CN110450947A - A kind of unmanned plane of automatic obstacle avoiding - Google Patents
A kind of unmanned plane of automatic obstacle avoiding Download PDFInfo
- Publication number
- CN110450947A CN110450947A CN201910802384.1A CN201910802384A CN110450947A CN 110450947 A CN110450947 A CN 110450947A CN 201910802384 A CN201910802384 A CN 201910802384A CN 110450947 A CN110450947 A CN 110450947A
- Authority
- CN
- China
- Prior art keywords
- module
- unmanned plane
- camera
- fixed
- measurement module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005259 measurement Methods 0.000 claims abstract description 41
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000006870 function Effects 0.000 claims description 7
- 230000000386 athletic effect Effects 0.000 claims description 2
- 230000004888 barrier function Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 238000010146 3D printing Methods 0.000 description 2
- 238000012790 confirmation Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- 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
- B64D47/00—Equipment not otherwise provided for
-
- 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
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a kind of unmanned plane of automatic obstacle avoiding, which is configured with preposition and underlying TOF measurement module, the infrared distance measurement module of front camera and left side and right side, to realize automatic obstacle avoiding.In use, only needing to press, function button takes off or remote controller operation takes off, and after unmanned plane during flying to specified altitude assignment, starts autonomous execution preset task.Trees such as are encountered in street, when the columns obstacle such as electric pole, planning path can actively be got around again；When such as encountering similar trees branch frame-shaped obstacle, requirement can be passed through according to whether the frame-type size of measurement meets unmanned plane, to decide whether to pass through, and can solve the problems, such as that oneself height measures when unmanned plane wears frame simultaneously.Furthermore unmanned plane supports autonomous or remote control shooting photo and camera function, supports that a key makes a return voyage function, unmanned plane can land according to default course line return to origin.
Description
Technical field
It is the present invention relates to quadrotor drone control field, in particular to a kind of based on oneself of TOF measurement module and vision
Main avoidance unmanned plane.
Background technique
Unmanned plane industry development is rapid at present, be widely used in take photo by plane, forest fire prevention and control, electric inspection process, remote sensing mapping etc. neck
Domain.In the process of unmanned plane autonomous flight, to complete task, it is necessary to have the function of automatic obstacle avoiding, in forest or obstacle
The numerous streets of object, if only promoting unmanned plane height with landform, it is difficult to see forest inside or street scenery, unmanned plane clearly
There should be the ability of the frame-shaped obstacle of the column obstacle for independently hiding similar tree limb and similar trees branch.Encountering trees
It when trunk, can detour, when encountering branch, can extend there through.In view of the above problems, unmanned plane industry is badly in need of
A kind of unmanned plane of automatic obstacle avoiding.
Summary of the invention
The main purpose of the present invention is to provide a kind of unmanned planes of automatic obstacle avoiding, can effectively solve in background technique
Problem.
To achieve the above object, the technical scheme adopted by the invention is as follows:
A kind of unmanned plane of automatic obstacle avoiding, feature are that it includes four axis racks, are fixed with upper plate in four axis rack upper surfaces, on
It is connected between bottom plate and four axis racks using short column, four axis rack lower surfaces are fixed with lower plate, lower plate and four axis racks
Between using long column connect；It is not connected with foot prop and motor in four axial end portions of the four axis rack, the foot prop is fixed
In four axis Frame end bottom surfaces, the motor is fixed on four axis Frame end upper surfaces, and the blade is fixed on motor.It is described
It is fixed on upper plate and flies control plate, flying control plate is the printed circuit board with microcontroller, is provided with several interfaces, is flown on control plate
It is connected separately with display screen, athletic posture resolves module, GPS module, function button and receiver module；On the lower plate,
Battery, infrared distance measurement module, preposition TOF measurement module and camera, lower plate bottom are provided in space between four axis racks
Be provided with ultrasonic wave module, underlying TOF measurement module, light stream module and laser on surface, the battery, infrared distance measurement module,
Preposition TOF measurement module, camera, ultrasonic wave module, underlying TOF measurement module, light stream module and laser pass through conducting wire respectively
It is connect with the corresponding interface of winged control plate；Wherein: the infrared distance measurement module is two, is symmetrically fixed on lower plate two sides, is imaged
Head is fixed in front of lower plate with preposition TOF measurement module, and light stream module and laser are fixed in the middle part of lower plate；It is described preposition
TOF measurement module and camera same horizontal line are installed, and light compensating lamp is fixed on the camera, is equipped with nothing in the camera
Line chart transmission module is simultaneously inserted with SD card.
