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WO2023113058A1 - Procédé de commande de drone pour un atterrissage précis - Google Patents

Procédé de commande de drone pour un atterrissage précis Download PDF

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Publication number
WO2023113058A1
WO2023113058A1 PCT/KR2021/018959 KR2021018959W WO2023113058A1 WO 2023113058 A1 WO2023113058 A1 WO 2023113058A1 KR 2021018959 W KR2021018959 W KR 2021018959W WO 2023113058 A1 WO2023113058 A1 WO 2023113058A1
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WO
WIPO (PCT)
Prior art keywords
drone
landing
trackback
station
image
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/KR2021/018959
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English (en)
Korean (ko)
Inventor
이일우
최안식
이시왕
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USIS Co Ltd
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USIS Co Ltd
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Filing date
Publication date
Application filed by USIS Co Ltd filed Critical USIS Co Ltd
Publication of WO2023113058A1 publication Critical patent/WO2023113058A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
    • B64D45/08—Landing aids; Safety measures to prevent collision with earth's surface optical
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/04—Control of altitude or depth
    • G05D1/06—Rate of change of altitude or depth
    • 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

Definitions

  • the present invention relates to a drone control method for precise landing, and more particularly, to a drone control method for precision landing by using a high-speed camera and a long-distance low-speed camera in combination.
  • the drone after installing a drone station in a specific place, the drone automatically takes off and lands, and it evolves into a method of even management such as charging the drone that landed on the drone station.
  • a technology that allows the drone to precisely land on the drone station is essential.
  • the present invention is to solve the above problems, and an object of the present invention is to provide a drone control method that uses a high-speed camera and a long-distance low-speed camera in combination in order to efficiently and accurately find a landing target point.
  • an object of the present invention is to provide drone control operations such as trackback and emergency landing required when a landing target point cannot be found.
  • a method for controlling a drone for precision landing includes setting a current GPS coordinate as a home position when a drone is switched to arming mode at a drone station, and an event to switch to return mode. is generated, moving in the direction of GPS coordinates set as the home position, identifying an image of the drone station using a long-distance time-lapse camera, and identifying an image of the drone station using the identified image.
  • the infrared display provided in the drone station is captured with a high-speed camera to calculate precise horizontal coordinates, and the identified image and the calculated precise horizontal coordinates Continuing the descent using , and landing at the drone station using only the calculated precise horizontal coordinates when entering a second altitude.
  • the method may further include transmitting a landing preparation request signal to the drone station when the location on the GPS coordinates is within a preset distance from the home position.
  • the drone station may further include opening an upper door and operating the infrared display device for the high-speed camera.
  • At least one waypoint information for automatic flight it may be determined that an event of switching to the return mode has occurred when the drone passes the last waypoint.
  • the pitch angle of the long-distance time-lapse camera is changed and the drone rotates in a yaw direction. You can control it.
  • the drone station may be horizontally moved to the center of the drone station using the changed pitch angle and current direction information of the drone.
  • the step of determining whether the infrared display device is out of the angle of view of the high-speed camera, and if it is determined that the infrared display device is out of the angle of view, the step of repeating a trackback of raising the infrared display device to an altitude at which an image is captured can include
  • the method may further include determining whether the trackback can be additionally performed, and if it is determined that the trackback cannot be additionally performed, performing an emergency landing after moving in a direction away from the drone station.
  • the step of determining whether the additional operation can be performed includes calculating a battery amount required for trackback by calculating a difference between a battery remaining amount before at least one previously performed trackback and a remaining battery amount after performing the previously performed trackback, and the calculated trackback A step of determining whether the trackback can be additionally performed by comparing a required battery amount with a current remaining battery amount may be included.
  • the step of calculating the amount of battery required for trackback may include the step of collecting the wind speed and the altitude elevation distance at the time of performing at least one previously performed trackback, the current wind speed and the collected wind speed value at the time of performing at least one trackback Calculating the expected altitude climb distance by weighting the absolute value of the difference in inverse proportion to the absolute value of the difference, calculating the battery amount required for this trackback based on the calculated difference values of remaining battery power and the calculated expected altitude climb distance Calculation steps may be included.
