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WO2018152848A1 - Véhicule aérien sans pilote, et procédé et système permettant de commander le véhicule aérien sans pilote - Google Patents

Véhicule aérien sans pilote, et procédé et système permettant de commander le véhicule aérien sans pilote Download PDF

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Publication number
WO2018152848A1
WO2018152848A1 PCT/CN2017/075047 CN2017075047W WO2018152848A1 WO 2018152848 A1 WO2018152848 A1 WO 2018152848A1 CN 2017075047 W CN2017075047 W CN 2017075047W WO 2018152848 A1 WO2018152848 A1 WO 2018152848A1
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WO
WIPO (PCT)
Prior art keywords
drone
authority
user
request instruction
control request
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.)
Ceased
Application number
PCT/CN2017/075047
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English (en)
Chinese (zh)
Inventor
熊川樘
吴智强
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN201780071651.1A priority Critical patent/CN109964193A/zh
Priority to PCT/CN2017/075047 priority patent/WO2018152848A1/fr
Publication of WO2018152848A1 publication Critical patent/WO2018152848A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw

Definitions

  • the invention relates to a remote control scheme for a drone, in particular to a control method and a control device.
  • the application scenarios of the drone are mostly controlled by the user through the remote controller. Since only the user owns the control of the drone, it does not involve management problems of multiple people or multiple machines. However, with the large number of applications of drones in industries such as agricultural plant protection, security monitoring, and power inspection, many people often need to control or manage multiple drones. Due to the situation in which many people manage the drones, if the management authority of the personnel is not distinguished, it will inevitably bring greater confusion and risk to the management.
  • Embodiments of the present invention aim to solve at least one of the technical problems existing in the prior art. To this end, embodiments of the present invention need to provide a control method and control device.
  • a method for controlling a drone comprising:
  • the request instruction including a control request instruction and/or a management request instruction
  • control request command includes at least one or more of adjusting a motion parameter of the drone, adjusting an image transmission parameter of the drone, and adjusting a head of the drone.
  • the management request instruction includes at least binding or unbinding the drone, inviting the user to join, grouping the user, and grouping the drone One or more of the mission planning for the drone, viewing real-time image transmission, and managing historical image transmission records.
  • the authority is a first authority, the first authority enabling the control request instruction of the user to be sent to the drone, and/or the management request of the user Instructions can be executed.
  • the first authority includes adjusting a motion parameter of the drone, adjusting an image transmission parameter of the drone, adjusting a gimbal of the drone, binding or unbinding the drone, inviting the user Join, group management of users, group management of drones, task planning for drones, view real-time image transmission, and manage historical image transmission records.
  • the authority is a second authority, the second authority is lower than the first authority, and the second authority enables the control request instruction of the user to be sent to an unmanned The machine, and/or the management request instruction portion of the user may be executed.
  • the second authority includes adjusting a motion parameter of the drone, adjusting an image transmission parameter of the drone, adjusting a gimbal of the drone, inviting the user to join, performing task planning for the drone, View real-time image transmission and manage historical image transmission records.
  • the authority is a third authority, the third authority is lower than the second authority, and the third authority causes the control request instruction of the user to be rejected to be sent to the drone And/or the management request instruction portion of the user may be executed.
  • the third privilege includes viewing real-time image transmissions, viewing historical image transmission records.
  • the method further comprises:
  • the response signal includes at least an acceptance response, a rejection response; and if the response signal is an acceptance response, the drone performs control of the user terminal. And obtaining an instruction; if the response signal is a rejection response, the drone does not execute the control request instruction of the client.
  • the drone is an unmanned aerial vehicle, an unmanned vehicle, or an unmanned vehicle.
  • a drone remote control system comprising:
  • a communication interface configured to acquire a request instruction of the user, where the request instruction includes a control request instruction and/or a management request instruction;
  • a database configured to store the permission of the user, and send the permission information of the user
  • the processor determines to send or refuse to send the control request command to the drone; and/or the processor determines to execute or refuse to execute the management request instruction.
