CN103778523A - Vertical take-off and landing unmanned aerial vehicle and precise positioning and obstacle avoidance method thereof - Google Patents
Vertical take-off and landing unmanned aerial vehicle and precise positioning and obstacle avoidance method thereof Download PDFInfo
- Publication number
- CN103778523A CN103778523A CN201410008988.6A CN201410008988A CN103778523A CN 103778523 A CN103778523 A CN 103778523A CN 201410008988 A CN201410008988 A CN 201410008988A CN 103778523 A CN103778523 A CN 103778523A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- camera
- server
- point
- unmanned aerial
- 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.)
- Granted
Links
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a vertical take-off and landing unmanned aerial vehicle applied to logistics. The unmanned aerial vehicle comprises a vehicle body with a rotor. Cameras which point to the lower front of the unmanned aerial vehicle are respectively arranged at the front left part and the front right part of the vehicle body. The spacing between two cameras is a constant value, and the light axes are parallel. Strong light sources of light signals which can be modulated and are provided for the cameras and a consignee are matched. A photoelectric sensor is arranged in front of the vehicle body. Distance sensors are arranged above, below and around the vehicle body. The unmanned aerial vehicle and a server carry out wireless communication through a mobile communication network. According to the invention, a precise positioning and obstacle avoidance method of the unmanned aerial vehicle is provided, is especially suitable for the vertical take-off and landing unmanned aerial vehicle, can carry out autonomous obstacle avoidance, and has the advantage of accurate and safe operation.
Description
Technical field
The invention belongs to unmanned plane technical field, be specially a kind of for the VUAV of logistics and accurately location and barrier-avoiding method.
Background technology
In part remote districts, the income that express mail brings is difficult to floating network construction, maintains consumed fund, and this is to know together in current logistics.Can effectively improve dispensing efficiency and adopt " unmanned plane " to transport, reduce manpower, transport power cost, especially vertical takeoff and landing (VTOL, Vertical Take-Off and Landing) unmanned plane can meet towards addressee user's express delivery deliveries with towards the actual demand of the logistics business of small-sized express mail Distribution Center.Therefore VUAV being applied to logistics distribution is a good developing direction of logistics.
Conventionally, using VTOL VUAV to carry out logistics business has an insoluble problem, that is: the orientation problem between logistics unmanned plane and results object and keep away barrier problem under complex environment.The ideal situation of unmanned plane transportation express mail should be by unmanned plane, express mail to be sent into and received in object hand, and the positioning precision of this process need is at least in decimetre rank.Satnav precision cannot reach this requirement conventionally: use differential position system can cause terminal cost to rise hundreds of times, and due to positioning signal reflection, in built-up city, cannot guarantee locating effect; Use conventional satnav can cause positioning precision deficiency (perfect condition is generally 2m precision), in the more place of high building, because satellite-signal is reflected by high building, positioning precision can further decline.Be limited to above situation, in order to guarantee the security of unmanned plane logistics business, it can only be certain opening that its goods is thrown in place, and cannot carry out and sign for operation, can not solve the problem of " last ten meters " of unmanned plane logistics, increase the difficulty of receiving of the object of receiving, thereby caused the practicality of logistics unmanned plane to be had a greatly reduced quality.In addition, because consignee's position is fixing, environment of living in is also had nothing in common with each other, thus in this complete logistics progress, also need to consignee accurately locate and avoid near barrier, and use satnav cannot reach this requirement.
Summary of the invention
The object of the invention is to overcome above-mentioned deficiency, a kind of accurate location and barrier-avoiding method of the unmanned plane for logistics is provided, the method can be used for vertical takeoff and landing (VTOL) logistics unmanned plane.
For realizing above-mentioned technical purpose, scheme provided by the invention is: a kind of VUAV, comprise the fuselage with rotor, the left front portion of described fuselage and right front portion are respectively equipped with points to unmanned plane front camera on the lower side, two camera spacing are that definite value and optical axis are parallel, what camera and consignee were equipped with can modulated light signal intense light source match; The front of described fuselage arranges photoelectric sensor; Upper and lower and the surrounding of described fuselage arranges range sensor; Unmanned plane and server carry out radio communication by mobile communications network.
The present invention also provides a kind of accurate location and barrier-avoiding method for above-mentioned VUAV, comprises the steps.
Step 1, server obtain the detailed coordinate in accurate results place, obtain target spatial domain coordinate and direction parameter according to this coordinate, make this parameter correspondence position in the visual line of sight of accurate results place, direction, highly must be higher than surrounding building height substantially towards accurate results place.
Step 2, server are added into target spatial domain coordinate and direction parameter the list of unmanned plane task scheduling and make unmanned plane execution aerial mission.
Step 3, unmanned plane are flown to the report of the backward server of corresponding spatial domain coordinate and have been arrived target spatial domain, and start searchlight signal, start timing simultaneously, if kinds of goods be identified sign for before timing exceed preset value, skip to step 12.
Step 4, server are received after unmanned plane arrives the report of target spatial domain coordinate and are informed by network service the object of receiving.
Step 5, the object of receiving use and can constantly irradiate aerial unmanned plane by modulated light signal, and this light signal comprises recipient identity information, manifest information and check information, and can be encrypted signal as one sees fit.
Step 6, unmanned plane utilize two camera induction luminous points, continue search if do not search luminous point; If search luminous point according to each luminous point of searching the position calculation luminous point of each camera picture with respect to camera laterally and regulation of longitudinal angle, then go out distance and the direction of effective highlighted quantity and each effective high bright spot and each camera according to the distance computation of two cameras.