  • the step of performing the emergency landing is the step of calculating a movable battery remaining amount by subtracting a battery amount required for landing based on a current altitude from a current remaining battery amount, based on the calculated remaining movable battery amount, wind speed, and wind direction. Calculating a movable range that can move away from the drone station, overlapping the calculated movable range with a downward image captured by the long-distance time-lapse camera, and detecting a safe landing candidate point from an image belonging to the overlapped range steps may be included.
  • the method may further include transmitting a collision risk warning signal to the drone station when the calculated movable range is all included within a preset distance from the drone station.
  • FIG. 1 is a diagram showing a drone control system according to an embodiment of the present invention
  • FIG. 2 is a block diagram for explaining the configuration of a drone according to an embodiment of the present invention.
  • FIG. 3 is a flowchart for explaining a drone control method for precision landing according to an embodiment of the present invention
  • FIG. 4 is a reference diagram for explaining a precise landing process.
  • Expressions such as “A or B”, “at least one of A and/or B” or “one or more of A and/or B” in this document may include all possible combinations of the items listed together. For example, “A or B,” “at least one of A and B,” or “at least one of A or B” (1) includes at least one A, (2) includes at least one B, or ( 3) It may refer to all cases including at least one A and at least one B. Expressions such as “first”, “second”, “first” or “second” used in this document may modify various components, regardless of order and/or importance, and may refer to one component as another component. It is used to distinguish from elements, but does not limit those elements.
  • the expression “configured to” means “suitable for”, “having the capacity to” depending on the situation. ", “designed to”, “adapted to”, “made to” or “capable of” can be used interchangeably.
  • the term “configured (or set) to” may not necessarily mean only “specifically designed to” hardware.
  • the phrase “device configured to” may mean that the device is “capable of” in conjunction with other devices or components.
  • a processor configured (or configured) to perform A, B, and C” means a dedicated processor (e.g., an embedded processor) or memory device for performing those operations by executing one or more software programs stored therein. It may mean a general-purpose processor (eg, CPU or Application Processor) that can perform.
  • a drone control system 1000 may include a drone 100 and a drone station 200.
  • the drone station 200 is a device in which the drone 100 can take off and land, and the drone 100 can be stored.
  • the drone station 200 may include a ground control system that controls the drone 100, or a separate ground control system may be constructed and operated in conjunction with the drone 100 and the drone station 200.
  • the drone 100 may include a GPS module 110, a long-distance time-lapse camera 120, a high-speed camera 130, and a processor 140.
  • the drone 100 may further include a communication unit 150, an inertial sensor 160, a battery 170, an external environment sensor 180, and a driving unit 190, and a drone such as a memory (not shown) ( 100) Hardware necessary for driving may be included.
  • the GPS module 110 is a module that measures the current location (latitude, longitude) of the drone 100 using a Global Positioning System (GPS) signal.
  • GPS Global Positioning System
  • the location of the drone station 200 or the location of the mission performance target point can be compared with the current location of the drone 100 using the GPS signal measured by the GPS module 110 .
  • the long-distance time-lapse camera 120 is a camera for capturing images for missions and searching for targets such as the drone station 200 .
  • the long-distance time-lapse camera 120 may be installed to capture an image below the drone 100 .
  • the long-distance time-lapse camera 120 may be a camera module with a longer frame interval than the high-speed camera 130 .
  • the high-speed camera 130 is a camera module that has an advantage in detecting a change in a lower image due to a short frame interval for capturing images.
  • the high-speed camera 130 can capture an image in the infrared region, it can be used to image an infrared display device provided in the drone station 200 for precision landing.
  • it is advantageous to use a high-speed camera 130 having a short frame interval because continuous monitoring is required to determine whether the landing target point is accurately positioned below the drone 100.
  • the processor 140 may control other components of the drone 100.
