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WO2023025200A1 - Procédé et appareil de commande pour l'atterrissage forcé d'un engin volant sans pilote embarqué, appareil de commande à distance et support de stockage - Google Patents

Procédé et appareil de commande pour l'atterrissage forcé d'un engin volant sans pilote embarqué, appareil de commande à distance et support de stockage Download PDF

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Publication number
WO2023025200A1
WO2023025200A1 PCT/CN2022/114558 CN2022114558W WO2023025200A1 WO 2023025200 A1 WO2023025200 A1 WO 2023025200A1 CN 2022114558 W CN2022114558 W CN 2022114558W WO 2023025200 A1 WO2023025200 A1 WO 2023025200A1
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WIPO (PCT)
Prior art keywords
forced landing
landing
forced
point
uav
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Ceased
Application number
PCT/CN2022/114558
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English (en)
Chinese (zh)
Inventor
蒙露璐
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Autel Robotics Co Ltd
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Autel Robotics Co Ltd
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Publication date
Application filed by Autel Robotics Co Ltd filed Critical Autel Robotics Co Ltd
Publication of WO2023025200A1 publication Critical patent/WO2023025200A1/fr
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • the embodiments of the present application relate to the technical field of unmanned aerial vehicles, and in particular to a method and device for controlling a UAV forced landing, a remote control device and a storage medium.
  • the UAV may encounter flight failure or environmental obstacles and cannot continue to fly. At this time, it needs to make a forced landing to reduce the damage to the UAV.
  • the embodiment of the present application provides a UAV forced landing control method and device, a remote control device and a storage medium, providing various forced landing methods, which can improve the safety of UAV flight and reduce the occurrence rate of accidents.
  • the embodiment of the present application provides a UAV forced landing control method, the method comprising:
  • the forced landing method includes landing from the current position and/or landing from the forced landing point;
  • the forced landing instruction is obtained based on the forced landing method, and the forced landing instruction is used to instruct the UAV to make an forced landing.
  • the landing from the forced landing point includes landing from a preset forced landing point and/or landing from a designated forced landing point, wherein the preset forced landing point is a preset forced landing point, and the designated forced landing point is a user Designated landing point.
  • the forced landing instruction includes a target forced landing point, and the target forced landing point is used for the UAV to make a forced landing from the target forced landing point;
  • the method also includes:
  • the target forced landing point is selected from the at least one preset forced landing point.
  • the forced landing instruction includes a preset forced landing point
  • the method also includes:
  • the at least one preset forced landing point is used for the UAV to select a target forced landing point from the at least one preset forced landing point.
  • the forced landing instruction includes a target forced landing point, and the target forced landing point is used for the UAV to make a forced landing from the target forced landing point;
  • the method also includes:
  • the target forced landing point is acquired based on the first input operation.
  • the target forced landing point is the forced landing point closest to the current position of the drone among the preset forced landing points.
  • determining the forced landing method includes:
  • the forced landing manner is determined based on the second input operation.
  • the forced landing method also includes:
  • the embodiment of the present application also provides a UAV forced landing control device, including:
  • the forced landing mode determination module is used to determine the forced landing mode when the UAV meets the forced landing conditions, and the forced landing mode includes landing from the current position and/or landing from the forced landing point;
  • the method obtains the forced landing instruction, and the forced landing instruction is used to instruct the UAV to make a forced landing.
  • the embodiment of the present application also provides a remote control device, the remote control device includes:
  • the memory is connected in communication with the at least one processor, the memory stores instructions executable by the at least one processor, the instructions are executed by the at least one processor, so that the at least one The processor can execute the above-mentioned UAV forced landing control method
  • the embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a machine, the machine is made to execute The above-mentioned UAV forced landing control method.
  • the UAV forced landing control method and device, remote control device and storage medium in the embodiment of the present application provide multiple functions including landing from the current position and landing from the forced landing point.
  • This method of forced landing allows the user to choose the appropriate forced landing method to control the forced landing of the drone according to the operating conditions and environmental conditions of the drone. Therefore, it can improve the flight safety of the drone and reduce the accident rate of the drone. .