  • control request command includes at least one or more of adjusting a motion parameter of the drone, adjusting an image transmission parameter of the drone, and adjusting a head of the drone.
  • the management request instruction includes at least binding or unbinding the drone, inviting the user to join, grouping the user, grouping the drone, scheduling the mission for the drone, View one or more of real-time image transfer and management history image transfer records.
  • the authority is a first authority, the first authority enabling the control request instruction of the user to be sent to the drone, and/or the management request of the user Instructions can be executed.
  • the first authority includes adjusting a motion parameter of the drone, adjusting an image transmission parameter of the drone, adjusting a gimbal of the drone, binding or unbinding the drone, inviting the user Join, group management of users, group management of drones, task planning for drones, view real-time image transmission, and manage historical image transmission records.
  • the authority is a second authority, the second authority is lower than the first authority, and the second authority enables the control request instruction of the user to be sent to an unmanned The machine, and/or the management request instruction portion of the user may be executed.
  • the second authority includes adjusting a motion parameter of the drone, Adjust the image transmission parameters of the drone, adjust the head of the drone, invite the user to join, plan the mission for the drone, view the real-time image transmission, and manage the historical image transmission record.
  • the authority is a third authority, the third authority is lower than the second authority, and the third authority causes the control request instruction of the user to be rejected to be sent to the drone And/or the management request instruction portion of the user may be executed.
  • the third privilege includes viewing real-time image transmissions, viewing historical image transmission records.
  • control system further comprises:
  • a communication interface configured to receive the control request instruction of the user
  • a database configured to store the rights of the user, for storing the rights of the user, and sending the rights information of the user;
  • the communication interface receives a response signal of the drone.
  • the response signal received by the communication interface includes at least an acceptance response, a rejection response, and if the response signal is an acceptance response, the drone performs a control request instruction of the user terminal; The response signal is a rejection response, and the drone does not execute the control request instruction of the client.
  • the drone is an unmanned aerial vehicle, an unmanned vehicle, or an unmanned vehicle.
  • a method for controlling a drone comprising:
  • the at least two control request instructions respectively control movement of the drone and a load on the drone, and the drone simultaneously executes the at least two control request instructions;
  • the at least two control request commands are both controlling the movement of the drone, and the drone executes the previously acquired control request command.
  • the load is a pan/tilt and a camera.
  • the at least two control request instructions are acquired at different times, and the earlier acquired control request instruction is the previously acquired control request instruction.
  • the drone is an unmanned aerial vehicle, an unmanned vehicle, or an unmanned vehicle.
  • a drone comprising:
  • a communication interface configured to acquire at least two control request commands transmitted by the remote control system of the drone
  • a flight control system configured to control the drone to simultaneously execute the at least two control request commands when the at least two control request commands respectively control movement of the drone and load on the drone ;
  • the drone is controlled to execute the previously acquired control request command.
  • the load is a pan/tilt or a camera.
  • the at least two control request instructions are acquired at different times, and the earlier acquired control request instruction is the previously acquired control request instruction.
  • the drone is an unmanned aerial vehicle, an unmanned vehicle, or an unmanned vehicle.
  • FIG. 1 is a flow chart of a control method of some embodiments of the present invention.
  • FIG. 2 is a schematic diagram of functional modules of an electronic device and a control device according to some embodiments of the present invention.
  • FIG. 3 is a flow chart of a control method of some embodiments of the present invention.
  • FIG. 4 is a schematic diagram of functional modules of an electronic device and a control device according to some embodiments of the present invention.
  • FIG. 5 is a schematic flow chart of a control method according to some embodiments of the present invention.
  • FIG. 6 is a schematic diagram of functional modules of an electronic device and a control device according to some embodiments of the present invention.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” or “second” may include one or more of the described features either explicitly or implicitly.
