CN106814748B - Intelligent scheduling monitoring method for unmanned aerial vehicle group - Google Patents
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Abstract
The invention discloses an intelligent dispatching monitoring method for an unmanned aerial vehicle group, wherein n communication platforms are arranged at the edge or inside of a monitored area at intervals, and the monitored area is divided into p monitoring areas; the communication platform is provided with wireless communication equipment capable of carrying out image information transmission with the unmanned aerial vehicle and equipment capable of carrying out wired or wireless transmission with the main server; the time points and flight routes of the monitored areas where the m unmanned aerial vehicles pass are coordinated, and it is guaranteed that the unmanned aerial vehicles do not pass through the same monitored areas at the same time. The invention solves the problem of real-time transmission of a large amount of image information, thereby meeting the purpose of monitoring implementation. The problem of unmanned aerial vehicle need frequently charge just can keep normal flight state is solved. The problem of each unmanned aerial vehicle of many shelves different moments can't effective dispatch is solved, realized rational distribution flight area and flight time, avoid repeated monitoring and leak the side problem.
Description
Technical Field
The invention belongs to the technical field of aerial photography monitoring management, and particularly relates to an intelligent unmanned aerial vehicle group scheduling monitoring method.
Background
With the development of the unmanned aerial vehicle technology, the application range of the unmanned aerial vehicle is wider and wider, the important significance is shown in the civil field and the military field, particularly, the application of aerial photography and monitoring is wider and wider, and the adoption of the unmanned aerial vehicle as an aerial photography tool becomes the mainstream of the current development. Unmanned aerial vehicle can be applied to monitoring application occasions such as taking photo by plane, forest protection, disaster investigation. At present, the unmanned aerial vehicle suitable for civil use is basically a multi-spiral direct-lifting unmanned aerial vehicle, and is provided with a lithium battery, a GPS (global positioning system) positioning module, a flight driving module, shooting equipment and storage equipment. The user is when using unmanned aerial vehicle to carry out applications such as taking photo by plane, shoot current environment scene through unmanned aerial vehicle usually, and the environmental image who will shoot saves at the storage card, after finishing taking, take out the environmental image that unmanned aerial vehicle shot from the storage card, required environmental image can be shot to this kind of mode, but the user need treat unmanned aerial vehicle whole journey to shoot and can follow the storage card and acquire required environmental image after finishing, can not in time know the content that unmanned aerial vehicle shot, can not monitor and operate unmanned aerial vehicle in real time. Due to frequent natural disasters and emergencies, if the situation progress cannot be known in time, the rescue evaluation of the disasters and the control and processing of the emergencies can be severely limited, so that more serious casualties and economic losses are caused.
On the other hand, the image information amount formed by unmanned aerial vehicle camera shooting is very huge, under the condition that the equipment cost and the equipment self-weight are considered, the existing unmanned aerial vehicle cannot realize remote transmission, and the unmanned aerial vehicle provided with wireless communication can only transmit data in a strong signal area through a mode such as a wifi mode or a Bluetooth mode. The problem of delayed receiving of communication is caused, interaction cannot be realized, and the purpose of real-time monitoring cannot be achieved.
Thirdly, the mode of unmanned control through unmanned aerial vehicle now can only be directed against the control in small circle region, when facing the control on a large scale and super distance, can't realize the regional and the time cooperation of many shelves automatically. And the occurrence of blind areas and repeated monitoring is unavoidable. However, in the prior art, a monitoring mode for realizing a wide range and no dead angle is often used to improve the mileage performance of the multi-spiral vertical-lift unmanned aerial vehicle and increase the number of take-off stands for frequent monitoring and simultaneous monitoring. In fact, no matter how the flight mileage of the spiral vertical-lift unmanned aerial vehicle increases, the range is limited, and finally the unmanned aerial vehicle must return to the home for charging in time. Especially when the ship must be forced to land or return to the home in the face of a fault problem, the monitoring effect is greatly influenced. Therefore, a real-time dynamic monitoring system with wide range, no dead angle, strong maneuverability and high information synchronization is urgently needed.
Disclosure of Invention
Aiming at the problems and the defects of the existing unmanned aerial vehicle management, the invention provides the unmanned aerial vehicle panoramic real-time dynamic monitoring method which is wide in range, free of dead angle, strong in maneuverability and high in information synchronism.