  • Fig. 1 is a schematic diagram of an application scenario of the UAV forced landing control method in the embodiment of the present application
  • Fig. 2 is a schematic diagram of the hardware structure of the remote control device of the embodiment of the present application.
  • Fig. 3 is a schematic flow chart of the UAV forced landing control method in the embodiment of the present application.
  • FIG. 4 is a schematic diagram of triggering a manual forced landing and displaying a forced landing method in the UAV forced landing control method according to the embodiment of the present application;
  • FIG. 5 is a schematic diagram of preset forced landing points in the UAV forced landing control method in the embodiment of the present application.
  • Fig. 6 is a schematic diagram of the designated forced landing point in the UAV forced landing control method in the embodiment of the present application.
  • Fig. 7 is a schematic flow chart of an embodiment of the UAV forced landing control method of the present invention.
  • Fig. 8 is a schematic structural block diagram of an embodiment of the UAV forced landing control device of the present invention.
  • the UAV forced landing control method provided in the embodiment of the present application can be applied to the application scenario shown in FIG. 1.
  • a communication connection can be established through wireless communication modules (such as signal receivers, signal transmitters, etc.) respectively arranged inside, and data/commands can be uploaded or issued.
  • wireless communication modules such as signal receivers, signal transmitters, etc.
  • Drone 200 may be any suitable unmanned aerial vehicle, including fixed-wing or rotary-wing unmanned aerial vehicles, such as helicopters, quadrotors, and aircraft with other numbers and/or configurations of rotors.
  • the UAV 100 can also be other movable objects, such as manned aircraft, model airplanes, unmanned airships and unmanned hot air balloons.
  • the remote control device 100 can be a drone remote control, and can also be other electronic devices with control functions, such as smart phones/mobile phones, tablet computers, personal digital assistants (PDAs), laptop computers, desktop computers, wearable devices (such as watches, glasses, etc.), media content players, etc.
  • PDAs personal digital assistants
  • laptop computers laptop computers
  • desktop computers wearable devices (such as watches, glasses, etc.), media content players, etc.
  • the drone 200 generally includes a fuselage, an arm connected to the fuselage, a power system, a control system, and the like.
  • the power system is used to provide power for the UAV 200 to fly, such as thrust, lift, etc., and may include motors, electric adjustments, blades, or batteries.
  • the control system is the central nervous system of the UAV 200, including one or more controllers, and a plurality of sensors. Multiple sensors are used to sense the spatial orientation, velocity, acceleration, angular acceleration, attitude, position, etc. of the UAV, including GPS sensors, motion sensors, inertial sensors, proximity sensors, or image sensors. Multiple sensors can also collect data about the environment in which the drone is located, such as weather conditions (such as rainfall, wind force, wind direction), nearby obstacles, etc.
  • the remote control device 100 may include a display screen for displaying the images and data sent back by the drone. returned images and data.
  • the remote control device 100 may also include an input device for inputting a manipulation command of the operator to realize human-computer interaction.
  • the input device is, for example, a touch screen, a button, or a mouse.
  • the remote control device 100 may further include at least two joysticks, and the operator may actuate one of the at least two joysticks to control the drone 200 to work.
  • the remote control device 100 also includes a controller, which is a control center of the remote control device, and is used to execute various logic processing and functional calculations of the remote control device 100 .
  • FIG. 2 schematically shows the hardware structure of the remote control device 100 .
  • the remote control device 100 includes a memory 21 and a processor 22 .
  • the memory 21 is a non-volatile computer-readable storage medium, and can be used to store non-volatile software programs and non-volatile computer-executable program instructions.
  • the memory 11 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created according to the use of the terminal, and the like.
  • the memory 21 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage devices.
  • the memory 21 may optionally include a memory that is remotely located relative to the processor 22, and these remote memories may be connected to the terminal through a network.