Preferably, the cam lens are 16,000,000 pixel high definition camera lenses.
Preferably, the camera visual processing unit is tall and handsome up to Jetson Nano development kit.
Preferably, the light stream module is PX4FLOW module.
Preferably, the first TOF measurement module is miniature laser array, is communicated using UART.
Preferably, the infrared distance measurement module is GP2Y0A21YK0F, analog output.
Preferably, the SD card uses 256G memory SD card.
Preferably, the foot prop is made using 3D printing.
Preferably, the wireless image transmission can be used Type-C Interference fit 5.8GHz frequency receiver and use mobile phone
APP shows image.
Compared with prior art, the invention has the following beneficial effects:
The present invention uses a key by way of key or remote control to take off, and after aircraft flight to specified altitude assignment, can start
Advance, starts execution task.Front camera can record transmission current picture in real time, be emitted to using wireless image transmission specified
On receiver, autonomous or remote control shooting and recording function can be carried out, captured photos and videos is saved to local SD card
The inside.In flight course, if having encountered the columns obstacle such as tall trees wood, aircraft can detour, if having encountered branch
Etc. frame-shaped obstacle, aircraft can adjust height and left-right position, according to measurement frame-type height and width whether meet unmanned plane figure
Decide whether to extend there through, to realize autonomous completion barrier avoiding function.On the way, user of service can according to need to be cut at any time for flight
State is changed, a key is supported to make a return voyage.Due to realizing entirely autonomous carry out avoidance, so that unmanned plane is in the obstacles such as avenue intensity
Region adaptability is greatly enhanced, and key mode of making a return voyage is convenient and efficient, is conducive to unmanned plane promotion and popularization.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is bottom schematic view of the present invention；
Fig. 3 is side view of the present invention；
Fig. 4 is top view of the present invention；
Fig. 5 is circuit connection diagram of the present invention；
Fig. 6 is that the present invention flies control plate schematic diagram.
Specific embodiment
To make the technical means, creative features, achievement of purpose and effectiveness of the invention easy to understand, below with reference to specific
Embodiment, the present invention is further explained.
Refering to fig. 1-6, a kind of unmanned plane of automatic obstacle avoiding, it includes four axis racks 17, solid in four axis racks, 17 upper surface
Surely there is upper plate 18, connected between upper plate 18 and four axis racks 17 using short column, four axis racks, 17 lower surface is fixed with down
Bottom plate 19 is connected between lower plate 19 and four axis racks 17 using long column；It is other in four axial end portions of the four axis rack 17
It is connected with foot prop 14 and motor 13, the foot prop 14 is fixed on four axis racks, 17 end bottom surface, and the motor 13 is fixed on four axis
17 end upper surface of rack, the blade 12 are fixed on motor 13.It is fixed on the upper plate 18 and flies control plate 1, fly control plate 1
For the printed circuit board with microcontroller, several interfaces are provided with, fly to be connected separately with display screen 11, movement appearance on control plate 1
State resolves module 5, GPS module 3, function button 16 and receiver module 9；On the lower plate 19 between four axis racks 17
Battery 15, infrared distance measurement module 21, preposition TOF measurement module 2 and camera 6 are provided in space, on 19 bottom surface of lower plate
It is provided with ultrasonic wave module 22, underlying TOF measurement module 23, light stream module 4 and laser 10, the battery 15, infrared distance measurement mould
Block 21, preposition TOF measurement module 2, camera 6, ultrasonic wave module 22, underlying TOF measurement module 23, light stream module 4 and laser
10 are connect by conducting wire with the corresponding interface for flying control plate 1 respectively；Wherein: the infrared distance measurement module 21 is two, symmetrical fixed
In 19 two sides of lower plate, camera 6 and preposition TOF measurement module 2 are fixed in front of lower plate, and light stream module 4 and laser 10 are solid
Due to 19 middle part of lower plate；The preposition TOF measurement module 2 is installed with 6 same horizontal line of camera, solid on the camera 6
Surely there is light compensating lamp 20, wireless image transmission module 8 is equipped in the camera 6 and is inserted with SD card 7.