  • the processor 140 may be manufactured in the form of one or a plurality of hardware processor chips and mounted on the drone 100 .
  • the controller 160 may be manufactured in the form of a general-purpose processor such as a CPU, application processor, or MCU.
  • the processor 140 controlling the remaining components of the drone 100 to perform precision landing will be described again below.
  • the communication unit 150 may communicate with an external device such as the drone station 200 .
  • the communication unit 150 may transmit a landing request preparation signal to the drone station 200 .
  • the communication unit 150 may include various wireless communication modules.
  • the communication unit 150 may perform communication by being connected to an external network in a manner such as Bluetooth, Zigbee, WiFi, WiFi direct, 3G, 3GPP, LTE. Communication may be performed by accessing a mobile communication network according to various mobile communication standards such as LTE-A and 5G.
  • the inertial sensor 160 is a module that measures the direction (roll, pitch, yaw) of the drone 100 and may include at least one of an acceleration sensor, an angular velocity sensor, and a geomagnetic sensor. Through this, the inertial sensor 130 may determine the inclination state of the drone 100.
  • an acceleration sensor detects the amount of change in speed per unit time.
  • the acceleration sensor may be implemented in 3 axes. When implemented as a 3-axis acceleration sensor, the acceleration sensors are arranged orthogonally to each other to measure x, y, and z-axis acceleration.
  • the battery 170 may supply power consumed by the drone 100 .
  • the battery 170 may be used after being charged wirelessly or wired in the drone station 200, and may be used in exchange for another battery that has been charged in the drone station 200.
  • the external environment sensor 180 is a sensor capable of measuring environmental information such as wind speed, wind direction, current altitude, and pressure outside the drone 100 .
  • the driving unit 190 may include a transmission, a motor, and a propeller.
  • the driving unit 190 drives the drone 100 to fly by changing the rotational speed and rotational direction under the control of the processor 140 .
  • the drone station 200 includes a port where the drone 100 takes off and lands, a charging module for charging the drone 100, a communication unit communicating with an external device such as the drone 100, and an infrared display device functioning as a marker for a landing target point. , may include a processor that controls them. In addition, other components necessary for operating the drone station 200, such as a memory, may also be included.
  • the drone station 200 When receiving a landing preparation request signal from the drone 100, the drone station 200 may open its top to reveal a port where the drone lands, and may operate an infrared display device. When receiving a landing completion signal from the drone 100, the drone station 200 may charge the drone 100 wirelessly or wired. Alternatively, the drone station 200 may provide necessary power to the drone 100 by replacing the battery of the drone 100 .
  • FIG. 3 is a diagram illustrating a drone control method for precise landing according to an embodiment of the present invention.
  • the current GPS coordinates can be set as the home position (S310).
  • Switching to the arming mode means that the drone 100 stored in the drone station 200 is ready for take-off.
  • the processor 140 may set the current GPS coordinates determined by the GPS module 110, that is, the location of the drone station 200 as the home position.
  • the processor 140 may store at least one waypoint information for automatic flight in a memory (not shown).
  • the waypoint information may be GPS coordinates of the waypoint.
  • the drone 100 After taking off, the drone 100 performs a mission according to the user's purpose of using the drone, and when an event of switching to the return mode occurs, such as when the user transmits a control signal instructing the drone 100 to return, the processor 140 ) may control the driving unit 190 to move in the direction of the GPS coordinates set as the home position (S320).
  • the event of switching to the return mode is not limited to the aforementioned user input. For example, if at least one waypoint information for automatic flight is stored, the processor 140 may determine that an event of switching to a return mode has occurred when the drone 100 passes the last waypoint.
  • the processor 140 may control the communication unit 150 to transmit a landing preparation request signal to the drone station 200.
  • the drone station 200 may open an upper door and operate an infrared display device for the high-speed camera 130 of the drone 100. While the drone 100 moves to the center of the drone station 200 through the long-distance time-lapse camera 120, the infrared display device for the high-speed camera 130 to be used later can be operated in the drone station 200. It is to transmit the landing preparation request signal in advance.