  • Examples of the aforementioned networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • the processor 22 uses various interfaces and lines to connect various parts of the entire remote control device 100, and performs various functions and functions of the remote control device 100 by running or executing software programs stored in the memory 21 and calling data stored in the memory 21 Processing data, for example, implementing the UAV forced landing control method described in any embodiment of the present application.
  • processor 22 There may be one or more processors 22, one processor 22 is taken as an example in FIG. 2 .
  • the processor 22 and the memory 21 may be connected through a bus or in other ways. In FIG. 2 , connection through a bus is taken as an example.
  • Processor 22 may include a central processing unit (CPU), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) device, and the like.
  • Processor 22 may also be implemented as a combination of computing devices, eg, a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.
  • the UAV has a self-detection function, which can detect various operating conditions and environmental conditions of the UAV, such as the current attitude, battery temperature, battery power, current wind speed, whether the current location is a no-fly zone, gimbal operation and map Transmission status, etc.
  • the embodiment of this application provides a variety of forced landing methods including landing from the current position and landing from the forced landing point, so that the user can choose the appropriate forced landing method to control the forced landing of the drone according to the operating conditions and environmental conditions of the drone. , can improve the safety of UAV flight and reduce the incidence of UAV accidents.
  • Fig. 3 is a schematic flow chart of the UAV forced landing control method provided by the embodiment of the present application.
  • the method can be executed by the above-mentioned remote control device 100 (for example, the controller in the remote control device 100).
  • the method includes:
  • the forced landing conditions include a variety of conditions that are not conducive to the safe flight of the UAV, which can be different according to different UAV models and performances, and can be set according to actual application conditions.
  • the battery temperature exceeds a preset temperature threshold
  • the battery power is lower than a preset power threshold
  • the tilt angle of the drone exceeds the preset angle threshold
  • the current wind speed exceeds the preset wind speed threshold
  • the current position is within a certain range of the no-fly area
  • the gimbal Abnormal operation and image transmission operation abnormality etc.
  • the embodiment of the present application provides multiple forced landing methods, for example, landing from a current location or from a forced landing point.
  • Land from the current position that is, start the forced landing with the current position of the UAV as the starting point of the forced landing.
  • Landing from the forced landing point means starting the forced landing with a certain forced landing point as the starting point of the forced landing.
  • the forced landing point can be a preset forced landing point or a designated forced landing point.
  • the preset forced landing point is a preset forced landing point. There can be one or more preset forced landing points. When there are multiple preset forced landing points, the UAV can choose one of them as the starting point of forced landing . Specify the forced landing point, that is, the forced landing point specified by the user.
  • the correct forced landing point can be selected for forced landing, which can reduce the drone's landing on uneven ground Risk to ground or water.
  • the drone sends the current flight status (such as drone operation status and environmental conditions, etc.) to the remote control device, and the remote control device displays the current flight status of the drone on its display screen or its coupled display screen.
  • the user can know the flight status of the drone through the display screen, and judge whether the drone can fly normally. When it is judged that the drone cannot fly normally, the user can manually trigger the drone to make an emergency landing.
  • the UAV can also directly judge the flight status of the UAV. When it is judged that the UAV meets the conditions for forced landing, the warning information will be sent to the remote control device. After the user views the warning information on the display screen, it can be triggered manually. Drone forced to land.
  • the user when the user determines that the drone will not be able to fly normally, the user can trigger the input device of the remote control device (such as triggering a touch button on the touch screen, the triggering includes clicking, long pressing, etc.) operation), to trigger a manual forced landing.
  • the input device of the remote control device such as triggering a touch button on the touch screen, the triggering includes clicking, long pressing, etc.
  • the display screen of the remote control device or its coupled display screen will display each forced landing mode, and the user can perform a second input operation on the remote control device (for example, perform a touch operation on the corresponding forced landing mode option, the touch operation includes click, long press and so on), to choose one of the forced landing methods.
  • a second input operation on the remote control device for example, perform a touch operation on the corresponding forced landing mode option, the touch operation includes click, long press and so on
  • Figure 4 shows a form of determining the forced landing method.