The following technical scheme is adopted for achieving the purpose: an intelligent dispatching monitoring method for an unmanned aerial vehicle group is characterized in that n communication platforms are arranged at intervals at the edge or inside a monitored area, or the monitored area is divided into p monitoring areas; the communication platform is provided with wireless communication equipment capable of carrying out image information transmission with the unmanned aerial vehicle and equipment capable of carrying out wired or wireless transmission with the main server; the communication platform is provided with an unmanned aerial vehicle take-off and landing platform and an unmanned aerial vehicle charging device; the unmanned aerial vehicle comprises a lithium battery, a GPS positioning module, a flight driving module, shooting equipment and a wireless communication module; each communication platform is at least provided with an unmanned aerial vehicle; when a wireless monitoring task is carried out, m unmanned aerial vehicles are started simultaneously to carry out monitoring, m is more than or equal to 1 and less than or equal to n, the time points and flight routes of the monitored areas where the m unmanned aerial vehicles pass are coordinated, it is ensured that all the unmanned aerial vehicles do not pass through the same monitored area at the same time, and all the monitored areas are covered by all the unmanned aerial vehicles within a specified time; when the effective distance between each unmanned aerial vehicle and the nearest communication platform meets the requirement of the image information transmission distance, newly stored image information is transmitted to the nearest communication platform, the communication platform transmits the image information to a main server through a wired or wireless network, and the main server monitors and analyzes the unmanned aerial vehicle in a flying state or sends out a broadcast; when each unmanned aerial vehicle electric quantity was low to safe flight electric quantity scope, select suitable communication platform nearby and charge to the unmanned aerial vehicle that is sent sufficient electric quantity by this communication platform replaces the unmanned aerial vehicle that charges to continue monitoring.
The wired charging device is characterized in that two grooves are formed in the middle of the unmanned aerial vehicle take-off and landing platform, conductive slots are respectively installed in the grooves in a matched mode, and the two conductive slots are connected with a charger and a power supply through wires; the middle part of the unmanned aerial vehicle take-off and landing platform is also provided with two parallel conductive elastic sheets, the front ends or the middle parts of the two parallel conductive elastic sheets are provided with conductive contacts, and when the two conductive elastic sheets are pressed down, the two conductive contacts can be respectively inserted into corresponding conductive slots; the front edge of the unmanned aerial vehicle take-off and landing platform is fixed with a flexible baffle, two sides of the unmanned aerial vehicle take-off and landing platform are provided with divergent flexible baffles, and the narrowest section of the flexible baffles at the two sides is greater than or equal to the width of the two sides of the unmanned aerial vehicle; electromagnets are respectively arranged on the flexible baffles, magnetizers are respectively arranged on the front side and the two sides of the unmanned aerial vehicle body, and each magnetizer corresponds to the corresponding electromagnet; the bottom of the front side of the unmanned aerial vehicle is provided with two conductive contact pieces respectively, and the width of the two conductive contact pieces is consistent with that of the two conductive elastic pieces; the electromagnet is connected with the output end of the controller, and the signal output end of the wireless communication equipment is connected with the signal input end of the controller; when unmanned aerial vehicle sent the descending signal and was close to unmanned aerial vehicle take off and land the platform, through controller control electro-magnet circular telegram, fix a position unmanned aerial vehicle, make two conductive contact pieces of unmanned aerial vehicle and the laminating of two conductive shell fragment of unmanned aerial vehicle take off and land the platform charge, stop charging after charging, when needing unmanned aerial vehicle to carry out the task of taking off, cut off the power supply through controller control electro-magnet, start unmanned aerial vehicle and take off. The unmanned aerial vehicle takes off and land the front end and the rear end of platform and is provided with front end signal transmitter A and rear end signal transmitter B respectively, unmanned aerial vehicle's organism front end and rear end are provided with front end signal receiver A ' and rear end signal receiver B ' respectively.