  • the processor 140 may identify an image of the drone station 200 using the long-distance time-lapse camera 120 (S330). Using the image taken by the long-distance time-lapse camera 120, the processor 140 may calculate the distance and direction of the drone station 200, which is the landing target point. In addition, in order to compensate for the fact that the identification speed of the long-distance time-lapse camera 120 is low, the processor 140 may additionally use an extended Kalman filter for landing point tracking.
  • the processor 140 may convert camera coordinates of the identified image into world coordinates. To this end, it is necessary to calculate the location coordinates of the drone 100 equipped with the long-distance time-lapse camera 120 in world coordinates and the direction of the long-distance time-lapse camera 120 based on world coordinates.
  • World coordinates are coordinates in which the ground is on the XY plane and the direction perpendicular to the ground is the Z axis.
  • camera coordinates correspond to Zc-axis coordinates, which is the direction the camera points, it is necessary to convert them into world coordinates to match the coordinates.
  • the processor 140 may rotate the camera coordinates into world coordinates. Subsequently, the processor 140 may convert the camera coordinates into world coordinates by adding the current coordinates of the drone 100 .
  • the processor 140 may control the driving unit 190 to horizontally move the drone 100 to the center of the drone station 200 and start descending using the identified image. Yes (S340).
  • the processor 140 may control the speed of the drone 100 to be lower than a preset speed and proceed with landing. For example, in the case of an industrial drone, a safe and precise landing is performed by performing a landing process after lowering the speed to 1 m/s or less.
  • the processor 140 may change the pitch angle of the long-distance time-lapse camera 120 . Also, the processor 140 may control the driving unit 190 so that the drone 100 rotates in a yaw direction. All of these correspond to an operation of controlling the drone station 200 to be included in the image view angle range captured by the long-distance time-lapse camera 120 .
  • the processor 140 moves the driving unit 190 horizontally to the center of the drone station 200 using the changed pitch angle and current direction information of the drone 100. can control.
  • the processor 140 controls the infrared display device provided in the drone station 200 to capture an image using the high-speed camera 130 to obtain precise horizontal coordinates. can be calculated. That is, the difference between the landing target point and the current position of the drone 100 (in particular, the position on the xy plane) can be calculated by using the infrared display device provided in the drone station 200 as a kind of marker. Further, the processor 140 may continue the descent using both the image identified through the long-distance time-lapse camera 120 and the precise horizontal coordinates calculated through the high-speed camera 130 (S350).
  • the first altitude corresponds to an altitude at which the infrared display device provided in the drone station 200 can be reliably captured by the high-speed camera 130 .
  • the first altitude may be set differently according to the specifications of the high-speed camera 130 and the infrared display device, an altitude of 2.2 m may be set as the first altitude as a default value.
  • the processor 140 moves to the drone station 200 using only the precise horizontal coordinates calculated based on the information acquired through the high-speed camera 130. Landing may be completed (S360).
  • the second altitude may be an altitude lower than the first altitude.
  • the second altitude may be set to 0.8 m as a basic value. Since the efficiency of tracking the drone station 200 through the long-distance time-lapse camera 120 decreases when entering the second altitude, the processor 140 does not waste power required for unnecessary long-distance time-lapse camera 120 processing, and the high-speed The final precise landing process is performed using only the camera 130 .
  • the processor 140 may additionally utilize the information measured by the inertial sensor 160 as auxiliary information.
  • the hybrid tracking method described above is used. Referring to FIG. 4 , since the efficiency of using the high-speed camera 130 is low in an area (first area) higher than the first altitude, the location of the drone station 200 is first tracked through only the long-distance time-lapse camera 120 .
  • the landing point is precisely tracked using both the long-distance time-lapse camera 120 and the high-speed camera 130.
  • processing for precision landing is the most important, and since the efficiency of the two types of cameras is high, reducing power consumption is not a priority. Since the efficiency of the long-distance time-lapse camera 120 is reduced in an area (third area) lower than the second altitude, precision landing processing is performed using only the high-speed camera 130 .