  • the forced landing on the touch screen is manually triggered button, and a forced landing method selection menu will pop up, and the user can click on the menu to select the forced landing method.
  • the forced landing method includes three forced landing methods: landing from the current position, landing from a preset forced landing point and landing from a designated forced landing point. In other embodiments, more or less Forced landing method.
  • the user triggers the remote control device to display the forced landing mode, and the user inputs a second input operation to the remote control device to select the forced landing mode.
  • the remote control device can also automatically judge whether the UAV meets the forced landing condition according to the flight situation of the UAV. When the forced landing condition is met, the forced landing method is displayed, and the forced landing method of the UAV is selected by the user. .
  • 102 Obtain a forced landing instruction based on the forced landing manner, where the forced landing instruction is used to instruct the UAV to make a forced landing.
  • the forced landing command is used to instruct the UAV to land from the current position.
  • the forced landing command may include the forced landing mode of "landing from the current position".
  • the forced landing method is to land from the forced landing point, it is also necessary to obtain the forced landing point position, and form a forced landing command based on the forced landing point position. Then, the forced landing command is sent to the UAV, and the UAV can obtain the position of the forced landing point according to the forced landing command, and perform forced landing based on the position of the forced landing point.
  • the forced landing method includes landing from a preset forced landing point
  • at least one corresponding preset forced landing point may be set in advance for each flight path.
  • the remote control device may acquire at least one corresponding preset forced landing point based on the current flight path of the drone. And select an emergency landing point as the target emergency landing point of the UAV.
  • the forced landing point closest to the current position of the drone may be selected from at least one preset forced landing point as the target forced landing point.
  • At least one forced landing point may also be carried in the forced landing command by the remote control device, and after the UAV obtains at least one forced landing point in the forced landing command, it selects one of the forced landing points (for example, selects the one closest to its own position) One forced landing point) is used as the target forced landing point, and the forced landing is carried out according to the target forced landing point.
  • the forced landing method is forced landing from a designated forced landing point, at least one forced landing point needs to be specified by the user.
  • the user can temporarily designate an forced landing point as the target forced landing of the drone according to the flight path of the drone, considering various factors such as the destination point.
  • the user can designate the target forced landing point by performing a first input operation on the remote control device. For example, on the flight route of the drone displayed on the display screen of the remote control device, by performing a touch operation (such as a click operation) on any point in the flight route, this point is the target forced landing point designated by the user.
  • a touch operation such as a click operation
  • forced landing point 1 the target forced landing point based on the flight path and flight destination of the drone.
  • the forced landing method may also include the forced landing method of the UAV itself.
  • the UAV When the UAV encounters a serious failure, if it waits for the emergency landing command from the remote control device, it may miss the best time for emergency landing, resulting in accidents. Therefore, when the UAV encounters a serious failure, it can first implement a self-forced landing strategy.
  • the UAV when the UAV fails or other conditions that are not suitable for flying occur during the flight, first judge whether the situation is serious, and if it is serious, it will not wait for the forced landing command from the remote control device, and perform the forced landing operation by itself. If it is not serious, an alarm message is sent to the remote control device, and the user manually operates the remote control device to perform a manual forced landing. After the UAV receives the forced landing command from the remote control device, it performs a forced landing according to the forced landing command. If the UAV does not receive an emergency landing instruction from the remote control device within a preset time period (for example, within five minutes), it means that the user wants the UAV to make an emergency landing on its own, and at this time the UAV makes an emergency landing on its own.
  • a preset time period for example, within five minutes
  • Fig. 7 shows a specific embodiment of the UAV forced landing control method.
  • the UAV breaks down during the flight or is otherwise not suitable for flying, it needs to perform a forced landing.
  • the UAV will judge the severity of the current situation. If it is a serious fault, for example, the battery temperature is higher than the maximum temperature threshold, the battery power is lower than the minimum power threshold, the current wind speed is greater than the maximum wind speed threshold, and the current location of the UAV is very far away from the no-fly area. approaching, the UAV's inclination angle exceeds the maximum inclination threshold, etc., the UAV will first execute the forced landing strategy by itself.
