flight parameter information to the UAV to control the UAV to complete the remaining according to the flight mode and/or flight parameter information. route.
  • the embodiment of the present application further provides a computer readable storage medium storing computer executable instructions for executing the control method of the unmanned aerial vehicle.
  • the computer readable storage medium may include, but is not limited to, a USB flash drive, a Read-Only Memory (ROM), a Random Access Memory (RAM), a mobile hard disk, and a magnetic disk. Or a variety of media such as optical discs that can store program code.

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  • 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)
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Abstract

L'invention concerne un procédé de commande d'un véhicule aérien sans pilote et un terminal. Le procédé consiste : en ce que, lorsqu'il est détecté que le terminal est déconnecté du véhicule aérien sans pilote, le terminal sauvegarde des informations d'itinéraire de vol du véhicule aérien sans pilote (101) ; en ce que, après que la connexion entre le terminal et le véhicule aérien sans pilote est rétablie, le terminal détermine si le véhicule aérien sans pilote ne finit pas l'itinéraire de vol selon les informations d'itinéraire de vol (102) ; et en ce que, s'il est déterminé que le véhicule aérien sans pilote ne finit pas l'itinéraire de vol, le terminal envoie les informations d'itinéraire de vol au véhicule aérien sans pilote, afin de commander au véhicule aérien sans pilote de finir l'itinéraire de vol restant selon les informations d'itinéraire de vol (103). Selon le procédé du mode de réalisation de l'invention, l'efficacité d'obtention de l'itinéraire de vol par le véhicule aérien sans pilote peut être améliorée et l'opération de l'utilisateur peut être simplifiée. La consommation de puissance du véhicule aérien sans pilote durant la période de non-vol peut être réduite.
PCT/CN2018/106539 2017-11-13 2018-09-19 Procédé de commande de véhicule aérien sans pilote et terminal Ceased WO2019091226A1 (fr)

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CN109445464B (zh) * 2019-01-08 2021-06-25 深圳市道通智能航空技术股份有限公司 一种飞行控制方法及飞行控制系统
CN110345945B (zh) * 2019-05-29 2022-02-15 深圳市道通智能航空技术股份有限公司 一种参考航点数据的传输方法、装置及无人机
CN110597283A (zh) * 2019-09-06 2019-12-20 深圳市道通智能航空技术有限公司 飞行方法、终端设备、飞行器和飞行系统
CN111754357A (zh) * 2019-10-28 2020-10-09 广州极飞科技有限公司 作业控制方法、装置、系统、设备及可读存储介质
CN111449572A (zh) * 2020-03-26 2020-07-28 北京石头世纪科技股份有限公司 清洁机器人控制方法、装置及存储介质、清洁机器人
CN113485428A (zh) * 2021-07-23 2021-10-08 中国科学院地理科学与资源研究所 一种无人机飞行航线管理系统、方法及存储介质

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