The wireless charging device is characterized in that an inner cavity is formed in the unmanned aerial vehicle take-off and landing platform, a charging transmitting coil is installed in the inner cavity, and the charging transmitting coil is connected with a mains supply through a normally open end of a relay; a base is clamped on a parallel rod support at the bottom of the unmanned aerial vehicle, a charging receiving coil is arranged in the base, and the output end of the charging receiving coil is connected with a rectifying circuit and a voltage stabilizing circuit in sequence and then is connected with a storage battery charger in the unmanned aerial vehicle; meanwhile, an electromagnet ring is arranged in an inner cavity of the unmanned aerial vehicle lifting platform, and a magnet device is arranged in the base; the electromagnetic coil is connected with the output end of the controller, the signal output end of the wireless communication equipment is connected with the signal input end of the controller, and the coil control end of the relay is connected with the output end of the controller. Every unmanned aerial vehicle who returns a journey when near region, judge the position apart from the platform through the GPS coordinate of unmanned aerial vehicle itself, when the position at place when the within range of settlement, the platform can be through the circular telegram of magnetic induction coil, attracts unmanned aerial vehicle to get off, and the base on the unmanned aerial vehicle bottom parallel bar support can adsorb the optional position on the platform surface, charges by the charging coil, stops the power supply after the completion of charging, and gravitation disappears thereupon. The base that is located on the parallel bar support of unmanned aerial vehicle bottom is provided with the draw-in groove, and draw-in groove upper portion is provided with the fastener, and the one end of fastener articulates in a draw-in groove lateral wall, and the other end of fastener passes through the retaining member to be connected in another lateral wall of draw-in groove.
Has the advantages that: the invention solves the three main problems of unmanned aerial vehicle monitoring: firstly, the problem of transmitting a large amount of image information in real time is solved, and therefore the purpose of monitoring implementation is met. Secondly, the problem that the unmanned aerial vehicle can keep a normal flight state only by frequent charging is solved. And thirdly, the problem that unmanned aerial vehicles cannot be effectively scheduled at different moments for multiple times is solved, the reasonable distribution of flight areas and flight time is realized, and the problems of repeated monitoring and side leakage are avoided.
The unmanned aerial vehicle image information real-time transmission system has an image information real-time transmission function, and when the effective distance between each unmanned aerial vehicle and the nearest communication platform meets the requirement of the image information transmission distance, the newly stored image information is transmitted to the nearest communication platform. Therefore, each unmanned aerial vehicle can transfer a large amount of image information to the nearest communication platform at the highest speed, and the communication platform transmits the information to the main server in time. The image information can be transmitted without landing and return voyage.
The unmanned aerial vehicle monitoring system is suitable for large-range monitoring, all communication platforms are uniformly scheduled and matched with each other, the unmanned aerial vehicle continuously rises and falls to all scheduling platforms, the unmanned aerial vehicle continuously replaced and continued can realize continuous monitoring tasks, and the characteristic of long-distance continuous monitoring is realized.
The invention can supplement electric energy to each unmanned aerial vehicle, and the unmanned aerial vehicles alternately fly, thereby realizing continuous monitoring. And the timely supplement of electric energy is realized.
Drawings
FIG. 1 is one of the communication platform route paths of the present invention;
FIG. 2 is a second schematic view of the flight path of the communication platform of the present invention.
Detailed Description
Example 1: an intelligent dispatching monitoring method for an unmanned aerial vehicle group is disclosed, and referring to fig. 1, a plurality of communication platforms are arranged at the edge of a monitored area and are usually uniformly distributed at equal intervals. Communication platform is provided with the wireless communication equipment that can carry out image information transmission with unmanned aerial vehicle, because unmanned aerial vehicle passes through the continuous record of high definition camera and saves a large amount of data, is difficult for passing through wireless network transmission (wireless network transmission not only signal stability is poor, needs the flow very big moreover, and the cost is very high). When the unmanned aerial vehicle is close to a certain communication platform, image information transmission in a local area network is established through the wifi and the unmanned aerial vehicle, and rapid and efficient data transmission is guaranteed. Unmanned aerial vehicle adopts many spiral unmanned aerial vehicle, can control flying speed and can detain aloft, and unmanned aerial vehicle is in the effective distance scope through communication platform, suitably reduces flying speed and waits for the data transmission to accomplish the back and fast passes through again. The distance between adjacent communication platforms is suitable, and unmanned aerial vehicle can realize real-time transmission basically, and the monitoring data that will carry is synchronous to nearest communication platform.
The communication platform can be used for carrying out wired or wireless transmission with the main server, and can contain more perfect receiving and sending equipment and a short-distance mutual communication function between the communication platforms, and can transmit a large amount of data to the server in a wireless mode.