In the present embodiment, it is preferred that 6 camera lens of camera is 16,000,000 pixel high definition camera lenses.
In the present embodiment, it is preferred that 6 visual processing unit of camera is tall and handsome up to Jetson Nano exploitation set
Part.
In the present embodiment, it is preferred that the light stream module 4 is PX4FLOW module.
In the present embodiment, it is preferred that the TOF measurement module 2 is miniature laser array, is communicated using UART
In the present embodiment, it is preferred that 21 module of infrared distance measurement is GP2Y0A21YK0F, analog output.
In the present embodiment, it is preferred that the SD card 7 uses 256G memory SD card.
In the present embodiment, it is preferred that the foot prop 14 is made using 3D printing.
In the present embodiment, it is preferred that Type-C Interference fit 5.8GHz frequency can be used in the wireless image transmission module 8
Receiver shows image using cell phone application.
It should be noted that the present invention is a kind of unmanned plane of automatic obstacle avoiding.Its innovative point is, uses vision and more
The mode that a range finder module combines realizes the self-adaptive processing of a variety of different barriers, while solving simple during avoidance
Use the problem of ultrasonic sensor measurement unmanned plane height inaccuracy.When use, it is only necessary to connect battery 15, use
Function button 16 or remote controler independently take off, and aircraft flies to specified altitude assignment, just start to execute preset task.User of service can be with
According to the picture that wireless image transmission module 8 sends over, ambient enviroment is recognized in real time.User of service can be autonomous or be remotely controlled to picture
Face is taken pictures and is photographed, and can get picture or video data in SD card 7 after aircraft makes a return voyage.When encountering height
When big column barrier, aircraft recognizes and is directed at barrier advance, when trees reach certain in the picture of camera 6
Size or preposition TOF measurement module 2 measurement obtain plane distance trees distance be less than certain safe distance, at once stop
Whether vehicle, the range data then obtained according to the infrared distance sensor 21 in left side and right side, confirmation left and right directions distance pacify
Entirely, mobile to safe side if safety, otherwise just retreat to safe distance.After confirming safety, start flat to secure side
Then row movement is advanced, until clearing the jumps, is backed on original course line until front barrier disappears,
Continue to execute preset task.When encountering frame-shaped barrier, size and the center of frame are confirmed, if size satisfaction passes through condition,
Center alignment is then carried out, is otherwise got around in the way of meeting column barrier.After centring point position, passed through.