  • the meaning of "a plurality" is two or more unless specifically and specifically defined otherwise.
  • connection In the description of the present invention, it should be noted that the terms “installation”, “connected”, and “connected” are to be understood broadly, and may be fixed or detachable, for example, unless otherwise explicitly defined and defined. Connected, or integrally connected; may be mechanically connected, or may be electrically connected or may communicate with each other; may be directly connected or indirectly connected through an intermediate medium, may be internal communication of two elements or interaction of two elements relationship. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.
  • a control method for controlling a drone according to an embodiment of the present invention is performed by a drone remote control system 100.
  • the control method includes:
  • the UAV remote control system 100 includes a communication interface 101, a database 102, and a processor 103, which can be used to implement S1 to S3. That is to say, the communication interface 101 is used to acquire a request instruction of the user, and the request instruction includes a control request instruction and/or a management request instruction.
  • the database 102 is used to read the permissions of the user.
  • the processor 103 is configured to send or refuse to send the control request instruction to the drone, and execute or refuse to execute the acquired management request instruction.
  • the unmanned aerial vehicle uses an unmanned aerial vehicle as an example. In other embodiments, the drone may also be an unmanned vehicle or an unmanned boat.
  • the control request instruction includes adjusting one flight path of the unmanned aerial vehicle, adjusting image transmission parameters of the unmanned aerial vehicle, and adjusting one or more of the unmanned aerial vehicles.
  • the adjusting the flight parameters of the unmanned aerial vehicle includes at least one or more of changing a flight speed, a flight path, a flight mode, and the like of the unmanned aerial vehicle.
  • the content of the control request instruction is not limited to the above examples, and may further include more content, such as adjusting the flight speed of the unmanned aerial vehicle, the flight mode, and the like.
  • the management request instruction includes at least binding or unbinding the UAV, inviting other users to join, grouping the users, grouping the UAV, scheduling the UAV, and viewing the real-time image transmission.
  • the image transmission record of the management history includes at least an image transmission record for editing or deleting history, and an image transmission record for viewing history. It can be understood that the content of the management request instruction is not limited to the above example, and may include more content, as long as the request instruction for managing the person and the device can be regarded as belonging to the management request instruction.
  • the permission includes a first authority, a second authority, and a third authority.
  • the first authority enables the user's control request instructions to be sent to the UAV, and the user's management request instructions can be executed.
  • the first authority enables the user to adjust the flight path of the UAV, adjust the image transmission parameters of the UAV, adjust the PTZ of the UAV, bind or unbind the UAV, and invite other Users join the unmanned aerial vehicle remote control system, group management of joined users, group management of bound unmanned aerial vehicles, mission planning for unmanned aerial vehicles, view real-time image transmission, and manage historical image transmission records.
  • the second authority is lower than the first right
  • the second authority enables the control request command of the user to be sent to the unmanned aerial vehicle, and the management request instruction portion of the user can be executed.
  • the second authority enables the user to adjust the flight path of the UAV, adjust the image transmission parameters of the UAV, adjust the PTZ of the UAV, and invite other users to join the UAV remote control system.
  • Unmanned aerial vehicles perform mission planning, view real-time image transmission, and manage historical image transmission records.
  • the third authority is lower than the second authority, the third authority causes the user's control request instruction to be rejected to be sent to the unmanned aerial vehicle, and the user's management request instruction portion may be executed.
  • the third authority enables the user to view real-time image transmission and view historical image transmission records.
  • the content included in the first authority, the second authority, and the third authority is not limited to the above examples.
  • the privilege may also include a fourth privilege, a fifth privilege, and the like.
  • the content included in each privilege may be set by the system, or may be set by the user having the first privilege. Set or change.
  • the user may be divided into a boss, a team leader, and a flying hand according to the permission level, the boss has a first authority, the team leader has a second authority, and the flying hand has a third authority.