Step 7, according to gained information, the camera angle of depression and camera and photoelectric sensor relative position information in previous step, unmanned plane obtains the directional data of each luminous point with respect to photoelectric sensor, make photoelectric sensor point to aiming pip according to the pitching of this directional data control photoelectric sensor and steering axle, and aiming pip is carried out to Information Authentication, if be proved to be successful, this luminous point is kept following the trail of, if authentication failed is carried out Information Authentication to next luminous point.
The luminous point after being proved to be successful is set as impact point by step 8, unmanned plane, and set up three shaft space coordinate systems for this impact point, in these space coordinates, an axle is perpendicular to surface level, then can obtain impact point and unmanned plane relative orientation according to gained impact point in step 6 and step 7 with respect to the orientation of camera and distance, the camera angle of depression, camera installation site and unmanned plane pitching, roll, directional data.
Step 9, according to the data obtained in previous step, the level of unmanned plane is pointed to impact point towards all the time, near impact point, and come to keep a safe distance with barrier around with sidesway and rise and fall according to range sensor data as far as possible, but can not be lower than critical distance, if interrupt if approach light signal in the process of impact point at unmanned plane, skip to step 12.
Step 10, in the time that the distance of unmanned plane and impact point is less than safe distance, utilize the mode of acousto-optic-electric or communication to point out results object to receive kinds of goods.
Step 11, the object of receiving use light signal or network service to carry out electronics and sign for, unmanned plane confirms the rear locking of removing kinds of goods of the request of signing for, the acquiring object kinds of goods of receiving, after unmanned plane is picked by photoelectric sensor perception kinds of goods, sign for successfully to server confirmation kinds of goods by network service, server stores electronics is signed for document and is made a copy for to the object of receiving; Do not complete if sign for flow process, and timing does not exceed preset value and returns to step 4.
Step 12, unmanned plane according to range sensor away from the barrier of all directions to more remote, then hoisting depth is to contour with target spatial domain coordinate, then the target spatial domain coordinate that flies to.
Step 13, finish the work after, unmanned plane makes a return voyage and safeguards to unmanned plane base.
And, electronics in described step 11 is signed for, and to be consignee sign for to unmanned plane utilizing emitted light signal by intense light source that can modulated light signal, or, consignee signs for server by network service, server will be signed for information exchange again and cross mobile communications network and feed back to unmanned plane, complete electronics and sign for action.
The invention has the beneficial effects as follows: the mode that provides a kind of unmanned plane to carry out logistics transportation, be especially applicable to vertical takeoff and landing formula unmanned plane, can automatic obstacle avoiding, its operation precise and safety, feasibility is high, be convenient to implement.
Accompanying drawing explanation
Fig. 1 is the structure block diagram of unmanned plane in the present invention.
Fig. 2 is the work schematic diagram of camera in the present invention.
Fig. 3 is method flow diagram of the present invention.
Embodiment
Below in conjunction with embodiment, the invention will be further described.
A kind of VUAV that the present embodiment provides, as depicted in figs. 1 and 2, comprises the fuselage with rotor, and the left front portion of described fuselage and right front portion are respectively equipped with points to unmanned plane front camera on the lower side, and the parallel and spacing of the optical axis of two cameras is definite value; The front of described fuselage arranges photoelectric sensor; Upper and lower and the surrounding of described fuselage arranges range sensor; Consignee be equipped with can the intense light source of modulated light signal and the camera of unmanned plane match; Unmanned plane and server carry out radio communication by mobile phone signal net.
What above-mentioned consignee was equipped with can modulated light signal intense light source, can help guiding location can communicate by letter again, and intense light source is easy to obtain, for example, there is the smart mobile phone of flashlamp.
The present embodiment also provides a kind of accurate location and barrier-avoiding method for above-mentioned VUAV, and method step of the present invention for convenience of description need to be supposed following parameter in advance:
1. hypothesis unmanned plane center is true origin
, the just front horizontal direction of unmanned plane is positive y axle, the just right horizontal direction of unmanned plane is positive x axle, is positive z axle perpendicular to surface level direction upwards;
2. suppose that about unmanned plane is in the time of horizontality, the coordinate of two cameras is respectively
with
, spacing is
, pointing direction is just front downward bias
radian,
;
3. hypothesis unmanned plane photoelectric sensor installation site in the time of horizontality is
;
4. establishing the real-time angle of depression of unmanned plane is
, the real-time right side is rolled angle and is
,
,
;
5. hypothesis unmanned plane has
individual range sensor is evenly distributed on around it, and the pointing direction of each range sensor represents with vector of unit length, can obtain vectorial array
, wherein comprise
individual vector of unit length is corresponding with each range sensor pointing direction successively;
6. hypothesis " more remote ", " safe distance ", " critical distance " are respectively
,
with
, wherein
;
7. the hypothesis timer time
, time-out time is
.
The present embodiment provides a kind of accurate location of the unmanned plane for logistics and barrier-avoiding method in the process of application, as Fig. 3, specifically comprises the following steps.