  • the drone will send an alarm message to the remote control device, and the remote control device will display the alarm on its display or its coupled display information.
  • the user can decide whether to perform an forced landing manually according to the warning information.
  • the manual forced landing includes three ways of forced landing, which are forced landing from the current position, forced landing from a preset forced landing point and forced landing from a specified forced landing point. If the forced landing method is forced landing from a preset forced landing point, the remote control device obtains at least one preset forced landing point corresponding to the flight path based on the current flight path of the drone. If the forced landing method is forced landing at a designated forced landing point, the user must designate a forced landing point as the target forced landing point.
  • the remote control device generates a forced landing instruction, and if the forced landing method is forced landing from the current position, the forced landing instruction at least includes the forced landing method. If the forced landing method is forced landing from a preset forced landing point, the forced landing instruction may include the forced landing method and at least one preset forced landing point. If the forced landing method is forced landing from a designated forced landing point, the forced landing instruction may include the forced landing method and the target forced landing point specified by the user.
  • the UAV After receiving the forced landing command sent by the remote control device, the UAV performs a forced landing according to the forced landing command. If the forced landing command includes the forced landing method of "forced landing from the current position", the drone will be forced to land from the current position. If the forced landing instruction includes the forced landing method of "forced landing from a preset forced landing point" and at least one preset forced landing point, the UAV selects an forced landing point closest to its own position from at least one preset forced landing point as the target forced landing point, and Forced landing from the target landing point.
  • the forced landing instruction includes the forced landing method of "forced landing from the specified forced landing point" and the target forced landing point specified by the user, the UAV is forced to land from the target forced landing point specified by the user.
  • the drone if the drone does not receive an emergency landing command from the remote control device after a period of time after the drone sends the warning information to the remote control device, it chooses to make a forced landing by itself.
  • the embodiment of the present application also provides a variety of forced landing methods manually controlled by the user.
  • the combination of the automatic forced landing method and a variety of manual forced landing methods improves the safety of the aircraft landing and reduces the occurrence of accidents. Rate.
  • Figs. 4-6 all take the fixed-wing UAV as an example for illustration.
  • a fixed-wing UAV when the UAV makes a forced landing from the forced landing point, it needs to calculate the hovering point based on the current position and the forced landing point, and then circle and descend around the hovering point.
  • the embodiment of the present invention also provides a UAV forced landing control device, which can be applied to a remote control device.
  • the UAV forced landing control device 800 includes:
  • the forced landing mode determining module 801 is configured to determine the forced landing mode when the UAV meets the forced landing condition, and the forced landing mode includes landing from the current position and/or landing from the forced landing point.
  • the forced landing instruction generation module 802 is configured to acquire an forced landing instruction based on the forced landing manner, and the forced landing instruction is used to instruct the UAV to make an forced landing.
  • the UAV forced landing control device in the embodiment of the present application provides a variety of forced landing methods including landing from the current position and landing from the forced landing point, so that the user can choose the appropriate forced landing method according to the aircraft's operating conditions and environmental conditions.
  • Man-machine forced landing is controlled, so it can improve the safety of UAV flight and reduce the incidence of UAV accidents.
  • landing from a forced landing point includes landing from a preset forced landing point and/or landing from a designated forced landing point, wherein the preset forced landing point is a preset forced landing point, and the designated forced landing point is a user-specified crash landing point.
  • the forced landing instruction generation module 802 is used to obtain at least one preset forced landing point based on the current flight path of the UAV, and obtain at least one preset forced landing point from the at least Select the target forced landing point from a preset forced landing point. Then carry the target forced landing point in the forced landing instruction, wherein the target forced landing point is used for the UAV to make a forced landing from the target forced landing point.
  • the forced landing command generation module 802 is used to obtain at least one preset forced landing point based on the current flight path of the UAV, and then each preset Assuming that the forced landing point is carried in the forced landing command, at least one preset forced landing point is used for the UAV to select a target forced landing point from the at least one preset forced landing point.