The communication platform is provided with unmanned aerial vehicle platform of taking off and land to and unmanned aerial vehicle charging device. Unmanned aerial vehicle includes lithium cell, GPS orientation module, flight drive module, shoots equipment and wireless communication module. Each communication platform is equipped with at least one unmanned aerial vehicle.
When carrying out wireless monitoring task, start a plurality of unmanned aerial vehicles simultaneously and monitor, coordinate the time point and the flight route that a plurality of unmanned aerial vehicles pass through monitored zone.
When the effective distance between each unmanned aerial vehicle and the nearest communication platform meets the requirement of the image information transmission distance, the newly stored image information is transmitted to the nearest communication platform, the image information is transmitted to the main server through a wired or wireless network by the communication platform, and the main server monitors and analyzes the unmanned aerial vehicle in a flying state or sends out a broadcast.
When each unmanned aerial vehicle electric quantity was low to safe flight electric quantity scope, select suitable communication platform nearby and charge to the unmanned aerial vehicle that is sent sufficient electric quantity by this communication platform replaces the unmanned aerial vehicle that charges to continue monitoring.
In the embodiment, a wired charging device can be adopted, two grooves are formed in the middle of the unmanned aerial vehicle take-off and landing platform, conductive slots are respectively installed in the grooves in a matched mode, and the two conductive slots are connected with a charger and a power supply through wires; the middle part of the unmanned aerial vehicle take-off and landing platform is also provided with two parallel conductive elastic sheets, the front ends or the middle parts of the two parallel conductive elastic sheets are provided with conductive contacts, and when the two conductive elastic sheets are pressed down, the two conductive contacts can be respectively inserted into corresponding conductive slots; the front edge of the unmanned aerial vehicle take-off and landing platform is fixed with a flexible baffle, two sides of the unmanned aerial vehicle take-off and landing platform are provided with divergent flexible baffles, and the narrowest section of the flexible baffles at the two sides is greater than or equal to the width of the two sides of the unmanned aerial vehicle; electromagnets are respectively arranged on the flexible baffles, magnetizers are respectively arranged on the front side and the two sides of the unmanned aerial vehicle body, and each magnetizer corresponds to the corresponding electromagnet; the bottom of the front side of the unmanned aerial vehicle is provided with two conductive contact pieces respectively, and the width of the two conductive contact pieces is consistent with that of the two conductive elastic pieces; the electromagnet is connected with the output end of the controller, and the signal output end of the wireless communication equipment is connected with the signal input end of the controller; when unmanned aerial vehicle sent the descending signal and was close to unmanned aerial vehicle take off and land the platform, through controller control electro-magnet circular telegram, fix a position unmanned aerial vehicle, make two conductive contact pieces of unmanned aerial vehicle and the laminating of two conductive shell fragment of unmanned aerial vehicle take off and land the platform charge, stop charging after charging, when needing unmanned aerial vehicle to carry out the task of taking off, cut off the power supply through controller control electro-magnet, start unmanned aerial vehicle and take off. The unmanned aerial vehicle takes off and land the front end and the rear end of platform and is provided with front end signal transmitter A and rear end signal transmitter B respectively, unmanned aerial vehicle's organism front end and rear end are provided with front end signal receiver A ' and rear end signal receiver B ' respectively.
In the embodiment, the unmanned aerial vehicle landing platform can also be a wireless charging device, an inner cavity is arranged inside the unmanned aerial vehicle landing platform, a charging transmitting coil is arranged in the inner cavity, and the charging transmitting coil is connected with a mains supply through a normally open end of a relay; a base is clamped on a parallel rod support at the bottom of the unmanned aerial vehicle, a charging receiving coil is arranged in the base, and the output end of the charging receiving coil is connected with a rectifying circuit and a voltage stabilizing circuit in sequence and then is connected with a storage battery charger in the unmanned aerial vehicle; meanwhile, an electromagnet ring is arranged in an inner cavity of the unmanned aerial vehicle lifting platform, and a magnet device is arranged in the base; the electromagnetic coil is connected with the output end of the controller, the signal output end of the wireless communication equipment is connected with the signal input end of the controller, and the coil control end of the relay is connected with the output end of the controller. Every unmanned aerial vehicle who returns a journey when near region, judge the position apart from the platform through the GPS coordinate of unmanned aerial vehicle itself, when the position at place when the within range of settlement, the platform can be through the circular telegram of magnetic induction coil, attracts unmanned aerial vehicle to get off, and the base on the unmanned aerial vehicle bottom parallel bar support can adsorb the optional position on the platform surface, charges by the charging coil, stops the power supply after the completion of charging, and gravitation disappears thereupon. The base that is located on the parallel bar support of unmanned aerial vehicle bottom is provided with the draw-in groove, and draw-in groove upper portion is provided with the fastener, and the one end of fastener articulates in a draw-in groove lateral wall, and the other end of fastener passes through the retaining member to be connected in another lateral wall of draw-in groove.