In crossing process, it may appear that ultrasonic distance measuring module 22 detects the case where lower edge of frame, to can not accurately obtain
Unmanned plane present level information is taken, used here as the mutual switching machine of underlying TOF measurement module 23 and ultrasonic distance measuring module 22
System, if it find that ultrasound data is mutated, then using observation of the ranging numerical value of underlying TOF measurement module 23 as height
Amount, solves the problems, such as elevation carrection.According to the numerical value of the infrared distance sensor 21 of aircraft left and right side at this time, determine that aircraft is
It is no to pass through barrier, it passes through after the completion of obstacle, returns to original course line and continue to execute preset task.It, can root after unmanned plane starting
According to GPS module 3 data record and store aircraft position, therefore user of service can voluntarily control aircraft make a return voyage distance and
It makes a return voyage position.After confirmation is maked a return voyage, aircraft just starts to turn head, executes task of independently making a return voyage.Aircraft can be according to GPS module
The takeoff setting of 3 storages, when receiving the instruction independently maked a return voyage by receiver module 9, aircraft will return to initial position, from
Task of making a return voyage is completed in main landing.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (8)
1. a kind of unmanned plane of automatic obstacle avoiding, which is characterized in that it includes four axis racks (17), in four axis rack (17) upper surfaces
It is fixed with upper plate (18), is connect between upper plate (18) and four axis racks (17) using short column, four axis rack (17) following tables
Face is fixed with lower plate (19), is connect between lower plate (19) and four axis racks (17) using long column；In the four axis rack
(17) four axial end portions are not connected with foot prop (14) and motor (13), and the foot prop (14) is fixed on four axis rack (17) ends
Bottom surface, the motor (13) are fixed on four axis rack (17) end upper surfaces, and the blade (12) is fixed on motor (13)；
It is fixed on the upper plate (18) and flies control plate (1), flying control plate (1) is the printed circuit board with microcontroller, setting
There are several interfaces, flies to be connected separately with display screen (11), athletic posture resolving module (5), GPS module (3), function in control plate (1)
It can key (16) and receiver module (9)；
Be provided in space on the lower plate (19) between four axis racks (17) battery (15), infrared distance measurement module (21),
Preposition TOF measurement module (2) and camera (6) are provided with ultrasonic wave module (22), underlying TOF on lower plate (19) bottom surface
Range finder module (23), light stream module (4) and laser (10), the battery (15), infrared distance measurement module (21), preposition TOF measurement
Module (2), camera (6), ultrasonic wave module (22), underlying TOF measurement module (23), light stream module (4) and laser (10) point
Not Tong Guo conducting wire with fly control plate (1) corresponding interface connect；Wherein:
The infrared distance measurement module (21) is two, is symmetrically fixed on lower plate (19) two sides, and camera (6) and preposition TOF are surveyed
It is fixed in front of lower plate away from module (2), light stream module (4) and laser (10) are fixed in the middle part of lower plate (19)；
The preposition TOF measurement module (2) and camera (6) same horizontal line are installed, and are fixed with light filling on the camera (6)
Lamp (20), the camera (6) is interior to be equipped with wireless image transmission module (8) and is inserted with SD card (7).
2. the unmanned plane of automatic obstacle avoiding according to claim 1, which is characterized in that described camera (6) camera lens is
16000000 pixel high definition camera lenses.
3. the unmanned plane of automatic obstacle avoiding according to claim 1, which is characterized in that the light stream module (4) is
PX4FLOW module.
4. the unmanned plane of automatic obstacle avoiding according to claim 1, which is characterized in that the preposition TOF measurement module (2) is
Miniature laser array, is communicated using UART.
5. the unmanned plane of automatic obstacle avoiding according to claim 1, which is characterized in that the infrared distance measurement module (21) is
GP2Y0A21YK0F, analog output.
6. the unmanned plane of automatic obstacle avoiding according to claim 1, which is characterized in that the SD card (7) uses 256G
Memory SD card.
7. the unmanned plane of automatic obstacle avoiding according to claim 1, which is characterized in that the foot prop (14) is beaten using 3D
Print.
