CN106502270A - Unmanned plane, unmanned plane take off control method and device - Google Patents
Unmanned plane, unmanned plane take off control method and device Download PDFInfo
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- CN106502270A CN106502270A CN201710003042.4A CN201710003042A CN106502270A CN 106502270 A CN106502270 A CN 106502270A CN 201710003042 A CN201710003042 A CN 201710003042A CN 106502270 A CN106502270 A CN 106502270A
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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
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Abstract
Control method and device the invention provides a kind of unmanned plane, unmanned plane take off, are related to unmanned air vehicle technique field.The unmanned plane takes off control method for controlling unmanned plane, comprises the following steps：Receive first to take off preparatory signal, first preparatory signal triggering after unmanned plane is positioned to the default height that takes off of taking off is produced.Receive second to take off preparatory signal, second preparatory signal that takes off exceedes acceleration rate threshold once in the acceleration upwards that unmanned plane is vertically gone up and downward acceleration exceedes acceleration rate threshold once triggering is produced afterwards.Taken off preparatory signal according to first preparatory signal and second that takes off, control the rotor wing rotation of unmanned plane.Control unmanned plane hovers to default hovering height.Unmanned plane control method of taking off is simple to operate, safe.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, in particular to a kind of unmanned plane, unmanned plane take off control method and
Device.
Background technology
Taking off for traditional rotary wind type unmanned plane is generally placed upon on the ground, carrys out remote control by the winged handss manipulation remote controller equipment of specialty and flies
Taking off for machine, will control posture balancing and throttle size of aircraft etc. in take-off process, just can achieve the safe, normal of aircraft
Take off.Operational capacity requirement to user is higher, and Consumer's Experience is poor, and popularization is not high.
Then, existing handss throw takeoff method, and by throwing in the air unmanned plane, take off in the air by Intelligent Recognition for unmanned plane
On opportunity, start in the air and enter regular flight condition in the air.For relatively conventional mode of taking off, handss throw winged mode to
The operational capacity at family requires lower.But, handss are thrown winged mode and at least there is following technical problem：
1., during handss are thrown, the blade of high-speed rotation can threaten operator's safety；
2. operator lifts aircraft on the other hand, and another handss manipulate remote control, very inconvenient.
Content of the invention
Control method and device it is an object of the invention to provide a kind of unmanned plane, unmanned plane take off, which is intended at least portion
Decompose existing handss of determining and throw that boomerang unmanned plane safety is low, the technical problem that takeoff operational is inconvenient.
The first technical scheme that the present invention is provided：A kind of unmanned plane takes off control method, for controlling unmanned plane, described
Unmanned plane control method of taking off is comprised the following steps：
Receive first to take off preparatory signal, described first preparatory signal that takes off is positioned to the default height that takes off in the unmanned plane
After degree, triggering is produced；
Receive second to take off preparatory signal, described second take off preparatory signal the unmanned plane vertically go up to
Upper acceleration exceedes acceleration rate threshold once and downward acceleration exceedes acceleration rate threshold once triggering generation afterwards；
Taken off preparatory signal according to described first preparatory signal and described second that takes off, control the rotor rotation of the unmanned plane
Turn；
Control the unmanned plane to hover to default hovering height.
Second technical scheme that the present invention is provided：A kind of unmanned plane takes off control device, for controlling unmanned plane, described
The unmanned plane control device that takes off includes：
Preparatory signal receiver module, takes off preparatory signal for receiving first preparatory signal and second that takes off, and described first
Preparatory signal triggering after the unmanned plane is positioned to the default height that takes off of taking off is produced, and described second takes off preparatory signal in institute
State that the acceleration upwards that unmanned plane vertically goes up exceedes acceleration rate threshold once and downward acceleration exceedes acceleration rate threshold
Once triggering is produced afterwards；
Rotor control module, for being taken off preparatory signal according to described first preparatory signal and described second that takes off, control
The rotor wing rotation of the unmanned plane；
The rotor control module is additionally operable to control the unmanned plane and hovers to default hovering height.