Step 1: server obtains accurate results place details, but can not directly allow logistics unmanned plane this place of flying to, in order to avoid because satnav precision is deteriorated or barrier causes unmanned plane to occur accident.Obtain target spatial domain coordinate and direction parameter according to this coordinate, make this parameter correspondence position in the visual line of sight of accurate results place, direction, highly must be higher than surrounding building height substantially towards accurate results place.Because the requirement of this parameter is comparatively loose, parameter values is also easy to arrange.This step is intended to unmanned plane and switches to and use before accurate positioning method provided by the invention in an open unscreened environment in top, in order to avoid satnav precision declines to a great extent.
Step 2: server is added into target spatial domain coordinate and direction parameter the list of unmanned plane task scheduling and makes unmanned plane execute the task.
Step 3: unmanned plane arrives the backward server report of corresponding spatial domain coordinate and arrived target spatial domain coordinate, completes head towards adjustment, then starts searchlight signal, and timer starts timing simultaneously, before unmanned plane perception kinds of goods are picked,
, skip to step 12.
Step 4: server is received after unmanned plane arrives the report of target spatial domain coordinate and informed by network service the object of receiving.
Step 5: the object of receiving uses light signal constantly to irradiate aerial unmanned plane, includes but are not limited to recipient identity information, manifest information and check information, and can be encrypted signal as one sees fit in light signal.
Step 6: unmanned plane utilizes two camera induction luminous points, continues search if do not search high bright spot; If search luminous point according to each luminous point of searching the position calculation luminous point of each camera picture with respect to camera laterally and regulation of longitudinal angle, then go out distance and the direction of effective highlighted quantity and each effective high bright spot and each camera according to the distance computation of two cameras.
Camera pixel coordinate is that center is initial point, and positive x is axially right, and positive y axially goes up, and positive z axle is dead ahead, sets up the coordinate system based on camera, and two of left and right coordinate system corresponding to camera is respectively
with
.According to camera manufacturer data, each pixel has the horizontal and regulation of longitudinal angle with respect to camera corresponding with it, set laterally to the rightly for just, set longitudinal on the upper sidely for just, have the mapping function (this mapping function also can measure voluntarily) of pixel unit corresponding to pixel direction vector:
, satisfy condition:
, because camera can only enter light from front, also satisfy condition:
。Can obtain the direction vector that pixel is corresponding is (being exclusively used in the vector of unit length of statement direction parameter):
Wherein, luminous point judgement can simply judge by RGB threshold test pixel color have the each pixel color composition of camera real-time pictures to be:
RGB threshold value is respectively:
,
,
.
When meet simultaneously:
Be judged to be the pixel of luminous point.
If qualified pixel is adjacent, can merge into a spot treatments, luminous point coordinate adopts the weighted mean value of its pixel coordinate comprising, and can obtain the luminous point coordinate array that left camera obtains
:
…?…
, the luminous point coordinate array that right camera obtains:
…?…
Then by the substitution of luminous point coordinate:
Can obtain in left camera luminous point with respect to left camera position vector array
:
…?…
In right camera, luminous point is with respect to left camera position vector array
:
…?…
Actual luminous point imaging in the camera of two of left and right respectively, can obtain the imaging in left camera of actual spot, actual spot, the corresponding relation of the imaging of actual spot in right camera by luminous point pairing in two cameras of left and right.
in each element all with
in each element attempt coupling, suppose that two elements corresponding to left and right camera that mated are followed successively by
with
, matching condition is:
Establish again constant
with
, exist:
, that is:
, have:
, can obtain the distance of two cameras of actual spot and left and right and direction and be expressed as vector and be respectively:
With
Step 7: right-hand as positive x axle take unmanned plane, front is positive y axle, top is that positive z axle is set up the coordinate system based on unmanned plane
.By the actual spot finally obtaining in step 6 respectively with the position vector of two cameras in left and right by
with
coordinate system transformation extremely
coordinate system, transformation equation is:
That is:
Photoelectric sensor to the position vector of left (right side) camera is
(
), left (right side) camera to actual spot based on
(
) coordinate system position vector through top transformation equation can be exchanged into based on
the vector value of coordinate system, both additions can obtain the position vector of photoelectric sensor to actual spot, and then can obtain the position vector of each actual spot with respect to photoelectric sensor, and establishing the set of gained position vector is position vector array
:
…?…
Make photoelectric sensor point to successively actual spot and luminous point is carried out to Information Authentication according to the pitching of the direction control photoelectric sensor of vector representation and steering axle, if be proved to be successful, this luminous point is kept following the trail of, if authentication failed is carried out Information Authentication to next actual spot, until obtain aiming pip.
Step: 8: after the success of unmanned plane checking luminous point information, this luminous point being set as to impact point (is in step 7
the element of vector in array, establishes it and is
), set up three shaft space coordinate systems
, unmanned plane center is as coordinate origin, coordinate system x, y axle are parallel with ground level, positive y axle with unmanned plane dead ahead to corresponding.Will
can obtain aiming pip and unmanned plane relative orientation vector with unmanned plane pitching, the associative operation of roll angle degrees of data
(based on the three-dimensional coordinate system of surface level), concrete grammar is right
carry out successively pitching and roll coordinate transform (coordinate transform order can be put upside down).Pitching transformation equation:
That is:
With roll transformation equation:
That is:
, will
substitution pitching transformation equation, acquired results again substitution roll transformation equation just can obtain
.
Step 9: according in step 8
(in this step
data are by continuous real-time update), make the level of unmanned plane point to impact point towards all the time, then come to keep a safe distance with barrier around with sidesway and rise and fall near impact point, and according to range sensor data as far as possible, but can not be lower than critical distance.
If array
, contain:
…?…
, the instantaneous value of obstacle distance that corresponding each range sensor is surveyed successively.