Example 2: another method for monitoring intelligent scheduling of a group of unmanned aerial vehicles is shown in fig. 2, wherein a plurality of communication platforms are arranged at intervals at the edge or inside of a monitored area, and the monitored area is divided into a plurality of monitoring areas. When carrying out wireless monitoring task, start a plurality of unmanned aerial vehicles simultaneously and monitor, coordinate a plurality of unmanned aerial vehicles through by the time point and the flight route in monitoring the region, guarantee that each unmanned aerial vehicle does not pass through the same monitored area at the same time to and each unmanned aerial vehicle covers all monitored areas in the regulation time.
Claims (2)
1. An intelligent dispatching monitoring method for an unmanned aerial vehicle group is characterized by comprising the following steps: n communication platforms are arranged at intervals at the edge or inside of the monitored area, and the monitored area is divided into p monitoring areas; the communication platform is provided with wireless communication equipment capable of carrying out image information transmission with the unmanned aerial vehicle and equipment capable of carrying out wired or wireless transmission with the main server; the communication platform is provided with an unmanned aerial vehicle take-off and landing platform and an unmanned aerial vehicle charging device; the unmanned aerial vehicle comprises a lithium battery, a GPS positioning module, a flight driving module, shooting equipment and a wireless communication module; each communication platform is at least provided with an unmanned aerial vehicle; when a wireless monitoring task is carried out, m unmanned aerial vehicles are started simultaneously to carry out monitoring, m is more than or equal to 1 and less than or equal to n, the time points and flight routes of the monitored areas where the m unmanned aerial vehicles pass are coordinated, it is ensured that all the unmanned aerial vehicles do not pass through the same monitored area at the same time, and all the monitored areas are covered by all the unmanned aerial vehicles within a specified time; when the effective distance between each unmanned aerial vehicle and the nearest communication platform meets the requirement of the image information transmission distance, newly stored image information is transmitted to the nearest communication platform, image information transmission in a local area network is established with the unmanned aerial vehicle through wifi, rapid and efficient data transmission is ensured, the unmanned aerial vehicle can properly reduce the flying speed and wait for the data transmission to be completed and then rapidly pass through after passing through the effective distance range of the communication platform, the communication platform transmits the image information to a master server through a wired or wireless network, and the master server monitors and analyzes the unmanned aerial vehicle in a flying state or sends out a broadcast; when the electric quantity of each unmanned aerial vehicle is low to the safe flight electric quantity range, selecting a proper communication platform nearby for charging, and sending out the unmanned aerial vehicle with sufficient electric quantity by the communication platform to replace the charging unmanned aerial vehicle for continuous monitoring; the charging device comprises a wired charging device and a wireless charging device; the wired charging device is characterized in that two grooves are formed in the middle of the unmanned aerial vehicle take-off and landing platform, conductive slots are respectively installed in the grooves in a matched mode, and the two conductive slots are connected with a charger and a power supply through wires; the middle part of the unmanned aerial vehicle take-off and landing platform is also provided with two parallel conductive elastic sheets, the front ends or the middle parts of the two parallel conductive elastic sheets are provided with conductive contacts, and when the two conductive elastic sheets are pressed down, the two conductive contacts can be respectively inserted into corresponding conductive slots; the front edge of the unmanned aerial vehicle take-off and landing platform is fixed with a flexible baffle, two sides of the unmanned aerial vehicle take-off and landing platform are provided with divergent flexible baffles, and the narrowest section of the flexible baffles at the two sides is greater than or equal to the width of the two sides of the unmanned aerial vehicle; electromagnets are respectively arranged on the flexible baffles, magnetizers are respectively arranged on the front side and the two sides of the unmanned aerial vehicle body, and each magnetizer corresponds to the corresponding electromagnet; the bottom of the front side of the unmanned aerial vehicle is provided with two conductive contact pieces respectively, and the width of the two conductive contact pieces is consistent with that of the two conductive elastic pieces; the electromagnet is connected with the output end of the controller, and the signal output end of the wireless communication equipment is connected with the signal input end of the controller; when the unmanned aerial vehicle sends a landing signal and is close to the unmanned aerial vehicle take-off and landing platform, the controller controls the electromagnet to be electrified to position the unmanned aerial vehicle, so that the two conductive contact pieces of the unmanned aerial vehicle are attached to the two conductive elastic pieces of the unmanned aerial vehicle take-off and landing platform for charging, when the charging is stopped after the charging is finished and the unmanned aerial vehicle is required to execute a take-off task, the controller controls the electromagnet to be powered off, and the unmanned aerial vehicle is started to take off; the wireless charging device is characterized in that an inner cavity is formed in the unmanned aerial vehicle take-off and landing platform, a charging transmitting coil is installed in the inner cavity, and the charging transmitting coil is connected with a mains supply through a normally open end of a relay; a base is clamped on a parallel rod support at the bottom of the unmanned aerial vehicle, a charging receiving coil is arranged in the base, and the output end of the charging receiving coil is connected with a rectifying circuit and a voltage stabilizing circuit in sequence and then is connected with a storage battery charger in the unmanned aerial vehicle; meanwhile, an electromagnet ring is arranged in an inner cavity of the unmanned aerial vehicle lifting platform, and a magnet device is arranged in the base; the electromagnetic coil is connected with the output end of the controller, the signal output end of the wireless communication equipment is connected with the signal input end of the controller, and the coil control end of the relay is connected with the output end of the controller; when the unmanned aerial vehicle sails back is in a nearby area, the position of the unmanned aerial vehicle away from the platform is judged through the GPS coordinate of the unmanned aerial vehicle, when the position of the unmanned aerial vehicle is within a set range, the platform is electrified through the magnetic induction coil to attract the unmanned aerial vehicle, the base on the parallel rod support at the bottom of the unmanned aerial vehicle is attracted to any position on the surface of the platform, the charging coil charges the base, power supply is stopped after charging is completed, and the attraction force disappears; the base that is located on the parallel bar support of unmanned aerial vehicle bottom is provided with the draw-in groove, and draw-in groove upper portion is provided with the fastener, and the one end of fastener articulates in a draw-in groove lateral wall, and the other end of fastener passes through the retaining member to be connected in another lateral wall of draw-in groove.
2. The intelligent unmanned aerial vehicle cluster dispatching monitoring method of claim 1, wherein: the unmanned aerial vehicle takes off and land the front end and the rear end of platform and is provided with front end signal transmitter A and rear end signal transmitter B respectively, unmanned aerial vehicle's organism front end and rear end are provided with front end signal receiver A ' and rear end signal receiver B ' respectively.
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| CN108255163A (en) * | 2018-01-24 | 2018-07-06 | 衢州职业技术学院 | The control system and control method of plant protection unmanned plane |
| CN111722639B (en) * | 2019-03-18 | 2022-06-07 | 北京京东乾石科技有限公司 | Takeoff control method, device and system of unmanned aerial vehicle cluster and readable medium |
| CN110007689B (en) * | 2019-04-26 | 2021-12-14 | 北京中科星通技术有限公司 | Task allocation method and device for anti-heterogeneous unmanned aerial vehicle |
| CN111045446B (en) * | 2019-11-04 | 2023-03-10 | 西安天和防务技术股份有限公司 | Maintenance method, equipment and system for unmanned aerial vehicle |
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| CN112068592B (en) * | 2020-08-31 | 2021-10-26 | 南京航空航天大学 | Dispatching method for realizing fence coverage based on rechargeable unmanned aerial vehicle |
| CN112937858A (en) * | 2021-01-29 | 2021-06-11 | 天津航天中为数据***科技有限公司 | Novel inspection method for vertical take-off and landing fixed wing unmanned aerial vehicle |
| CN113418448B (en) * | 2021-06-23 | 2022-03-22 | 西北核技术研究所 | Fragment distribution detection system and method |
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| CN103197684B (en) * | 2013-04-25 | 2016-09-21 | 清华大学 | Unmanned aerial vehicle group works in coordination with the method and system following the tracks of target |
| EP3246776B1 (en) * | 2014-05-30 | 2020-11-18 | SZ DJI Technology Co., Ltd. | Systems and methods for uav docking |
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