The third technical scheme that the present invention is provided：A kind of unmanned plane, the unmanned plane include：
Memorizer；
Processor；And
Unmanned plane takes off control device, and the unmanned plane control device that takes off is installed in the memorizer and including one
Or multiple software function modules by the computing device, the unmanned plane control device that takes off includes：
Preparatory signal receiver module, takes off preparatory signal for receiving first preparatory signal and second that takes off, and described first
Preparatory signal triggering after the unmanned plane is positioned to the default height that takes off of taking off is produced, and described second takes off preparatory signal in institute
State that the acceleration upwards that unmanned plane vertically goes up exceedes acceleration rate threshold once and downward acceleration exceedes acceleration rate threshold
Once triggering is produced afterwards；
Rotor control module, for being taken off preparatory signal according to described first preparatory signal and described second that takes off, control
The rotor wing rotation of the unmanned plane；
The rotor control module is additionally operable to control the unmanned plane and hovers to default hovering height.
The take off beneficial effect of control method and device of unmanned plane that the present invention is provided, unmanned plane is：First, by operation
Personnel lift unmanned plane to the default height that takes off, and unmanned plane is vertically lifted up and down, unmanned plane is accelerated upwards
Degree and downward acceleration exceed acceleration rate threshold once, so that the rotor wing rotation of unmanned plane.So, operator are lifting
During unmanned plane, the rotor of unmanned plane is non-rotary, and when the rotor wing rotation of unmanned plane, operator can loose one's grip,
Allow unmanned plane to take off, so as to avoid rotor wing rotation from injuring operator, improve safety.Secondly, the takeoff condition of unmanned plane by
One hand control of operator can be realized, simple, convenient.Finally, in take-off process, unmanned plane will hover to default hovering
Highly, other flight directives to be received are waited, it is further provided the convenience of flight control.
Description of the drawings
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below by to be used attached needed for embodiment
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, and it is right to be therefore not construed as
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can be with according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is the block diagram of unmanned plane provided in an embodiment of the present invention.
Fig. 2 is the takeoff operational flow chart of unmanned plane provided in an embodiment of the present invention.
Fig. 3 takes off for the unmanned plane that first embodiment of the invention is provided the flow chart of control method.
Fig. 4 takes off for the unmanned plane that second embodiment of the invention is provided the functional block diagram of control device.
Icon：100- unmanned planes；101- memorizeies；102- storage controls；103- processors；104- Peripheral Interfaces；
105- laser range sensors；106- acceleration transducers；107- buzzers；108- red colored lamps；109- amber lights；110- greens
Lamp；200- unmanned planes take off control device；210- preparatory signal receiver modules；220- rotor control modules.
Specific embodiment
Purpose, technical scheme and advantage for making the embodiment of the present invention is clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, to the embodiment of the present invention in technical scheme be clearly and completely described, it is clear that described embodiment is
The a part of embodiment of the present invention, rather than whole embodiments.Present invention enforcement generally described and illustrated in accompanying drawing herein
The component of example can be arranged and be designed with a variety of configurations.
Therefore, below the detailed description of the embodiments of the invention for providing in the accompanying drawings is not intended to limit claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Embodiment in based on the present invention, this area are common
The every other embodiment obtained under the premise of creative work is not made by technical staff, belongs to the model of present invention protection
Enclose.
It should be noted that：Similar label and letter represent similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then in subsequent accompanying drawing which further need not be defined and be explained.Additionally, term " the
One ", " second ", " the 3rd " etc. are only used for distinguishing description, and it is not intended that indicating or hint relative importance.
Fig. 1 is the block diagram of unmanned plane provided in an embodiment of the present invention 100, refers to Fig. 1.
Unmanned plane 100 include unmanned plane take off control device 200, memorizer 101, storage control 102, processor 103,
Peripheral Interface 104, laser range sensor 105, acceleration transducer 106, buzzer 107, red colored lamp 108, amber light 109,
Green light 110 and other.Unmanned plane takes off control device 200, memorizer 101, storage control 102, processor 103, peripheral hardware
Interface 104, laser range sensor 105, acceleration transducer 106, red colored lamp 108, amber light 109, green light 110 and honeybee
Ring 107 each element of device is directly or indirectly electrically connected with each other, to realize the transmission or interaction of data.For example, these yuan
Part can pass through one or more communication bus each other or holding wire is realized being electrically connected with.Unmanned plane takes off control device 200
The software function module in memorizer 101 can be stored in the form of software or firmware (firmware) including at least one.Place
Reason device 103 is used for executing the executable module stored in memorizer 101, and it is soft that such as unmanned plane takes off that control device 200 includes
Part functional module or computer program.