If unmanned plane motion-vector
,
,
point to orientation references unmanned plane moving direction,
to move dynamics relevant to unmanned plane,
computing method as follows:
Work as array
middle all elements is all greater than
in time, has:
, work as array
in exist element to be less than
, and all elements is all greater than
in time, has:
Work as array
middle existence is less than
element time have:
In addition, interrupt if approach light signal in the process of impact point at unmanned plane, enter immediately step 12.
Step 10: in the time that the distance of unmanned plane and impact point is less than safe distance,
, utilize the mode of acousto-optic-electric or communication to point out results object to receive kinds of goods.
Step 11: the object of receiving uses light signal or network service to carry out electronics and signs for, unmanned plane confirms signs for the locking of asking and removing kinds of goods, the acquiring object kinds of goods of receiving, after unmanned plane perception kinds of goods are picked, sign for successfully to server confirmation kinds of goods by network service, server stores electronics is signed for document and is made a copy for to the object of receiving; Also can be signed for server by network service by consignee, server will be signed for information exchange again and cross mobile communications network and feed back to unmanned plane, complete electronics and sign for action.Do not complete if sign for flow process, and timing does not exceed preset value and returns to step 4.
Step 12: unmanned plane according to range sensor away from the barrier of all directions to more remote, have in refer step 9:
When:
Time, have:
Otherwise have:
。Treat that unmanned plane height approximates next target spatial domain coordinate height, the more next target spatial domain coordinate that flies to.
Step 13: complete after all tasks, unmanned plane makes a return voyage and safeguards to unmanned plane base.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvement or distortion, these improvement or distortion also should be considered as protection scope of the present invention.
Claims (3)
1. a VUAV, comprise the fuselage with rotor, it is characterized in that: the left front portion of described fuselage and right front portion are respectively equipped with points to unmanned plane front camera on the lower side, two camera spacing are that definite value and optical axis are parallel, what camera and consignee were equipped with can modulated light signal intense light source match; The front of described fuselage arranges photoelectric sensor; Upper and lower and the surrounding of described fuselage arranges range sensor; Unmanned plane and server carry out radio communication by mobile communications network.
2. for accurate location and the barrier-avoiding method of VUAV claimed in claim 1, comprise the steps:
Step 1, server obtain the detailed coordinate in accurate place of receipt, obtain target spatial domain coordinate and direction parameter according to this coordinate, make this parameter correspondence position in the visual line of sight of accurate results place, direction, highly must be higher than surrounding building height substantially towards accurate results place;
Step 2, server are added into target spatial domain coordinate and direction parameter the list of unmanned plane task scheduling and make unmanned plane execution aerial mission;
Step 3, unmanned plane are flown to the report of the backward server of corresponding spatial domain coordinate and have been arrived target spatial domain, and start searchlight signal, start timing simultaneously, if kinds of goods be identified sign for before timing exceed preset value, skip to step 12;
Step 4, server are received after unmanned plane arrives the report of target spatial domain coordinate and are informed by network service the object of receiving;
Step 5, the object of receiving use and can constantly irradiate aerial unmanned plane by modulated light signal, and this light signal comprises recipient identity information, manifest information and check information;
Step 6, unmanned plane utilize two camera induction luminous points, continue search if do not search luminous point; If search luminous point according to each luminous point of searching the position calculation luminous point of each camera picture with respect to camera laterally and regulation of longitudinal angle, then go out distance and the direction of effective highlighted quantity and each effective high bright spot and each camera according to the distance computation of two cameras;
Step 7, obtain distance and directional information, the camera angle of depression and camera and the photoelectric sensor relative position information of each effective high bright spot and each camera according to step 6, unmanned plane obtains the directional data of each luminous point with respect to photoelectric sensor, make photoelectric sensor point to aiming pip according to the pitching of this directional data control photoelectric sensor and steering axle, and aiming pip is carried out to Information Authentication, if be proved to be successful, this luminous point is kept following the trail of, if authentication failed is carried out Information Authentication to next luminous point;
The luminous point after being proved to be successful is set as impact point by step 8, unmanned plane, and set up three shaft space coordinate systems for this impact point, in these space coordinates, an axle is perpendicular to surface level, then can obtain impact point and unmanned plane relative orientation according to gained impact point in step 6 and step 7 with respect to the orientation of camera and distance, the camera angle of depression, camera installation site and unmanned plane pitching, roll, directional data;
Step 9, according to the data obtained in previous step, the level of unmanned plane is pointed to impact point towards all the time, near impact point, and come to keep a safe distance with barrier around with sidesway and rise and fall according to range sensor data as far as possible, but can not be lower than critical distance, if interrupt if approach light signal in the process of impact point at unmanned plane, skip to step 12;
Step 10, in the time that the distance of unmanned plane and impact point is less than safe distance, utilize the mode of acousto-optic-electric or communication to point out results object to receive kinds of goods;
Step 11, the object of receiving use light signal or network service to carry out electronics and sign for, unmanned plane confirms the rear locking of removing kinds of goods of the request of signing for, the acquiring object kinds of goods of receiving, after unmanned plane is picked by photoelectric sensor perception kinds of goods, sign for successfully to server confirmation kinds of goods by network service, server stores electronics is signed for document and is made a copy for to the object of receiving; Do not complete if sign for flow process, and timing does not exceed preset value and returns to step 4;
Step 12, unmanned plane according to range sensor away from the barrier of all directions to more remote, then hoisting depth is to contour with target spatial domain coordinate, then the target spatial domain coordinate that flies to;
Step 13, finish the work after, unmanned plane makes a return voyage and safeguards to unmanned plane base.