  • the forced landing instruction generation module 802 is configured to respond to the user's first input operation, obtain the target forced landing point based on the first input operation, and then Carry the target forced landing point in the forced landing command.
  • the target forced landing point is the forced landing point closest to the current position of the UAV among the preset forced landing points.
  • the forced landing manner determination module 801 is configured to determine the forced landing manner based on the second input operation in response to the user's second input operation when the UAV meets the forced landing condition.
  • the forced landing method also includes forced landing by the drone itself.
  • the above-mentioned device can execute the method provided by the embodiment of the present application, and has corresponding functional modules and beneficial effects for executing the method.
  • the above-mentioned device can execute the method provided by the embodiment of the present application, and has corresponding functional modules and beneficial effects for executing the method.
  • the methods provided in the embodiments of the present application refer to the methods provided in the embodiments of the present application.
  • the embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors, such as a processing in FIG. 2
  • the processor 22 may enable the above-mentioned one or more processors to execute the UAV forced landing control method in any of the above-mentioned method embodiments, for example, execute steps 301 to 302 of the method in FIG. 3 described above.
  • the embodiment of the present application also provides a computer program product, the computer program product includes a computer program stored on a non-volatile computer-readable storage medium, the computer program includes program instructions, when the program instructions are executed by a machine During execution, the machine is made to execute the above-mentioned UAV forced landing control method, for example, execute steps 301 to 302 of the method in FIG. 3 described above.
  • the device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each embodiment can be implemented by means of software plus a general hardware platform, and of course also by hardware.
  • all or part of the processes in the methods of the above embodiments can be completed by instructing related hardware through computer programs, and the programs can be stored in a computer-readable storage medium. During execution, it may include the processes of the embodiments of the above-mentioned methods.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM) or a random access memory (Random Access Memory, RAM), etc.

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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)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un procédé et un appareil de commande pour l'atterrissage forcé d'un engin volant sans pilote embarqué (200), un appareil de commande à distance (100) et un support de stockage. Le procédé comprend les étapes suivantes : lorsqu'un engin volant sans pilote embarqué (200) remplit une condition d'atterrissage forcé, déterminer un mode d'atterrissage forcé, le mode d'atterrissage forcé comportant un atterrissage à partir d'une position actuelle et/ou un atterrissage à partir d'un point d'atterrissage forcé (301) ; et obtenir une instruction d'atterrissage forcé sur la base du mode d'atterrissage forcé, l'instruction d'atterrissage forcé étant utilisée pour amener l'engin volant sans pilote embarqué (200) à effectuer un atterrissage forcé (302). Selon le procédé et l'appareil de commande pour l'atterrissage forcé de l'engin volant sans pilote embarqué (200), l'appareil de commande à distance (100) et le support de stockage, l'invention de multiples modes d'atterrissage forcé comprenant l'atterrissage à partir d'une position actuelle et l'atterrissage à partir d'un point d'atterrissage forcé, de sorte qu'un utilisateur peut sélectionner un mode d'atterrissage forcé approprié pour commander l'atterrissage forcé de l'engin volant sans pilote embarqué (200) en fonction d'une situation de fonctionnement de l'engin volant sans pilote embarqué (200) et d'une situation environnementale. La sécurité de vol de l'engin volant sans pilote embarqué (200) peut être ainsi améliorée, et le taux d'occurrence d'accidents de l'engin volant sans pilote embarqué (200) peut être réduit.
PCT/CN2022/114558 2021-08-25 2022-08-24 Procédé et appareil de commande pour l'atterrissage forcé d'un engin volant sans pilote embarqué, appareil de commande à distance et support de stockage Ceased WO2023025200A1 (fr)

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CN202110984094.0 2021-08-25
CN202110984094.0A CN113625759A (zh) 2021-08-25 2021-08-25 一种无人机迫降控制方法及装置、遥控装置和存储介质

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US20240420579A1 (en) * 2021-11-17 2024-12-19 Beta Air, Llc Systems and methods for in-flight re-routing of an electric aircraft

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