  • a user becomes a boss by binding an account to the unmanned aerial vehicle. It can be understood that a user can also become a boss by other means, such as mailbox verification, mobile phone verification, ID number verification, and the like.
  • the boss invites other users to join the unmanned aerial vehicle remote control system by means of an email invitation or an account registration. It can be understood that the boss may also invite the other users to join the system through other means, such as mobile phone verification and ID number verification. Wait.
  • the boss may also delete the captain or the flying hand, so that the corresponding user loses the authority corresponding to the captain or the flying hand.
  • the boss makes the other user a captain or a flying hand by assigning or setting rights to the other users.
  • the boss may group the flying hands, then assign each group to one or more team leaders for management, or group the flying hands to set one of the flying hands as the captain.
  • the captain can also be reset as a flying hand by the boss, and the flying hand can also be reset as the captain by the boss.
  • the captain may also invite other users to join the system to become a flying hand by means of an email invitation or an account registration. It can be understood that the captain may also invite the other users to join the system by other means, such as mobile phone verification. Certificate, ID number verification, etc.
  • the captain may also delete the flying hand, so that the corresponding user loses the authority corresponding to the flying hand.
  • the same user can act as a captain or a flyer in different groups at the same time.
  • a user can be a captain in group A and a flying hand in group B; both team members or flying hands in group A and group B; a flying hand in group A and a team leader in group B.
  • the boss inputs one or more of adjusting a flight path of the unmanned aerial vehicle, adjusting an image transmission parameter of the unmanned aerial vehicle, and adjusting a control request command of the unmanned aerial vehicle, etc., according to the boss owning the first Privilege, the control request instruction is sent to the drone; the boss inputs binding or unbinding the unmanned aerial vehicle, invites other users to join, manages the user group, manages the unmanned aerial vehicle, Performing one or more management request instructions in the request instruction for the unmanned aerial vehicle for task planning, viewing real-time image transmission, managing historical image transmission records, etc., according to the boss having the first authority, the management request instruction Executed.
  • the captain inputs one or more of adjusting a flight path of the unmanned aerial vehicle, adjusting an image transmission parameter of the unmanned aerial vehicle, and adjusting a control request command of the unmanned aerial vehicle, if the control request instruction is for the The unmanned aerial vehicle in the group to which the captain belongs, the control request command is sent to the unmanned aerial vehicle, and if the control request command is not for the unmanned aerial vehicle in the group to which the captain belongs, the control request command Will be rejected; the captain inputs one or more of the management request commands for binding or unbinding the unmanned aerial vehicle, grouping the user, and grouping the unmanned aerial vehicle, according to the captain.
  • the second authority the management request instruction is rejected; the captain inputs one of management request instructions such as inviting other users to join, performing task planning for the unmanned aerial vehicle, viewing real-time image transmission, and managing historical image transmission records. Or a plurality of, according to the captain having the second authority, if the management request instruction is for the Belonging group management in long, then the management request instruction is executed, if the management request is not managed in the belonging group leader for instructions, then the management request instruction is rejected.
  • the flying hand input adjusts one or more of a flight path of the unmanned aerial vehicle, adjusts an image transmission parameter of the unmanned aerial vehicle, and adjusts a control request command of the unmanned aerial vehicle, and the third Permission, the control request instruction will be rejected to be sent to the none a human aircraft; the flying hand input invites other users to join, one or more of management request commands for task planning, editing, or deletion of historical image transmission records for the unmanned aerial vehicle, according to the flying hand possessing the third Privilege, the management request instruction is rejected; the fly-by input is to view one or more of management request instructions such as real-time image transmission, view history image transmission record, etc., if the management request instruction is for the When the image transmission in the group to which the flying hand belongs is described, the management request instruction is executed, and if the management request instruction is not for image transmission in the group to which the flying hand belongs, the management request instruction is rejected. It can be understood that if the content of the first authority, the second authority, and the third authority are different, the sending or execution result
  • a method for controlling a drone according to an embodiment of the present invention is performed by a drone remote control system 100.