3. accurate location and the barrier-avoiding method of VUAV according to claim 2, it is characterized in that: the electronics in described step 11 is signed for, and to be consignee sign for to unmanned plane utilizing emitted light signal by intense light source that can modulated light signal, or, consignee signs for server by network service, server will be signed for information exchange again and cross mobile communications network and feed back to unmanned plane, complete electronics and sign for action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410008988.6A CN103778523B (en) | 2014-01-09 | 2014-01-09 | Vertical take-off and landing unmanned aerial vehicle and precise positioning and obstacle avoidance method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410008988.6A CN103778523B (en) | 2014-01-09 | 2014-01-09 | Vertical take-off and landing unmanned aerial vehicle and precise positioning and obstacle avoidance method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103778523A true CN103778523A (en) | 2014-05-07 |
| CN103778523B CN103778523B (en) | 2017-04-19 |
Family
ID=50570729
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410008988.6A Expired - Fee Related CN103778523B (en) | 2014-01-09 | 2014-01-09 | Vertical take-off and landing unmanned aerial vehicle and precise positioning and obstacle avoidance method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103778523B (en) |
Cited By (35)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104199368A (en) * | 2014-09-20 | 2014-12-10 | 无锡北斗星通信息科技有限公司 | Field drought severity acquiring device positioned on unmanned plane |
| CN104443410A (en) * | 2014-10-23 | 2015-03-25 | 黄守瑜 | Sensing device of agricultural unmanned helicopter |
| CN104483970A (en) * | 2014-12-20 | 2015-04-01 | 徐嘉荫 | Unpiloted system navigation control method based on global positioning system or mobile communication network |
| CN104746444A (en) * | 2015-04-08 | 2015-07-01 | 唐枫一 | Goods receiving device for unmanned aerial vehicle |
| CN104820435A (en) * | 2015-02-12 | 2015-08-05 | 武汉科技大学 | Quadrotor moving target tracking system based on smart phone and method thereof |
| CN104820429A (en) * | 2015-04-28 | 2015-08-05 | 南京航空航天大学 | Ultrasonic distance detection-based unmanned aerial vehicle obstacle avoidance system and control method thereof |
| CN104980281A (en) * | 2015-07-07 | 2015-10-14 | 余江 | Unmanned aircraft-based method, device and system for article delivery |
| CN104991567A (en) * | 2015-05-12 | 2015-10-21 | 深圳市多翼创新科技有限公司 | Unmanned plane cargo transportation method and system |
| CN105068559A (en) * | 2015-08-26 | 2015-11-18 | 北京中物智联科技有限公司 | Unmanned plane piling operating system |
| CN105059533A (en) * | 2015-08-14 | 2015-11-18 | 深圳市多翼创新科技有限公司 | Aircraft and landing method thereof |
| TWI512666B (en) * | 2014-05-29 | 2015-12-11 | ||
| CN105306500A (en) * | 2014-06-19 | 2016-02-03 | 赵海 | Express transportation system based on quadrirotor, express transportation method and monocular obstacle avoidance method |
| CN105487553A (en) * | 2016-01-11 | 2016-04-13 | 余江 | Control method and device of unmanned aerial vehicle |
| CN105513217A (en) * | 2015-12-01 | 2016-04-20 | 上海斐讯数据通信技术有限公司 | Express control system and method based on unmanned aerial vehicle and express system |
| CN105518728A (en) * | 2014-11-28 | 2016-04-20 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle, unmanned aerial vehicle delivery method and system |
| CN105807784A (en) * | 2015-01-16 | 2016-07-27 | 国际商业机器公司 | Distributed, unmanned aerial vehicle package transport network |
| WO2016132239A1 (en) * | 2015-02-16 | 2016-08-25 | International Business Machines Corporation | Autonomous delivery of items |
| CN105957070A (en) * | 2016-04-26 | 2016-09-21 | 胡碧滢 | Small-sized unmanned plane camera orientation calibrating device and calibrating method |
| WO2016187758A1 (en) * | 2015-05-23 | 2016-12-01 | SZ DJI Technology Co., Ltd. | Sensor fusion using inertial and image sensors |
| CN106598069A (en) * | 2016-12-14 | 2017-04-26 | 天津文林科技有限公司 | Photo-electro-mechanical integrated image processing-based unmanned aerial vehicle positioning system |
| CN106663380A (en) * | 2014-07-31 | 2017-05-10 | 埃米特·法里斯 | System and method for controlling drone delivery |
| CN106657919A (en) * | 2017-01-06 | 2017-05-10 | 四川克瑞斯航空科技有限公司 | Unmanned aerial vehicle device applied to express fixed point delivery |
| CN106809393A (en) * | 2016-10-21 | 2017-06-09 | 北京京东尚科信息技术有限公司 | A kind of freight transportation method based on unmanned plane |
| CN107107283A (en) * | 2014-11-27 | 2017-08-29 | 艾顿特泰克两合公司 | Material logistics system |
| CN107200143A (en) * | 2017-06-08 | 2017-09-26 | 中国科学院半导体研究所 | A kind of vertically taking off and landing flyer blind landing system based on VLC |