Wherein, memorizer 101 may be, but not limited to, random access memory (Random Access Memory,
RAM), read only memory (Read Only Memory, ROM), programmable read only memory (Program Mable Read-
Only Memory, PROM), erasable read-only memory (Erasable Program Mable Read-Only Memory,
EPROM), electricallyerasable ROM (EEROM) (Electric Erasable Program Mable Read-Only Memory,
EEPROM) etc..Wherein, memorizer 101 be used for storage program, processor 103 after execute instruction is received, configuration processor, this
Method performed by the server/computer of the stream process definition that inventive embodiments any embodiment is disclosed can apply to process
In device 103, or realized by processor 103.
A kind of possibly IC chip of processor 103, the disposal ability with signal.Above-mentioned processor 103 can
To be general processor, including central processing unit (Central Processing Unit, abbreviation CPU), network processing unit
(Network Processor, abbreviation NP) etc.；Can also be digital signal processor (DSP), special IC (ASIC),
Ready-made programmable gate array (FPGA) or other PLDs, discrete gate or transistor logic, discrete hard
Part component.Can realize or execute disclosed each method in the embodiment of the present invention, step and logic diagram.Processor 103
Can be microprocessor or the processor 103 can also be any conventional processor etc..
Peripheral Interface 104 is by various input/output devices coupled to processor 103 and memorizer 101.In some enforcements
In example, Peripheral Interface 104, processor 103 and storage control 102 can be realized in one single chip.In some other reality
In example, they can be realized by independent chip respectively.
Laser range sensor 105 is used for gathering the altitude signal of unmanned plane 100, and positions to default in unmanned plane 100
Take off.The unmanned plane control device 200 that takes off connects
Receive first to take off after preparatory signal, red colored lamp 108 flashes, and buzzer 107 sends the ring of the first rhythm.
Acceleration transducer 106 is used for gathering the acceleration signal of unmanned plane 100, and in unmanned plane 100 vertically
On acceleration upwards exceed acceleration rate threshold once and downward acceleration exceedes acceleration rate threshold once backward unmanned plane takes off
Control device 200 sends second and takes off preparatory signal.Unmanned plane take off control device 200 receive second take off preparatory signal it
Afterwards, amber light 109 flashes, and buzzer 107 sends the ring of the second rhythm.First rhythm is slow rhythm with respect to the second rhythm, the
Two rhythm are then fast pace.After the rotor of unmanned plane 100 starts rotation, green light 110 flashes, and buzzer 107 sends lasting
Ring.
Fig. 2 is the takeoff operational flow chart of unmanned plane provided in an embodiment of the present invention 100, refers to Fig. 2.
The takeoff operational flow chart of unmanned plane 100 is comprised the following steps：
S11：The power supply of unmanned plane is opened, makes unmanned plane enter state to be flown.
S12：Whether unmanned plane is lifted to the default height that takes off.
Wherein, after unmanned plane 100 reaches the default height that takes off, red colored lamp 108 flashes, and buzzer 107 sends first
The ring of rhythm, operator can carry out next step.When the not up to default height that takes off of unmanned plane 100, operator then weigh
Step S12 is carried out again, until unmanned plane 100 reaches the default height that takes off.
S13：Lift unmanned plane vertically to move up and down.
S14：Unmanned plane detects whether that the acceleration upwards that vertically goes up exceedes acceleration rate threshold once and adds downwards
Speed exceedes acceleration rate threshold once.