  • the control method includes:
  • the drone remote control system 100 includes a communication interface 101, a database 102, and a processor 103, which can be used to implement S4 through S6. That is to say, the communication interface 101 is configured to acquire a control request instruction of the user and receive a response signal of the drone.
  • the database 102 is used to read the permissions of the user.
  • the processor 103 is configured to determine to send the control request command to the drone.
  • the unmanned aerial vehicle uses an unmanned aerial vehicle as an example. In other embodiments, the drone may also be an unmanned vehicle or an unmanned boat.
  • the response signal includes at least an acceptance response signal and a rejection response signal; if the response signal is an acceptance response signal, the UAV performs a control request instruction of the user terminal; if the response signal is a rejection response signal And the UAV does not execute the control request instruction of the client.
  • the boss inputs one or more of adjusting a flight path of the unmanned aerial vehicle, adjusting an image transmission parameter of the unmanned aerial vehicle, and adjusting a control request command of the unmanned aerial vehicle, and the like, according to the boss.
  • a control request command is sent to the UAV; if the UAV accepts the control request command, the UAV executes the control request command and receives the response signal Sent to the boss; if the UAV refuses The control request instruction, the UAV does not execute the control request instruction, and sends the rejection response signal to the boss.
  • the captain inputs one or more of adjusting a flight path of the unmanned aerial vehicle, adjusting an image transmission parameter of the unmanned aerial vehicle, and adjusting a control request command of the unmanned aerial vehicle, if the control request instruction is for the The unmanned aerial vehicle in the group to which the captain belongs, the control request command is sent to the unmanned aerial vehicle; if the unmanned aerial vehicle accepts the control request command, the unmanned aerial vehicle executes the control request command, And transmitting the acceptance response signal to the team leader; if the UAV rejects the control request instruction, the UAV does not execute the control request instruction, and sends the rejection response signal to the Said the captain.
  • a method for controlling a drone according to an embodiment of the present invention.
  • the method is performed by a drone, the method comprising:
  • the at least two control request instructions respectively control a flight of the drone and a load on the drone, and the drone simultaneously executes the at least two control request instructions;
  • the at least two control request instructions are both controlling the operation of the drone, and the drone executes the control request instruction acquired earlier.
  • the unmanned aerial vehicle of the present embodiment is exemplified by the unmanned aerial vehicle 200.
  • the unmanned aerial vehicle may also be an unmanned vehicle or an unmanned vehicle.
  • the UAV 200 includes a communication interface 201, a flight control system 202, and can be used to implement S7 through S9. That is to say, the communication interface 201 is configured to acquire at least two control request commands transmitted by the UAV remote control system.
  • the flight control system 202 is configured to simultaneously execute the at least two control request instructions or one control request instruction acquired first. The at least two control request instructions are acquired at different times, and the earlier acquired control request instruction is the previously acquired control request instruction.
  • the load is a pan/tilt or a photographing device.
  • the controlling the flight of the unmanned aerial vehicle includes adjusting one or more of a flight path, a flight mode, a flight speed, and the like of the unmanned aerial vehicle; the controlling the load on the unmanned aerial vehicle includes adjusting a gimbal, adjusting an image transmission One or more of the input parameters and the like.
  • the unmanned aerial vehicle acquires a control request instruction for adjusting one of the flight path, the flight mode, and the flight speed of the unmanned aerial vehicle to control the flight of the unmanned aerial vehicle, and acquires an adjustment pan/tilt and adjusts image transmission.
  • One or more of the parameters of the control request command, the control of the UAV flight and the plurality of control request commands for controlling the load on the UAV are all performed by the aircraft; the UAV acquisition adjustment station One of the flight path, flight mode, and flight speed of the unmanned aerial vehicle, the control request command for controlling the flight of the unmanned aerial vehicle, and acquiring another one of adjusting the flight path, flight mode, and flight speed of the unmanned aerial vehicle A control request command for controlling the flight of the unmanned aerial vehicle, the UAV will continue to execute the previously acquired control request command.