| CN107210000A (en) * | 2015-01-29 | 2017-09-26 | 高通股份有限公司 | System and method for limiting the access of unmanned plane spatial domain |
| CN107491924A (en) * | 2017-09-07 | 2017-12-19 | 上海斐讯数据通信技术有限公司 | A kind of electronic logisticses method and system |
| CN107703963A (en) * | 2014-07-30 | 2018-02-16 | 深圳市大疆创新科技有限公司 | Target tracking system and method |
| CN107851240A (en) * | 2015-05-22 | 2018-03-27 | 彼得·米恰利克 | The system and method communicated between unmanned plane and portable handheld device |
| CN108431863A (en) * | 2015-12-29 | 2018-08-21 | 乐天株式会社 | Logistics system, package Transfer method and program |
| CN109284961A (en) * | 2018-09-19 | 2019-01-29 | 惠龙易通国际物流股份有限公司 | One kind is received processing method and processing device |
| US10538327B2 (en) | 2016-05-04 | 2020-01-21 | Walmart Apollo, Llc | Systems and methods for transporting products via unmanned aerial vehicles |
| US10565732B2 (en) | 2015-05-23 | 2020-02-18 | SZ DJI Technology Co., Ltd. | Sensor fusion using inertial and image sensors |
| WO2020062877A1 (en) * | 2018-09-25 | 2020-04-02 | 北京外号信息技术有限公司 | Cargo coordinated distribution system and method |
| CN111309050A (en) * | 2020-03-04 | 2020-06-19 | 桂林航天工业学院 | Unmanned aerial vehicle target identification and positioning method |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006115437A2 (en) * | 2005-04-27 | 2006-11-02 | Otkrytoe Akzionernoe Obschestvo 'sistema-Venchur' | Method for controlling a helicopter position in a hovering mode and a system for carrying out said method |
| CN101976078A (en) * | 2010-09-29 | 2011-02-16 | 清华大学 | Unmanned helicopter automatic landing method based on laser guidance |
| CN202046439U (en) * | 2011-04-26 | 2011-11-23 | 山东电力研究院 | Hedgehopping obstacle avoiding subsystem for electric line patrol unmanned helicopter |
| CN102339021A (en) * | 2011-07-21 | 2012-02-01 | 成都西麦克虚拟现实电子技术有限公司 | UAV(unmanned aerial vehicle) visual simulation system and simulation method |
| CN102424112A (en) * | 2011-11-30 | 2012-04-25 | 东北大学 | Three-layer airborne flight control device for micro four-rotor aerial vehicle |
| CN102591357A (en) * | 2012-03-16 | 2012-07-18 | 航天科工深圳（集团）有限公司 | Auxiliary control system for power line inspection unmanned aerial vehicle, and control method thereof |
| CN102941290A (en) * | 2012-11-16 | 2013-02-27 | 苏州汇川技术有限公司 | Steel bar bending machine and steel bar bending machine control method |
| CN103116360A (en) * | 2013-01-31 | 2013-05-22 | 南京航空航天大学 | Unmanned aerial vehicle obstacle avoidance controlling method |
-
2014
- 2014-01-09 CN CN201410008988.6A patent/CN103778523B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006115437A2 (en) * | 2005-04-27 | 2006-11-02 | Otkrytoe Akzionernoe Obschestvo 'sistema-Venchur' | Method for controlling a helicopter position in a hovering mode and a system for carrying out said method |
| CN101976078A (en) * | 2010-09-29 | 2011-02-16 | 清华大学 | Unmanned helicopter automatic landing method based on laser guidance |
| CN202046439U (en) * | 2011-04-26 | 2011-11-23 | 山东电力研究院 | Hedgehopping obstacle avoiding subsystem for electric line patrol unmanned helicopter |
| CN102339021A (en) * | 2011-07-21 | 2012-02-01 | 成都西麦克虚拟现实电子技术有限公司 | UAV(unmanned aerial vehicle) visual simulation system and simulation method |
| CN102424112A (en) * | 2011-11-30 | 2012-04-25 | 东北大学 | Three-layer airborne flight control device for micro four-rotor aerial vehicle |
| CN102591357A (en) * | 2012-03-16 | 2012-07-18 | 航天科工深圳（集团）有限公司 | Auxiliary control system for power line inspection unmanned aerial vehicle, and control method thereof |
| CN102941290A (en) * | 2012-11-16 | 2013-02-27 | 苏州汇川技术有限公司 | Steel bar bending machine and steel bar bending machine control method |
| CN103116360A (en) * | 2013-01-31 | 2013-05-22 | 南京航空航天大学 | Unmanned aerial vehicle obstacle avoidance controlling method |
Non-Patent Citations (1)
| Title |
|---|
| 程学功: "四轴飞行器的设计与研究", 《中国优秀硕士学位论文集》 * |
Cited By (57)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI512666B (en) * | 2014-05-29 | 2015-12-11 | ||
| CN105306500A (en) * | 2014-06-19 | 2016-02-03 | 赵海 | Express transportation system based on quadrirotor, express transportation method and monocular obstacle avoidance method |
| CN105306500B (en) * | 2014-06-19 | 2018-11-02 | 赵海 | A kind of express transportation system, express transportation method and monocular barrier-avoiding method based on four-axle aircraft |
| US11194323B2 (en) | 2014-07-30 | 2021-12-07 | SZ DJI Technology Co., Ltd. | Systems and methods for target tracking |
| US11106201B2 (en) | 2014-07-30 | 2021-08-31 | SZ DJI Technology Co., Ltd. | Systems and methods for target tracking |
| CN107703963B (en) * | 2014-07-30 | 2020-12-01 | 深圳市大疆创新科技有限公司 | Target tracking system and method |