8. the unmanned plane of automatic obstacle avoiding according to claim 1, it is characterised in that: the wireless image transmission (8) uses
Type-C Interference fit 5.8GHz receiver shows image using cell phone application.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910802384.1A CN110450947A (en) | 2019-08-28 | 2019-08-28 | A kind of unmanned plane of automatic obstacle avoiding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910802384.1A CN110450947A (en) | 2019-08-28 | 2019-08-28 | A kind of unmanned plane of automatic obstacle avoiding |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110450947A true CN110450947A (en) | 2019-11-15 |
Family
ID=68489606
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910802384.1A Pending CN110450947A (en) | 2019-08-28 | 2019-08-28 | A kind of unmanned plane of automatic obstacle avoiding |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110450947A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112078793A (en) * | 2020-09-02 | 2020-12-15 | 台州学院 | Double-machine type mountain forest patrol unmanned aerial vehicle with guarantee continuation of journey function |
| WO2022160325A1 (en) * | 2021-02-01 | 2022-08-04 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method and apparatus, and unmanned aerial vehicle |
| CN116374203A (en) * | 2023-06-06 | 2023-07-04 | 应急管理部沈阳消防研究所 | Tethered fire extinguishing unmanned aerial vehicle obstacle avoidance and return control performance test method |
| WO2023141988A1 (en) * | 2022-01-28 | 2023-08-03 | 深圳市大疆创新科技有限公司 | Control method for unmanned aerial vehicle, unmanned aerial vehicle, control apparatus, system, and storage medium |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120081247A1 (en) * | 2010-09-28 | 2012-04-05 | Thales | Radar with wide angular coverage, notably for the obstacle avoidance function on board auto-piloted aircraft |
| CN103144770A (en) * | 2013-03-19 | 2013-06-12 | 南京航空航天大学 | Full-automatic indoor environment control, obstacle avoidance and navigation type micro aerial vehicle |
| CN205809702U (en) * | 2016-05-18 | 2016-12-14 | 深圳智航无人机有限公司 | Unmanned plane logistics system |
| CN106428543A (en) * | 2016-11-11 | 2017-02-22 | 杨超峰 | Rotor control mechanism and dual-rotor unmanned plane |
| CN107352022A (en) * | 2017-06-08 | 2017-11-17 | 国蓉科技有限公司 | A kind of spherical UAS of rotor of impact resistant four |
| JP2017218141A (en) * | 2016-06-08 | 2017-12-14 | パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカＰａｎａｓｏｎｉｃ Ｉｎｔｅｌｌｅｃｔｕａｌ Ｐｒｏｐｅｒｔｙ Ｃｏｒｐｏｒａｔｉｏｎ ｏｆ Ａｍｅｒｉｃａ | Unmanned flying body, control method and control program |
| CN108427431A (en) * | 2018-04-24 | 2018-08-21 | 东莞理工学院 | A kind of four-axle aircraft and its method based on laser scanning map structuring system |
| CN208036601U (en) * | 2018-04-13 | 2018-11-02 | 山东华宇工学院 | A kind of unmanned plane with the barrier avoiding function that tracks |
| EP3454316A1 (en) * | 2017-09-08 | 2019-03-13 | Thales | Swarm composed of a plurality of light flying drones |
-
2019
- 2019-08-28 CN CN201910802384.1A patent/CN110450947A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120081247A1 (en) * | 2010-09-28 | 2012-04-05 | Thales | Radar with wide angular coverage, notably for the obstacle avoidance function on board auto-piloted aircraft |
| CN103144770A (en) * | 2013-03-19 | 2013-06-12 | 南京航空航天大学 | Full-automatic indoor environment control, obstacle avoidance and navigation type micro aerial vehicle |
| CN205809702U (en) * | 2016-05-18 | 2016-12-14 | 深圳智航无人机有限公司 | Unmanned plane logistics system |
| JP2017218141A (en) * | 2016-06-08 | 2017-12-14 | パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカＰａｎａｓｏｎｉｃ Ｉｎｔｅｌｌｅｃｔｕａｌ Ｐｒｏｐｅｒｔｙ Ｃｏｒｐｏｒａｔｉｏｎ ｏｆ Ａｍｅｒｉｃａ | Unmanned flying body, control method and control program |
| CN106428543A (en) * | 2016-11-11 | 2017-02-22 | 杨超峰 | Rotor control mechanism and dual-rotor unmanned plane |
| CN107352022A (en) * | 2017-06-08 | 2017-11-17 | 国蓉科技有限公司 | A kind of spherical UAS of rotor of impact resistant four |