If unmanned plane 100 detects the acceleration upwards that vertically goes up and exceeding acceleration rate threshold once and adding downwards
Speed exceedes acceleration rate threshold once, and amber light 109 flashes, and buzzer 107 sends the ring of the second rhythm, then unmanned plane 100
Enter next step.If unmanned plane 100 be not detected by the acceleration upwards vertically gone up exceed acceleration rate threshold once and
Downward acceleration once, then needs operator's repetitive operation step S13 more than acceleration rate threshold.
S15：Unmanned plane starts to take off.
That is, the rotor of unmanned plane 100 starts to rotate, green light 110 flashes, and buzzer 107 sends lasting ring
Ring.So, operator complete the takeoff operational to unmanned plane 100.
First embodiment
Fig. 3 takes off for the unmanned plane that first embodiment of the invention is provided the flow chart of control method, refers to Fig. 3.
Present embodiments provide a kind of unmanned plane to take off control method, unmanned plane control method of taking off is comprised the following steps：
S21：Receive first to take off preparatory signal, first takes off preparatory signal after unmanned plane is positioned to the default height that takes off
Triggering is produced.
Preferably, the scope for presetting the height that takes off is 1.6m to 2.5m.So, unmanned plane is lifted over the top of the head by common people, just
Just can make unmanned plane with respect to ground height between 1.6m to 2.5m.
Receive first to take off after preparatory signal, red colored lamp flashes, and buzzer sends the ring of the first rhythm, with to behaviour
Show the working condition residing for unmanned plane as personnel.Wherein, the first rhythm is slow rhythm.
S22：Receive second to take off preparatory signal, second take off preparatory signal unmanned plane vertically go up upwards plus
Speed exceedes acceleration rate threshold once and downward acceleration exceedes acceleration rate threshold once triggering generation afterwards.
Preferably, the scope of acceleration rate threshold is 2m/s2To 6m/s2.So, common people's one hand lifts unmanned plane up and down, all
Acceleration can be made to meet above-mentioned size condition.Receive second to take off after preparatory signal, amber light flashes, buzzer sends
The ring of the second rhythm, to show the working condition residing for unmanned plane to operator.Wherein, the second rhythm is fast pace.
S23：Taken off preparatory signal according to first preparatory signal and second that takes off, control the rotor wing rotation of unmanned plane.
After the rotor of unmanned plane starts rotation, green light flashes, and buzzer sends lasting ring, with to operator's table
Working condition residing for bright unmanned plane.
S24：Control unmanned plane hovers to default hovering height.
Preferably, the scope for presetting hovering height is 2.5m to 3.5m.After unmanned plane hovering in the air, operator grasp
Make the flight that remote control can control unmanned plane.
The unmanned plane that the present embodiment is provided takes off control method, first, simple to operate, whole take-off process operator list
Handss can be completed.Secondly, during unmanned plane is lifted, the rotor of unmanned plane is non-rotary to operator, treats unmanned plane
Rotor wing rotation when, operator can loose one's grip, allow unmanned plane to take off, so as to avoid rotor wing rotation from injuring operator, improve
Safety.Finally, in take-off process, unmanned plane will hover to default hovering height, wait other flight directives to be received, further
Provide the convenience of flight control.
Second embodiment
Fig. 4 takes off for the unmanned plane that second embodiment of the invention is provided the functional block diagram of control device 200, refers to figure
4.
The unmanned plane control device 200 that takes off includes preparatory signal receiver module 210 and rotor control module 220.
Preparatory signal receiver module 210 is used for receiving first preparatory signal and second that takes off and takes off preparatory signal.The first
The triggering after unmanned plane 100 is positioned to the default height that takes off of winged preparatory signal is produced, and second takes off preparatory signal in unmanned plane 100
The acceleration upwards that vertically goes up exceedes acceleration rate threshold once and downward acceleration is once touched afterwards more than acceleration rate threshold
Send out and produce.Wherein, the scope for presetting the height that takes off is 1.6m to 2.5m, and the scope of acceleration rate threshold is 2m/s2To 6m/s2.
Rotor control module 220 is used for being taken off preparatory signal according to first preparatory signal and second that takes off, and controls unmanned plane
100 rotor wing rotation.Rotor control module 220 is additionally operable to control unmanned plane 100 and hovers to default hovering height.Wherein, preset
The scope of hovering height is 2.5m to 3.5m.After unmanned plane 100 hovers in the air, operator's remote controller can control
The flight of unmanned plane 100.