  • the processor 140 may check the horizontal state of the drone 100 through the inertial sensor 160 to determine whether a normal landing has been made. And if it is determined that the landing is normal, the processor 140 may control the communication unit 150 to transmit a landing completion signal to the drone station 200 . Subsequently, the processor 140 may cut off power to other components of the drone 100. Upon receiving the landing completion signal, the drone station 200 may start charging the drone 100.
  • the processor 140 may monitor whether the infrared display device is continuously included in the field of view of the high-speed camera 130 .
  • the processor 140 controls the driving unit 190 to perform a trackback to raise the drone 100 to an altitude at which the infrared display device is captured again. can If the infrared display device does not capture an image again even if the altitude is raised until the predetermined time elapses, the processor 140 stops the altitude increase and controls the driving unit 190 to maintain the current altitude, and at the same time, the communication unit 150 It is possible to transmit a danger signal indicating that the landing point is not found to the control center (or drone station 200) on the ground by controlling.
  • the processor 140 may determine whether or not to additionally perform the trackback.
  • the processor 140 may calculate the amount of battery required for trackback from previously performed trackback performance history information. Further, the processor 140 may determine whether trackback can be additionally performed by comparing the calculated battery amount required for trackback with the current remaining battery amount.
  • the processor 140 may calculate a difference between the remaining amount of battery before performing at least one trackback and the remaining amount of battery after performing trackback.
  • the processor 140 does not calculate the amount of battery required for trackback by simply averaging the amount of battery consumed at the time of each trackback.
  • the processor 140 may additionally utilize external environment information (wind speed, wind direction, etc.) and altitude elevation distance at the time of each trackback to calculate the expected battery consumption required for this trackback.
  • the processor 140 may measure wind speed through the external environment sensor 160 and store it in a memory when trackback is performed.
  • the altitude elevation distance of how much altitude was raised during trackback can be stored in memory.
  • the processor 140 may collect wind speed and elevation distance at the time of performing at least one previously performed trackback through information stored in the memory.
  • the processor 140 assigns a weight in an inverse proportion to the absolute value of the difference between the current wind speed measured by the external environment sensor 160 and the collected wind speed value at the time of performing at least one trackback, and multiplies the existing altitude climbing distance by Estimated elevation gain distance can be calculated. This is to best reflect the trackback history performed when the external environment is most similar to the current external environment.
  • Table 1 below will be described as an example. In the example of Table 1, four trackbacks have been previously performed, and the wind speed and elevation distance when each trackback is performed are described.
  • the absolute values of the difference values from the current wind speed are 2, 2, 3, and 1, respectively. Since the weight must be reflected in inverse proportion to this value, the expected elevation can be calculated as 6.429 m as shown in the formula below.
  • the processor 140 When it is determined that trackback can be additionally performed through this process, the processor 140 operates the driving unit 190 to elevate the drone 100 until the infrared display device is included in the field of view of the high-speed camera 130. You can control it. If trackback cannot be additionally performed, it is difficult to perform precision landing on the drone station 200 with the current remaining battery power. Therefore, if it is determined that trackback cannot be performed additionally, the processor 140 may control the driving unit 190 to perform an emergency landing after moving in a direction away from the drone station 200 . The reason for moving in a direction away from the drone station 200 is to prevent a collision with the drone station 200 during an emergency landing.
  • a safe landing point may be set in advance around the drone station 200 and an emergency landing may be made at the corresponding location. However, if not, it is necessary to determine a safe landing candidate point.
  • the processor 140 may first calculate the remaining amount of the mobile battery by subtracting the amount of battery required for landing based on the current altitude from the remaining amount of the battery. Next, the processor 140 may calculate a movable range away from the drone station 200 based on the calculated remaining battery capacity, wind speed, and wind direction. The processor 140 may overlap the calculated movable range with a downward image captured by the long-distance time-lapse camera 120, and may detect a safe landing candidate point from an image belonging to the overlapped range through image analysis or the like.