| EP3454316A1 (en) * | 2017-09-08 | 2019-03-13 | Thales | Swarm composed of a plurality of light flying drones |
| CN208036601U (en) * | 2018-04-13 | 2018-11-02 | 山东华宇工学院 | A kind of unmanned plane with the barrier avoiding function that tracks |
| CN108427431A (en) * | 2018-04-24 | 2018-08-21 | 东莞理工学院 | A kind of four-axle aircraft and its method based on laser scanning map structuring system |
Non-Patent Citations (2)
| Title |
|---|
| ALEXANDER C. WOODS, HUNG M. LA，QUANG P. HA: "A novel extended potential field controller for use on aerial robots", 《2016 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING》 * |
| 李继宇,兰玉彬,施叶茵: "旋翼无人机气流特征及大田施药作业研究进展", 《农业工程学报》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112078793A (en) * | 2020-09-02 | 2020-12-15 | 台州学院 | Double-machine type mountain forest patrol unmanned aerial vehicle with guarantee continuation of journey function |
| WO2022160325A1 (en) * | 2021-02-01 | 2022-08-04 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method and apparatus, and unmanned aerial vehicle |
| WO2023141988A1 (en) * | 2022-01-28 | 2023-08-03 | 深圳市大疆创新科技有限公司 | Control method for unmanned aerial vehicle, unmanned aerial vehicle, control apparatus, system, and storage medium |
| CN116374203A (en) * | 2023-06-06 | 2023-07-04 | 应急管理部沈阳消防研究所 | Tethered fire extinguishing unmanned aerial vehicle obstacle avoidance and return control performance test method |
| CN116374203B (en) * | 2023-06-06 | 2023-08-04 | 应急管理部沈阳消防研究所 | Tethered fire extinguishing unmanned aerial vehicle obstacle avoidance and return control performance test method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110450947A (en) | A kind of unmanned plane of automatic obstacle avoiding | |
| CN109060281B (en) | Integrated bridge detection system based on unmanned aerial vehicle | |
| US20180275659A1 (en) | Route generation apparatus, route control system and route generation method | |
| US11019322B2 (en) | Estimation system and automobile | |
| US10599142B2 (en) | Display device and control method for display device | |
| WO2018209702A1 (en) | Method for controlling unmanned aerial vehicle, unmanned aerial vehicle and machine-readable storage medium | |
| CN205524962U (en) | Modular unmanned aerial vehicle | |
| CN106828952B (en) | A kind of method and device of assisting in flying device safe flight | |
| CN106384382A (en) | Three-dimensional reconstruction system and method based on binocular stereoscopic vision | |
| JP2018160228A (en) | Route generation device, route control system, and route generation method | |
| CN112052788B (en) | Binocular vision-based environment sensing method and device and unmanned aerial vehicle | |
| CN108140066A (en) | Drawing producing device and drawing production method | |
| CN109819173A (en) | Depth integration method and TOF camera based on TOF imaging system | |
| WO2023102911A1 (en) | Data collection method, data presentation method, data processing method, aircraft landing method, data presentation system and storage medium | |
| CN102368137A (en) | Embedded calibrating stereoscopic vision system | |
| CN108341049A (en) | Home intelligent unmanned plane | |
| CN206609424U (en) | Microlight-type variable-angle aviation oblique photograph system | |
| CN206399422U (en) | Multifunctional vision sensor and mobile robot | |
| CN209991983U (en) | Obstacle detection equipment and unmanned aerial vehicle | |
| CN108700885A (en) | A kind of flight control method, remote control, remote control system | |
| CN110012280B (en) | TOF module for VSLAM system and VSLAM calculation method | |
| CN111399014A (en) | Local stereoscopic vision infrared camera system and method for monitoring wild animals | |
| CN204473167U (en) | A kind of five camera holder for aerial photographings | |
| CN204439995U (en) | The five camera holder for aerial photographings that a kind of camera angle is fixing | |
| RU2735196C1 (en) | Control method of landing of small unmanned aerial vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20191115 |