In several embodiments provided herein, it should be understood that disclosed apparatus and method, it is also possible to pass through
Other modes are realized.Device embodiment described above is only schematically, for example flow chart and block diagram in accompanying drawing
Show the device of multiple embodiments according to the present invention, the architectural framework in the cards of method and computer program product,
Function and operation.At this point, each square frame in flow chart or block diagram can represent the one of module, program segment or a code
Part, a part for module, program segment or code is comprising one or more executable fingers for realizing the logic function of regulation
Order.It should also be noted that in some are as the implementation that replaces, the function of being marked in square frame can also be with different from accompanying drawing
Middle marked order occurs.For example, two continuous square frames can essentially be executed substantially in parallel, and they sometimes can also
Execute in the opposite order, this is depending on involved function.It is also noted that block diagram and/or each side in flow chart
Frame and the combination of block diagram and/or the square frame in flow chart, can use the special based on hard of the function that executes regulation or action
The system of part is realizing, or can combine to realize with specialized hardware and computer instruction.
In addition, each functional module in each embodiment of the invention can integrate to form an independent portion
Divide, or modules individualism, it is also possible to which two or more modules are integrated to form an independent part.
If function realized using in the form of software function module and as independent production marketing or use when, can store
In a computer read/write memory medium.Such understanding is based on, technical scheme is substantially in other words to existing
The part for having technology to contribute or the part of the technical scheme can be embodied in the form of software product, the computer
Software product is stored in a storage medium, is used so that a computer equipment (can be personal meter including some instructions
Calculation machine, server, or network equipment etc.) execute all or part of step of each embodiment method of the invention.And it is aforesaid
Storage medium includes：USB flash disk, portable hard drive, read only memory (ROM, Read-Only Memory), random access memory
(RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.Need to illustrate
, herein, such as first and second or the like relational terms be used merely to by an entity or operation with another
Individual entity or operation make a distinction, and not necessarily require or imply these entities or exist between operating any this actual
Relation or order.And, term " including ", "comprising" or its any other variant are intended to including for nonexcludability,
So that a series of process, method, article or equipment including key elements not only includes those key elements, but also including not having
Other key elements being expressly recited, or also include the key element intrinsic for this process, method, article or equipment.Do not having
In the case of having more restrictions, the key element that limited by sentence "including a ...", it is not excluded that in the process, the side that include key element
Also there is other identical element in method, article or equipment.
The preferred embodiments of the present invention are these are only, the present invention is not limited to, for those skilled in the art
For member, the present invention can have various modifications and variations.All any modifications that within the spirit and principles in the present invention, is made,
Equivalent, improvement etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of unmanned plane takes off control method, for controlling unmanned plane, it is characterised in that the unmanned plane takes off control method
Comprise the following steps：
Receive first to take off preparatory signal, described first takes off preparatory signal after the unmanned plane is positioned to the default height that takes off
Triggering is produced；
Receive second to take off preparatory signal, described second take off preparatory signal the unmanned plane vertically go up upwards plus
Speed exceedes acceleration rate threshold once and downward acceleration exceedes acceleration rate threshold once triggering generation afterwards；
Taken off preparatory signal according to described first preparatory signal and described second that takes off, control the rotor wing rotation of the unmanned plane；
Control the unmanned plane to hover to default hovering height.
2. unmanned plane according to claim 1 takes off control method, it is characterised in that the scope of the acceleration rate threshold is
2m/s2To 6m/s2.
3. unmanned plane according to claim 1 takes off control method, it is characterised in that the scope of the default height that takes off
For 1.6m to 2.5m.
4. unmanned plane according to claim 1 takes off control method, it is characterised in that the scope of the default hovering height
For 2.5m to 3.5m.
5. unmanned plane according to claim 1 takes off control method, it is characterised in that described：Receive first to take off preparation
After the step of signal, also include：Red colored lamp flashes, and buzzer sends the ring of the first rhythm.