  • the processor 140 may control the communication unit 150 to transmit a collision risk warning signal to the drone station 200 .
  • unit or “module” used in this specification includes a unit composed of hardware, software, or firmware, and may be used interchangeably with terms such as logic, logic block, component, or circuit, for example. there is.
  • a “unit” or “module” may be an integral part or a minimal unit or part thereof that performs one or more functions.
  • the module may be composed of an application specific integrated circuit (ASIC).
  • ASIC application specific integrated circuit
  • a device is a device capable of calling a stored command from a storage medium and operating according to the called command, and may include electronic devices (eg, the drone 100 and the drone station 200) according to the disclosed embodiments.
  • the processor may perform a function corresponding to the command directly or by using other components under the control of the processor.
  • An instruction may include code generated or executed by a compiler or interpreter.
  • the device-readable storage medium may be provided in the form of a non-transitory storage medium.
  • 'non-temporary' only means that the storage medium does not contain a signal and is tangible, but does not distinguish whether data is stored semi-permanently or temporarily in the storage medium.
  • the method according to various embodiments disclosed in this document may be included and provided in a computer program product.
  • Computer program products may be traded between sellers and buyers as commodities.
  • the computer program product may be distributed in the form of a device-readable storage medium (eg compact disc read only memory (CD-ROM)) or online through an application store (eg Play StoreTM).
  • an application store eg Play StoreTM
  • at least part of the computer program product may be temporarily stored or temporarily created in a storage medium such as a manufacturer's server, an application store server, or a relay server's memory.
  • Each component may be composed of a single object or a plurality of entities, and some of the sub-components may be omitted, or other sub-components may be various. It may be further included in the embodiment. Alternatively or additionally, some components (eg, modules or programs) may be integrated into one entity and perform the same or similar functions performed by each corresponding component prior to integration. According to various embodiments, operations performed by modules, programs, or other components may be executed sequentially, in parallel, repetitively, or heuristically, or at least some operations may be executed in a different order, may be omitted, or other operations may be added. can
  • processor 150 communication unit

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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)
  • Mechanical Engineering (AREA)

Abstract

Est divulgué un procédé de commande de drone pour un atterrissage précis. Le procédé de commande de drone selon un mode de réalisation de la présente invention peut comprendre les étapes consistant à : lorsqu'un drone est commuté dans un mode d'armement dans une station de drone, régler des coordonnées GPS actuelles sur une position initiale ; lorsqu'un événement de commutation dans un mode de retour se produit, déplacer en direction des coordonnées GPS réglées comme position initiale ; identifier une image de la station de drone en utilisant une caméra longue distance à vitesse lente ; commencer la descente en déplaçant horizontalement jusqu'à une position centrale de la station de drone en utilisant l'image identifiée ; lorsqu'une première altitude est atteinte, calculer des coordonnées horizontales précises en photographiant un dispositif d'affichage infrarouge placé dans la station de drone en utilisant une caméra à haute vitesse, et poursuivre la descente en utilisant l'image identifiée et les coordonnées horizontales calculées ; et lorsqu'une seconde altitude est atteinte, atterrir au niveau de la station de drone en utilisant uniquement les coordonnées horizontales précises calculées.
PCT/KR2021/018959 2021-12-13 2021-12-14 Procédé de commande de drone pour un atterrissage précis Ceased WO2023113058A1 (fr)

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CN117739994A (zh) * 2024-02-20 2024-03-22 广东电网有限责任公司阳江供电局 一种视觉机器人水下目标识别追踪方法及系统
CN118466526A (zh) * 2024-03-07 2024-08-09 广州成至智能机器科技有限公司 一种无人机海上自主降落的方法、设备及降落评估装置

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KR102495890B1 (ko) 2022-10-24 2023-02-06 주식회사 에이아이컨트롤 Ir 마커를 활용하여 정밀한 착륙이 가능한 드론 및 드론의 제어 방법

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