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1. (WO2019061111) PATH ADJUSTMENT METHOD AND UNMANNED AERIAL VEHICLE
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Pub. No.: WO/2019/061111 International Application No.: PCT/CN2017/103808
Publication Date: 04.04.2019 International Filing Date: 27.09.2017
IPC:
G05D 1/10 (2006.01) ,G05B 19/04 (2006.01) ,G01S 19/48 (2010.01) ,G01C 21/00 (2006.01)
G PHYSICS
05
CONTROLLING; REGULATING
D
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1
Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
10
Simultaneous control of position or course in three dimensions
G PHYSICS
05
CONTROLLING; REGULATING
B
CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19
Programme-control systems
02
electric
04
Programme control other than numerical control, i.e. in sequence controllers or logic controllers
G PHYSICS
01
MEASURING; TESTING
S
RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
19
Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
38
Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
39
the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
42
Determining position
48
by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
G PHYSICS
01
MEASURING; TESTING
C
MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21
Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
Applicants:
深圳市大疆创新科技有限公司 SZ DJI TECHNOLOGY CO. , LTD. [CN/CN]; 中国广东省深圳市 南山区高新区南区粤兴一道9号香港科大深圳产学研大楼6楼 6F, HKUST SZ IER BLdg. No. 9 Yuexing 1st Rd. Hi-Tech Park (South), Nanshan District Shenzhen, Guangdong 518057, CN
Inventors:
周游 ZHOU, You; CN
刘洁 LIU, Jie; CN
武志远 WU, Zhiyuan; CN
Agent:
广州三环专利商标代理有限公司 SCIHEAD IP LAW FIRM; 中国广东省广州市 越秀区先烈中路80号汇华商贸大厦1508室 Room 1508, Huihua Commercial & Trade Building No. 80, XianLie Zhong Road, Yuexiu Guangzhou, Guangdong 510070, CN
Priority Data:
Title (EN) PATH ADJUSTMENT METHOD AND UNMANNED AERIAL VEHICLE
(FR) PROCÉDÉ DE RÉGLAGE DE TRAJET ET VÉHICULE AÉRIEN SANS PILOTE
(ZH) 一种路径调整方法及无人机
Abstract:
(EN) A path adjustment method and an unmanned aerial vehicle. The method comprises: when a positioning signal is lost, determining a return flight path according to recorded position information; during a return flight according to the return flight path, collecting a return flight image at a first position; carrying out matching processing on the return flight image and marker images in an image database, and determining a target marker image according to a matching processing result; determining position information about the first position according to the return flight image, the target marker image and pose information associated with the target marker image; and adjusting a flight path according to the position information about the first position and the return flight path, so that an automatic and accurate return flight can be carried out when the unmanned aerial vehicle loses a positioning signal.
(FR) L'invention concerne un procédé de réglage de trajet et un véhicule aérien sans pilote. