CN108001694A - Unmanned plane landing system and method - Google Patents
Unmanned plane landing system and method Download PDFInfo
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- CN108001694A CN108001694A CN201711229519.7A CN201711229519A CN108001694A CN 108001694 A CN108001694 A CN 108001694A CN 201711229519 A CN201711229519 A CN 201711229519A CN 108001694 A CN108001694 A CN 108001694A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
- B64D45/08—Landing aids; Safety measures to prevent collision with earth's surface optical
-
- 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
- G05D1/12—Target-seeking control
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to unmanned air vehicle technique field, a kind of unmanned plane landing system and method are provided, the unmanned plane landing system includes ground visual beacon and unmanned plane, airborne identification module is installed on unmanned plane, and the winged control device of airborne identification module and unmanned plane is electrically connected, infrared launcher is mounted with the visual beacon of ground to be used to launch infrared ray, airborne identification module shooting infrared ray obtains including the image of infrared light spot, and identify the positional information of infrared light spot, fly control device to adjust the flight position of unmanned plane according to positional information and control decrease speed, so that unmanned plane is dropped at the visual beacon of ground.Compared with prior art, the drop error that the embodiment of the present invention can be brought to avoid the drifting problem of gps coordinate precision deficiency and unmanned plane, the heat homing unmanned plane launched by infrared launcher is dropped at the visual beacon of ground, so as to fulfill the accurate landing of unmanned plane.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, in particular to a kind of unmanned plane landing system and method.
Background technology
Unmanned plane is the not manned aircraft manipulated using radio robot and the presetting apparatus provided for oneself.Unmanned plane
Common landing modes are to use GPS (Global Positioning System, global positioning system) auxiliary landing, will
The gps coordinate of target area is sent to unmanned plane, behind flight control system control unmanned plane during flying to the target area overhead of unmanned plane
Start to land, and the landing place of itself is corrected according to the gps coordinate of target area.But since gps coordinate precision is insufficient,
And the drifting problem of unmanned plane, it is difficult accurately to drop in target when unmanned plane lands in this way, meanwhile, use
Gps coordinate, which is landed, often has very big drop error, can gap number meter, particularly in the smaller area in target area
Domain, it is more likely that danger occurs.
The content of the invention
It is an object of the invention to provide a kind of unmanned plane landing system and method, to improve the above problem.
To achieve these goals, the technical solution that the embodiment of the present invention uses is as follows：
In a first aspect, an embodiment of the present invention provides a kind of unmanned plane landing system, the unmanned plane landing system includes
Ground visual beacon and unmanned plane；Airborne identification module is installed on the unmanned plane, and the airborne identification module and described
The winged control device of unmanned plane is electrically connected；Infrared launcher, the infrared launcher are mounted with the ground visual beacon
For launching infrared ray；The airborne identification module obtains including the image of infrared light spot for shooting the infrared ray, and knows
The positional information of not described infrared light spot；The winged control device is used for the flight that the unmanned plane is adjusted according to the positional information
Position simultaneously controls decrease speed, so that the unmanned plane is dropped at the ground visual beacon.
Further, the airborne identification module includes high-speed camera, and the high-speed camera is used to shoot described red
Outside line obtains including the image of infrared light spot, and identifies the positional information of the infrared light spot in the picture.
Further, the airborne identification module further includes optical filter, and the optical filter is arranged at the high-speed camera
Camera lens in front of, for filtering out other optical signals, so that the high-speed camera photographs the infrared ray.
Further, the infrared launcher includes infrared transmitting tube.
Second aspect, the embodiment of the present invention additionally provide a kind of unmanned plane landing method, are dropped applied to above-mentioned unmanned plane
Fall system, the unmanned plane landing system includes ground visual beacon and unmanned plane；Airborne identification is installed on the unmanned plane
Module, and the winged control device of the airborne identification module and the unmanned plane is electrically connected；It is mounted with the ground visual beacon
Infrared launcher, the infrared launcher are used to launch infrared ray；The airborne identification module is used to shoot described infrared
Line obtains including the image of infrared light spot, and identifies the positional information of the infrared light spot；The winged control device is used for according to institute
State positional information to adjust the flight position of the unmanned plane and control decrease speed, so that the unmanned plane drops to the ground
At visual beacon.The described method includes：The infrared launcher launches infrared ray；The airborne identification module shooting is described red
Outside line obtains including the image of infrared light spot, and identifies the positional information of the infrared light spot in the picture；The winged control device
The flight position of the unmanned plane is adjusted according to the positional information and controls decrease speed, so that the unmanned plane drops to institute
State at the visual beacon of ground.
Compared with the prior art, a kind of unmanned plane landing system provided in an embodiment of the present invention and method, the unmanned plane drop
Falling system includes ground visual beacon and unmanned plane, and airborne identification module, and airborne identification module and nothing are provided with unmanned plane
Man-machine winged control device is electrically connected, and infrared launcher is mounted with the visual beacon of ground and is used to launch infrared ray, airborne identification
Module photograph infrared ray obtains including the image of infrared light spot, and identifies the positional information of infrared light spot, flies control device according to position
The flight position of confidence breath adjustment unmanned plane simultaneously controls decrease speed, so that unmanned plane is dropped at the visual beacon of ground.With showing
There is technology to compare, the landing that the embodiment of the present invention can be brought to avoid the drifting problem of gps coordinate precision deficiency and unmanned plane misses
Difference, the heat homing unmanned plane launched by infrared launcher is dropped at the visual beacon of ground, so as to fulfill unmanned plane
Accurate landing.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows the structure diagram for the unmanned plane landing system that the embodiment of the present invention is provided.
Fig. 2 shows the structure diagram for the unmanned plane landing system that the embodiment of the present invention is provided.
Fig. 3 shows the work flow diagram for the unmanned plane landing system that the embodiment of the present invention is provided.
Icon：100- unmanned plane landing systems；110- ground visual beacon；111- infrared launchers；120- unmanned planes；
The airborne identification modules of 121-；1211- optical filters；1213- high-speed cameras；123- flies to control device.
Embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and designed with a variety of configurations herein.Cause
This, the detailed description of the embodiment of the present invention to providing in the accompanying drawings is not intended to limit claimed invention below
Scope, but it is merely representative of the selected embodiment of the present invention.Based on the embodiment of the present invention, those skilled in the art are not doing
Go out all other embodiments obtained on the premise of creative work, belong to the scope of protection of the invention.
It should be noted that：Similar label and letter represents similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.Meanwhile the present invention's
In description, term " first ", " second " etc. are only used for distinguishing description, and it is not intended that instruction or hint relative importance.
Incorporated by reference to referring to Figures 1 and 2, unmanned plane landing system 100 includes ground visual beacon 110 and unmanned plane 120, ground
Facial vision beacon 110 is located at the center for the target area that unmanned plane 120 will land, and ground visual beacon 110 is used to launch
Infrared ray, so that unmanned plane 120 is dropped at ground visual beacon 110 according to infrared ray.
In embodiments of the present invention, infrared launcher 111, infrared launcher are mounted with ground visual beacon 110
111 are used to launch infrared ray, and as a kind of embodiment, which can be vertical with certain light emitting angle
Transmitting infrared ray upwards, the normal direction axis and ground visual beacon 110 of the infrared ray are on same vertical curve, that is to say, that ground
The infra-red intensity that facial vision beacon 110 is located straight up is maximum.In embodiments of the present invention, infrared launcher 111 can be with
It is infrared transmitting tube, for example, common infrared light-emitting diode.The light emitting angle of infrared launcher 111 can be according to reality
Need to make choice.
In embodiments of the present invention, ground visual beacon 110 is positioned over target area, and target area can be unmanned plane
120 need any target object of landing thereon, for example, automobile, house etc..
In embodiments of the present invention, unmanned plane 120 includes airborne identification module 121 and flies control device 123, and airborne identification
Module 121 and winged control device 123 are electrically connected.Unmanned plane 120 may be, but not limited to, fixed-wing unmanned plane, unmanned helicopter and
Multi-rotor unmanned aerial vehicle, umbrella wing unmanned plane, flapping wing unmanned plane and unmanned spaceship/spacecraft etc..
In embodiments of the present invention, airborne identification module 121 is installed on the holder of unmanned plane 120, airborne identification module
121 are used to shoot the infrared ray that infrared launcher 111 is launched, and obtain including the image of infrared light spot, and identify the infrared light
The positional information of point.Airborne identification module 121 includes optical filter 1211 and high-speed camera 1213, and optical filter 1211 is arranged on height
In front of the camera lens of fast video camera 1213, high-speed camera 1213 is electrically connected with flying control device 123.
In embodiments of the present invention, optical filter 1211 is used to filter out other optical signals, so that high-speed camera 1213 is clapped
Take the photograph the infrared ray of the transmitting of infrared launcher 111.
In embodiments of the present invention, high-speed camera 1213 is obtained for shooting the infrared ray of the transmitting of infrared launcher 111
To the image comprising infrared light spot, and identify the positional information of the infrared light spot in the picture.High-speed camera 1213 identifies
After the positional information of infrared light spot in the picture, which is sent to winged control device 123, so as to fly control device 123
The flight position of unmanned plane 120 is adjusted according to the positional information, and after the definitely position of facial vision beacon 110, control
Unmanned plane 120 is dropped at ground visual beacon 110.
As a kind of embodiment, if unmanned plane 120 adjusts nothing first also without the overhead of flight to target area
Man-machine 120 flight to target area overhead, that is to say, that it is required that infrared light spot is in the image comprising infrared light spot
In.For example, if the position for the image mid-infrared light point comprising infrared light spot that high-speed camera 1213 is shot is to the right, fly control
Device 123 adjusts unmanned plane 120 and flies to the left；It is if infrared in the image comprising infrared light spot that high-speed camera 1213 is shot
The position of luminous point is to the left, then flies the control adjustment unmanned plane 120 of device 123 and fly to the right；If the bag that high-speed camera 1213 is shot
The position of image mid-infrared light point containing infrared light spot is to the front, then flies the control adjustment unmanned plane 120 of device 123 and fly backward；If
The position for the image mid-infrared light point comprising infrared light spot that high-speed camera 1213 is shot is to the rear, then flies control device 123 and adjust
120 flight forward of unmanned plane, like this high-speed camera 1213 persistently shoot infrared launcher 111 transmitting infrared ray, with
The positional information of the image mid-infrared light point comprising infrared light spot is obtained, and the positional information is sent to winged control device in real time
123.Fly the flight position that control device 123 constantly adjusts unmanned plane 120 according to the positional information, until high-speed camera 1213 is clapped
The positional information for the image mid-infrared light point comprising infrared light spot taken the photograph flies at the center of the image, at this time expression unmanned plane 120
Go to the overhead of target area.
In embodiments of the present invention, after unmanned plane 120 flies to the overhead of target area, fly control device 123 and control
Unmanned plane starts to land, until dropping at ground visual beacon 110.It should be noted that the descent of unmanned plane 120
In, the infrared light spot in the image comprising infrared light spot that high-speed camera 1213 is shot can be increasing, that is to say, that at a high speed
Video camera 1213 shoot ground object can fewer and fewer, therefore, when unmanned plane 120 just started land and unmanned plane 120 away from
When visual beacon 110 the is higher from the ground, it is necessary to position for constantly adjusting unmanned plane 120 causes the bag that high-speed camera 1213 is shot
The positional information of image mid-infrared light point containing infrared light spot is at the center of the image；When unmanned plane 120 is drop to apart from ground
When visual beacon 110 is relatively low, at this time, it is only necessary to ensure to include infrared light spot in the image that high-speed camera 1213 is shot,
The specific location of infrared light spot in the picture is not limited.
In embodiments of the present invention, control device 123 is flown for the position of the infrared light spot determined according to high-speed camera 1213
The flight position of confidence breath adjustment unmanned plane 120 simultaneously controls decrease speed, so that unmanned plane 120 drops to ground visual beacon
At 110.As a kind of embodiment, flying control device 123 can be according to the position of the definite infrared light spot of high-speed camera 1213
Information, adjusts the flight position of unmanned plane 120 using pid algorithm and controls decrease speed, so that unmanned plane 120 drops to ground
At visual beacon 110.
Fig. 3 is refer to, Fig. 3 shows the work flow diagram for the unmanned plane landing system 100 that the embodiment of the present invention is provided,
The workflow of unmanned plane landing system 100 includes：
Step S1, infrared launcher 111 launch infrared ray.
In embodiments of the present invention, infrared launcher 111, infrared launcher are mounted with ground visual beacon 110
111 are used to launch infrared ray, and as a kind of embodiment, which can be vertical with certain light emitting angle
Transmitting infrared ray upwards, the normal direction axis and ground visual beacon 110 of the infrared ray are on same vertical curve, that is to say, that ground
The infra-red intensity that facial vision beacon 110 is located straight up is maximum.In embodiments of the present invention, infrared launcher 111 can be with
It is infrared transmitting tube, for example, common infrared light-emitting diode.The light emitting angle of infrared launcher 111 can be according to reality
Need to make choice.
Step S2, airborne identification module 121 shoots infrared ray and obtains including the image of infrared light spot, and identifies infrared light spot
Positional information in the picture.
In embodiments of the present invention, if unmanned plane 120 adjusts nothing first also without the overhead of flight to target area
Man-machine 120 flight to target area overhead, that is to say, that it is required that infrared light spot is in the image comprising infrared light spot
In.For example, if the position for the image mid-infrared light point comprising infrared light spot that high-speed camera 1213 is shot is to the right, fly control
Device 123 adjusts unmanned plane 120 and flies to the left；It is if infrared in the image comprising infrared light spot that high-speed camera 1213 is shot
The position of luminous point is to the left, then flies the control adjustment unmanned plane 120 of device 123 and fly to the right；If the bag that high-speed camera 1213 is shot
The position of image mid-infrared light point containing infrared light spot is to the front, then flies the control adjustment unmanned plane 120 of device 123 and fly backward；If
The position for the image mid-infrared light point comprising infrared light spot that high-speed camera 1213 is shot is to the rear, then flies control device 123 and adjust
120 flight forward of unmanned plane, like this high-speed camera 1213 persistently shoot infrared launcher 111 transmitting infrared ray, with
The positional information of the image mid-infrared light point comprising infrared light spot is obtained, and the positional information is sent to winged control device in real time
123.Fly the flight position that control device 123 constantly adjusts unmanned plane 120 according to the positional information, until high-speed camera 1213 is clapped
The positional information for the image mid-infrared light point comprising infrared light spot taken the photograph flies at the center of the image, at this time expression unmanned plane 120
Go to the overhead of target area.
In embodiments of the present invention, after unmanned plane 120 flies to the overhead of target area, fly control device 123 and control
Unmanned plane 120 starts to land, until dropping at ground visual beacon 110.It should be noted that the landing of unmanned plane 120
Cheng Zhong, high-speed camera 1213 shoot the image comprising infrared light spot in infrared light spot can be increasing, that is to say, that height
The ground object that fast video camera 1213 is shot can be fewer and fewer, therefore, when unmanned plane 120 has just started landing and unmanned plane 120
Apart from ground visual beacon 110, the when higher, it is necessary to position for constantly adjusting unmanned plane 120 causes what high-speed camera 1213 was shot
The positional information of image mid-infrared light point comprising infrared light spot is at the center of the image；When unmanned plane 120 drop to distance ground
When facial vision beacon 110 is relatively low, at this time, it is only necessary to ensure high-speed camera 1213 shoot image in comprising infrared light spot i.e.
Can, the specific location of infrared light spot in the picture is not limited.
Step S3, flies the flight position of the positional information adjustment unmanned plane 120 of control device 123 according to infrared light spot in the picture
Put and control decrease speed, so that unmanned plane 120 is dropped at ground visual beacon 110.
In embodiments of the present invention, the position for the infrared light spot that control device 123 can be determined according to high-speed camera 1213 is flown
Confidence ceases, and adjusts the flight position of unmanned plane 120 using pid algorithm and controls decrease speed, so that unmanned plane 120 drops to ground
At facial vision beacon 110.
The operation principle for the unmanned plane landing system 100 that the embodiment of the present invention is provided is：First, ground visual beacon
The infrared launcher 111 loaded on 110 launches infrared ray；Secondly, airborne identification module 121 shoots infrared launcher 111
The infrared ray of transmitting, obtains including the image of infrared light spot, and identifies the positional information of the infrared light spot, in other words, filters
Piece 1211 filters out other optical signals, so that high-speed camera 1213 photographs the infrared ray of the transmitting of infrared launcher 111, it is high
Fast video camera 1213 shoots the infrared ray that infrared launcher 111 is launched and obtains including the image of infrared light spot, and identifies that this is red
The positional information of outer luminous point in the picture；Finally, high-speed camera 1213 identifies the positional information of infrared light spot in the picture
Afterwards, which is sent to winged control device 123, so that fly control device 123 utilizes pid algorithm tune according to the positional information
The flight position of whole unmanned plane 120 simultaneously controls decrease speed, so that unmanned plane 120 is dropped at ground visual beacon 110, landing
Error can be less than 10cm, realize the accurate landing of unmanned plane 120.
In conclusion a kind of unmanned plane landing system provided by the invention and method, the unmanned plane landing system include
Ground visual beacon and unmanned plane；Airborne identification module, and the winged control of airborne identification module and unmanned plane are installed on unmanned plane
Device is electrically connected；Infrared launcher is mounted with the visual beacon of ground, infrared launcher is used to launch infrared ray；Airborne knowledge
Other module obtains including the image of infrared light spot for shooting infrared ray, and identifies the positional information of infrared light spot；Fly control device
For adjusting the flight position of unmanned plane according to positional information and controlling decrease speed, so that unmanned plane drops to ground facial vision letter
At mark.The described method includes：Infrared launcher launches infrared ray；Airborne identification module shooting infrared ray obtains including infrared light
The image of point, and identify the positional information of infrared light spot in the picture；Fly control device and unmanned plane is adjusted according to the positional information
Flight position and control decrease speed so that unmanned plane is dropped at the ground visual beacon.Compared with prior art, originally
The drop error that inventive embodiments can be brought to avoid the drifting problem of gps coordinate precision deficiency and unmanned plane, passes through infrared hair
The heat homing unmanned plane of injection device transmitting is dropped at the visual beacon of ground, so as to fulfill the accurate landing of unmanned plane.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Non-exclusive inclusion, so that process, method, article or equipment including a series of elements not only will including those
Element, but also including other elements that are not explicitly listed, or further include as this process, method, article or equipment
Intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that
Also there are other identical element in process, method, article or equipment including the key element.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the invention, for the skill of this area
For art personnel, the invention may be variously modified and varied.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should all be included in the protection scope of the present invention.It should be noted that：Similar label and letter exists
Similar terms is represented in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, is then not required in subsequent attached drawing
It is further defined and is explained.
Claims (7)
1. a kind of unmanned plane landing system, it is characterised in that the unmanned plane landing system includes ground visual beacon and nobody
Machine；
Airborne identification module, and the winged control device of the airborne identification module and unmanned plane electricity are installed on the unmanned plane
Connection；
Infrared launcher is mounted with the ground visual beacon, the infrared launcher is used to launch infrared ray；
The airborne identification module obtains including the image of infrared light spot for shooting the infrared ray, and identifies the infrared light
The positional information of point；
The winged control device is used to adjust the flight position of the unmanned plane according to the positional information and controls decrease speed, with
The unmanned plane is set to drop at the ground visual beacon.
2. unmanned plane landing system as claimed in claim 1, it is characterised in that the airborne identification module includes high-speed camera
Machine, the high-speed camera obtains including the image of infrared light spot for shooting the infrared ray, and identifies the infrared light spot
Positional information in the picture.
3. unmanned plane landing system as claimed in claim 2, it is characterised in that the airborne identification module further includes optical filtering
Piece, the optical filter is arranged in front of the camera lens of the high-speed camera, for filtering out other optical signals, so that the high speed
Video camera photographs the infrared ray.
4. unmanned plane landing system as claimed in claim 1, it is characterised in that the infrared launcher includes infrared emission
Pipe.
5. a kind of unmanned plane landing method, it is characterised in that landing applied to claim 1-4 any one of them unmanned plane is
System, the described method includes：
The infrared launcher launches infrared ray；
The airborne identification module shoots the infrared ray and obtains including the image of infrared light spot, and identifies that the infrared light spot exists
Positional information in image；
The winged control device adjusts the flight position of the unmanned plane according to the positional information and controls decrease speed, so that institute
Unmanned plane is stated to drop at the ground visual beacon.
6. unmanned plane landing method as claimed in claim 5, it is characterised in that the airborne identification module shooting is described infrared
Line obtains including the image of infrared light spot, and the step of identify the positional information of the infrared light spot in the picture, including：
Optical filter filters out other optical signals, so that high-speed camera photographs the infrared ray；
The high-speed camera shoots the infrared ray and obtains including the image of infrared light spot, and identifies that the infrared light spot is being schemed
Positional information as in.
7. unmanned plane landing method as claimed in claim 6, it is characterised in that the winged control device is used for according to the position
Information adjusts the flight position of the unmanned plane, so that the step of unmanned plane is dropped at the ground visual beacon, bag
Include：
The winged control device is according to the positional information, using under the flight position of the pid algorithm adjustment unmanned plane and control
Reduction of speed degree, so that the unmanned plane is dropped at the ground visual beacon.
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Cited By (12)
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|---|---|---|---|---|
| CN109085851A (en) * | 2018-09-12 | 2018-12-25 | 哈尔滨工业大学（威海） | Unmanned plane pinpoint landing method |
| CN110077595A (en) * | 2019-04-28 | 2019-08-02 | 北京理工大学 | Unmanned automated spacecraft lands and recovery system automatically under the conditions of complicated dynamic is jolted |
| CN110879617A (en) * | 2019-12-30 | 2020-03-13 | 湖南星空机器人技术有限公司 | Infrared-guided unmanned aerial vehicle landing method and device |
| CN111061290A (en) * | 2018-09-28 | 2020-04-24 | 易瓦特科技股份公司 | Method and device for unmanned aerial vehicle landing identification |
| CN111382971A (en) * | 2019-12-30 | 2020-07-07 | 湖南星空机器人技术有限公司 | Unmanned aerial vehicle multipoint automatic distribution method and device |
| CN111746810A (en) * | 2019-03-27 | 2020-10-09 | 顺丰科技有限公司 | All-weather unmanned aerial vehicle landing method, all-weather unmanned aerial vehicle landing system, all-weather unmanned aerial vehicle landing equipment and storage medium |
| CN112455705A (en) * | 2020-12-04 | 2021-03-09 | 南京晓飞智能科技有限公司 | Unmanned aerial vehicle autonomous accurate landing system and method |
| CN112925334A (en) * | 2021-02-02 | 2021-06-08 | 国网江苏省电力有限公司泰州供电分公司 | Intelligent inspection unmanned aerial vehicle landing system and method |
| CN112947524A (en) * | 2021-03-09 | 2021-06-11 | 广东鸿源智能科技有限公司 | Precise landing control method for unmanned aerial vehicle |
| CN113655804A (en) * | 2020-05-12 | 2021-11-16 | 北京三快在线科技有限公司 | Method and system for guiding unmanned aerial vehicle to land, auxiliary positioning system and unmanned aerial vehicle |
| WO2022011533A1 (en) * | 2020-07-14 | 2022-01-20 | 深圳市大疆创新科技有限公司 | Motion control method, control device, movable platform, and storage medium |
| CN114025607A (en) * | 2019-05-08 | 2022-02-08 | 拜耳公司 | Unmanned air vehicle |
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| CN110077595A (en) * | 2019-04-28 | 2019-08-02 | 北京理工大学 | Unmanned automated spacecraft lands and recovery system automatically under the conditions of complicated dynamic is jolted |
| CN114025607B (en) * | 2019-05-08 | 2024-01-12 | 拜耳公司 | Unmanned aerial vehicle |
| CN114025607A (en) * | 2019-05-08 | 2022-02-08 | 拜耳公司 | Unmanned air vehicle |
| CN110879617A (en) * | 2019-12-30 | 2020-03-13 | 湖南星空机器人技术有限公司 | Infrared-guided unmanned aerial vehicle landing method and device |
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| CN113655804A (en) * | 2020-05-12 | 2021-11-16 | 北京三快在线科技有限公司 | Method and system for guiding unmanned aerial vehicle to land, auxiliary positioning system and unmanned aerial vehicle |
| WO2022011533A1 (en) * | 2020-07-14 | 2022-01-20 | 深圳市大疆创新科技有限公司 | Motion control method, control device, movable platform, and storage medium |
| CN112455705A (en) * | 2020-12-04 | 2021-03-09 | 南京晓飞智能科技有限公司 | Unmanned aerial vehicle autonomous accurate landing system and method |
| CN112455705B (en) * | 2020-12-04 | 2024-05-03 | 南京晓飞智能科技有限公司 | Unmanned aerial vehicle autonomous accurate landing system and method |
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