  • a "computer readable medium” can be any A device that is used, stored, communicated, propagated, or transmitted for use by an instruction execution system, apparatus, or device, or in conjunction with such an instruction execution system, apparatus, or device.
  • computer readable media include the following: electrical connections (electronic devices) having one or more wires, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM).
  • the computer readable medium may even be a paper or other suitable medium on which the program can be printed, as it may be optically scanned, for example by paper or other medium, followed by editing, interpretation or, if appropriate, other suitable The method is processed to obtain the program electronically and then stored in computer memory.
  • portions of the invention may be implemented in hardware, software, firmware or a combination thereof.
  • multiple steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system.
  • a suitable instruction execution system For example, if implemented in hardware, as in another embodiment, it can be implemented by any one or combination of the following techniques well known in the art: having logic gates for implementing logic functions on data signals. Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.
  • each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one module.
  • the above integrated modules can be implemented in the form of hardware or in the form of software functional modules.
  • the integrated modules, if implemented in the form of software functional modules and sold or used as stand-alone products, may also be stored in a computer readable storage medium.
  • the above mentioned storage medium may be a read only memory, a magnetic disk or an optical disk or the like.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Selective Calling Equipment (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention se rapporte à un procédé permettant de commander un véhicule aérien sans pilote. Le procédé consiste : à acquérir une instruction de demande d'un utilisateur, l'instruction de demande comprenant une instruction de demande de commande et/ou une instruction de demande de gestion ; à envoyer ou à refuser d'envoyer, selon une autorisation d'utilisateur, l'instruction de demande de commande au véhicule aérien sans pilote ; et/ou à exécuter ou à refuser d'exécuter, selon l'autorisation d'utilisateur, l'instruction de demande de gestion. Le procédé peut distinguer l'autorisation d'utilisateur de manière à ce que la gestion du véhicule aérien sans pilote soit beaucoup plus sûre. La présente invention a trait en outre à un système de commande à distance de véhicule aérien sans pilote utilisant le procédé, et au véhicule aérien sans pilote.
PCT/CN2017/075047 2017-02-27 2017-02-27 Véhicule aérien sans pilote, et procédé et système permettant de commander le véhicule aérien sans pilote Ceased WO2018152848A1 (fr)

Priority Applications (2)

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CN201780071651.1A CN109964193A (zh) 2017-02-27 2017-02-27 无人机、控制无人机的方法及系统
PCT/CN2017/075047 WO2018152848A1 (fr) 2017-02-27 2017-02-27 Véhicule aérien sans pilote, et procédé et système permettant de commander le véhicule aérien sans pilote

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PCT/CN2017/075047 WO2018152848A1 (fr) 2017-02-27 2017-02-27 Véhicule aérien sans pilote, et procédé et système permettant de commander le véhicule aérien sans pilote

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CN115115286A (zh) * 2022-08-29 2022-09-27 深圳市金得润科技有限公司 一种用于植保无人机的作业物资管理系统
CN115564315A (zh) * 2022-11-28 2023-01-03 苏州维伟思医疗科技有限公司 一种无人飞行器控制方法、服务器、控制终端及存储介质
CN115774456A (zh) * 2021-09-06 2023-03-10 北京三快在线科技有限公司 一种无人机的控制方法及装置

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WO2021081834A1 (fr) * 2019-10-30 2021-05-06 深圳市大疆创新科技有限公司 Procédé de définition d'autorisation d'utilisateur, terminal mobile et support d'enregistrement lisible par ordinateur
SG10202004252XA (en) * 2020-05-08 2021-12-30 Apple Inc Unmanned Aerial Vehicle and Controller Association

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