| CN107703963A (en) * | 2014-07-30 | 2018-02-16 | 深圳市大疆创新科技有限公司 | Target tracking system and method |
| CN106663380A (en) * | 2014-07-31 | 2017-05-10 | 埃米特·法里斯 | System and method for controlling drone delivery |
| CN104199368A (en) * | 2014-09-20 | 2014-12-10 | 无锡北斗星通信息科技有限公司 | Field drought severity acquiring device positioned on unmanned plane |
| CN104443410A (en) * | 2014-10-23 | 2015-03-25 | 黄守瑜 | Sensing device of agricultural unmanned helicopter |
| CN107107283A (en) * | 2014-11-27 | 2017-08-29 | 艾顿特泰克两合公司 | Material logistics system |
| US11120388B2 (en) | 2014-11-28 | 2021-09-14 | SZ DJI Technology Co., Ltd. | Unmanned aerial vehicle, and method and system for delivering cargo with unmanned aerial vehicle |
| CN105518728B (en) * | 2014-11-28 | 2018-10-16 | 深圳市大疆创新科技有限公司 | A kind of unmanned plane, unmanned plane delivery method and system |
| CN105518728A (en) * | 2014-11-28 | 2016-04-20 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle, unmanned aerial vehicle delivery method and system |
| WO2016082177A1 (en) * | 2014-11-28 | 2016-06-02 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle, and unmanned aerial vehicle delivery method and system |
| CN104483970A (en) * | 2014-12-20 | 2015-04-01 | 徐嘉荫 | Unpiloted system navigation control method based on global positioning system or mobile communication network |
| CN104483970B (en) * | 2014-12-20 | 2017-06-27 | 徐嘉荫 | A kind of method of the control Unmanned Systems' navigation based on global position system and mobile communications network |
| CN105807784A (en) * | 2015-01-16 | 2016-07-27 | 国际商业机器公司 | Distributed, unmanned aerial vehicle package transport network |
| CN107210000A (en) * | 2015-01-29 | 2017-09-26 | 高通股份有限公司 | System and method for limiting the access of unmanned plane spatial domain |
| US10497270B2 (en) | 2015-01-29 | 2019-12-03 | Qualcomm Incorporated | Systems and methods for managing drone access |
| US10249198B2 (en) | 2015-01-29 | 2019-04-02 | Qualcomm Incorporated | Systems and methods for restricting drone airspace access |
| CN104820435A (en) * | 2015-02-12 | 2015-08-05 | 武汉科技大学 | Quadrotor moving target tracking system based on smart phone and method thereof |
| GB2551295A (en) * | 2015-02-16 | 2017-12-13 | Ibm | Autonomous delivery of items |
| US10176447B2 (en) | 2015-02-16 | 2019-01-08 | International Business Machines Corporation | Autonomous delivery of items |
| US10163069B2 (en) | 2015-02-16 | 2018-12-25 | International Business Machines Corporation | Autonomous delivery of items |
| WO2016132239A1 (en) * | 2015-02-16 | 2016-08-25 | International Business Machines Corporation | Autonomous delivery of items |
| GB2551295B (en) * | 2015-02-16 | 2018-08-01 | Ibm | Autonomous delivery of items |
| CN104746444A (en) * | 2015-04-08 | 2015-07-01 | 唐枫一 | Goods receiving device for unmanned aerial vehicle |
| CN104820429B (en) * | 2015-04-28 | 2017-05-03 | 南京航空航天大学 | Ultrasonic distance detection-based unmanned aerial vehicle obstacle avoidance system and control method thereof |
| CN104820429A (en) * | 2015-04-28 | 2015-08-05 | 南京航空航天大学 | Ultrasonic distance detection-based unmanned aerial vehicle obstacle avoidance system and control method thereof |
| CN104991567A (en) * | 2015-05-12 | 2015-10-21 | 深圳市多翼创新科技有限公司 | Unmanned plane cargo transportation method and system |
| CN104991567B (en) * | 2015-05-12 | 2018-08-03 | 深圳市多翼创新科技有限公司 | A kind of unmanned aerial vehicle freight transportation method and system |
| CN107851240A (en) * | 2015-05-22 | 2018-03-27 | 彼得·米恰利克 | The system and method communicated between unmanned plane and portable handheld device |
| WO2016187758A1 (en) * | 2015-05-23 | 2016-12-01 | SZ DJI Technology Co., Ltd. | Sensor fusion using inertial and image sensors |
| US10565732B2 (en) | 2015-05-23 | 2020-02-18 | SZ DJI Technology Co., Ltd. | Sensor fusion using inertial and image sensors |
| CN104980281A (en) * | 2015-07-07 | 2015-10-14 | 余江 | Unmanned aircraft-based method, device and system for article delivery |
| CN105059533A (en) * | 2015-08-14 | 2015-11-18 | 深圳市多翼创新科技有限公司 | Aircraft and landing method thereof |
| CN105068559A (en) * | 2015-08-26 | 2015-11-18 | 北京中物智联科技有限公司 | Unmanned plane piling operating system |
| CN105068559B (en) * | 2015-08-26 | 2018-01-05 | 北京中物智联科技有限公司 | A kind of unmanned plane palletizing operation system |
| CN105513217A (en) * | 2015-12-01 | 2016-04-20 | 上海斐讯数据通信技术有限公司 | Express control system and method based on unmanned aerial vehicle and express system |
| CN105513217B (en) * | 2015-12-01 | 2018-01-30 | 上海斐讯数据通信技术有限公司 | Express delivery control system, method and express system based on unmanned plane |
| CN108431863A (en) * | 2015-12-29 | 2018-08-21 | 乐天株式会社 | Logistics system, package Transfer method and program |