6. unmanned plane according to claim 1 takes off control method, it is characterised in that described：Receive second to take off preparation
After the step of signal, also include：Amber light flashes, and buzzer sends the ring of the second rhythm.
7. unmanned plane according to claim 1 takes off control method, it is characterised in that described：Control the unmanned plane
In the step of rotor wing rotation, also include：After the rotor of the unmanned plane starts rotation, green light flashes, and buzzer sends and continues
Ring.
8. a kind of unmanned plane takes off control device, for controlling unmanned plane, it is characterised in that the unmanned plane takes off control device
Including：
Preparatory signal receiver module, takes off preparatory signal for receiving first preparatory signal and second that takes off, and described first takes off
Preparatory signal triggering after the unmanned plane is positioned to the default height that takes off is produced, and described second takes off preparatory signal in the nothing
The man-machine acceleration upwards that vertically goes up exceedes acceleration rate threshold once and downward acceleration exceedes acceleration rate threshold once
Triggering is produced afterwards；
Rotor control module, for being taken off preparatory signal according to described first preparatory signal and described second that takes off, control is described
The rotor wing rotation of unmanned plane；
The rotor control module is additionally operable to control the unmanned plane and hovers to default hovering height.
9. a kind of unmanned plane, it is characterised in that the unmanned plane includes：
Memorizer；
Processor；And
Unmanned plane takes off control device, and the unmanned plane control device that takes off is installed in the memorizer and including one or many
The individual software function module by the computing device, the unmanned plane control device that takes off include：
Preparatory signal receiver module, takes off preparatory signal for receiving first preparatory signal and second that takes off, and described first takes off
Preparatory signal triggering after the unmanned plane is positioned to the default height that takes off is produced, and described second takes off preparatory signal in the nothing
The man-machine acceleration upwards that vertically goes up exceedes acceleration rate threshold once and downward acceleration exceedes acceleration rate threshold once
Triggering is produced afterwards；
Rotor control module, for being taken off preparatory signal according to described first preparatory signal and described second that takes off, control is described
The rotor wing rotation of unmanned plane；
The rotor control module is additionally operable to control the unmanned plane and hovers to default hovering height.
10. unmanned plane according to claim 9, it is characterised in that the unmanned plane also include laser range sensor and
Acceleration transducer；
The laser range sensor, for gathering the altitude signal of the unmanned plane, and positions to default in the unmanned plane
Take off described first is sent to the preparatory signal receiver module after height and take off preparatory signal；
The acceleration transducer, for gathering the acceleration signal of the unmanned plane, and in the unmanned plane vertically
On acceleration upwards exceed acceleration rate threshold once and downward acceleration exceed acceleration rate threshold once backward described preparation letter
Number receiver module sends described second and takes off preparatory signal.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107807666A (en) * | 2017-11-29 | 2018-03-16 | 天津聚飞创新科技有限公司 | aircraft, flight control method and device |
| WO2018195883A1 (en) * | 2017-04-28 | 2018-11-01 | 深圳市大疆创新科技有限公司 | Method and device for controlling unmanned aerial vehicle, and unmanned aerial vehicle |
| CN108780326A (en) * | 2017-03-21 | 2018-11-09 | 深圳市大疆创新科技有限公司 | Control method and unmanned plane |
| WO2019134713A1 (en) * | 2018-01-08 | 2019-07-11 | Geosat Aerospace & Technology Inc. | Unmanned aerial vehicle launch methods and systems |
| CN110262539A (en) * | 2019-07-05 | 2019-09-20 | 深圳市道通智能航空技术有限公司 | Unmanned plane landing control method, flight controller and unmanned plane |
| CN114253292A (en) * | 2021-12-14 | 2022-03-29 | 湖北襄开电力设备有限公司 | Night driving illumination system and method for unmanned aerial vehicle |
| US11884406B2 (en) | 2018-01-08 | 2024-01-30 | GEOSAT Aerospace & Technology | Parachute landing methods and systems for an unmanned aerial vehicle |
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| US11884406B2 (en) | 2018-01-08 | 2024-01-30 | GEOSAT Aerospace & Technology | Parachute landing methods and systems for an unmanned aerial vehicle |
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