| CN108431863B (en) * | 2015-12-29 | 2022-07-26 | 乐天集团股份有限公司 | Logistics system, package delivery method, and recording medium |
| US11475390B2 (en) | 2015-12-29 | 2022-10-18 | Rakuten Group, Inc. | Logistics system, package delivery method, and program |
| CN105487553A (en) * | 2016-01-11 | 2016-04-13 | 余江 | Control method and device of unmanned aerial vehicle |
| CN105957070A (en) * | 2016-04-26 | 2016-09-21 | 胡碧滢 | Small-sized unmanned plane camera orientation calibrating device and calibrating method |
| CN105957070B (en) * | 2016-04-26 | 2017-02-15 | 胡碧滢 | Small-sized unmanned plane camera orientation calibrating device and calibrating method |
| US10538327B2 (en) | 2016-05-04 | 2020-01-21 | Walmart Apollo, Llc | Systems and methods for transporting products via unmanned aerial vehicles |
| CN106809393A (en) * | 2016-10-21 | 2017-06-09 | 北京京东尚科信息技术有限公司 | A kind of freight transportation method based on unmanned plane |
| CN106598069A (en) * | 2016-12-14 | 2017-04-26 | 天津文林科技有限公司 | Photo-electro-mechanical integrated image processing-based unmanned aerial vehicle positioning system |
| CN106657919A (en) * | 2017-01-06 | 2017-05-10 | 四川克瑞斯航空科技有限公司 | Unmanned aerial vehicle device applied to express fixed point delivery |
| CN107200143A (en) * | 2017-06-08 | 2017-09-26 | 中国科学院半导体研究所 | A kind of vertically taking off and landing flyer blind landing system based on VLC |
| CN107491924A (en) * | 2017-09-07 | 2017-12-19 | 上海斐讯数据通信技术有限公司 | A kind of electronic logisticses method and system |
| CN109284961A (en) * | 2018-09-19 | 2019-01-29 | 惠龙易通国际物流股份有限公司 | One kind is received processing method and processing device |
| WO2020062877A1 (en) * | 2018-09-25 | 2020-04-02 | 北京外号信息技术有限公司 | Cargo coordinated distribution system and method |
| CN111309050A (en) * | 2020-03-04 | 2020-06-19 | 桂林航天工业学院 | Unmanned aerial vehicle target identification and positioning method |
| CN111309050B (en) * | 2020-03-04 | 2023-07-04 | 桂林航天工业学院 | Unmanned aerial vehicle target identification positioning method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103778523B (en) | 2017-04-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103778523A (en) | Vertical take-off and landing unmanned aerial vehicle and precise positioning and obstacle avoidance method thereof | |
| US20200207474A1 (en) | Unmanned aerial vehicle and payload delivery system | |
| US11645920B2 (en) | Secure unmanned aerial vehicle flight planning | |
| CN111448476A (en) | Techniques for sharing drawing data between an unmanned aerial vehicle and a ground vehicle | |
| US11003972B2 (en) | Localizing a vehicle's charging or fueling port—methods and apparatuses | |
| WO2016141100A3 (en) | Scanning environments and tracking unmanned aerial vehicles | |
| CN107024199A (en) | Surveyed and drawn by mobile delivery vehicle | |
| CN106444837A (en) | Obstacle avoiding method and obstacle avoiding system for unmanned aerial vehicle | |
| CN109074090A (en) | Unmanned plane hardware structure | |
| US20210209543A1 (en) | Directing secondary delivery vehicles using primary delivery vehicles | |
| CN104298248A (en) | Accurate visual positioning and orienting method for rotor wing unmanned aerial vehicle | |
| CN106662879A (en) | Object avoidance for automated aerial vehicles | |
| Chae et al. | The IoT based automate landing system of a drone for the round-the-clock surveillance solution | |
| CN105157708A (en) | Unmanned aerial vehicle autonomous navigation system and method based on image processing and radar | |
| CN106164931B (en) | Method and device for displaying objects on a vehicle display device | |
| CN111670339A (en) | Techniques for collaborative mapping between unmanned aerial vehicles and ground vehicles | |
| CN107783555B (en) | Target positioning method, device and system based on unmanned aerial vehicle | |
| CN109753079A (en) | A kind of unmanned plane precisely lands in mobile platform method | |
| CN112967344A (en) | Method, apparatus, storage medium, and program product for camera external reference calibration | |
| CN106896828A (en) | A kind of unmanned plane automated wireless charging method and system | |
| CN112666963A (en) | Road pavement crack detection system based on four-axis unmanned aerial vehicle and detection method thereof | |
| CN106204400B (en) | Commodity circulation transportation positioning system based on unmanned aerial vehicle | |
| CN104268884B (en) | A kind of calibration system and method for the lane departure warning based on car networking | |
| CN113820709B (en) | Through-wall radar detection system and detection method based on unmanned aerial vehicle | |
| CN112598756A (en) | Roadside sensor calibration method and device and electronic equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170419 Termination date: 20200109 |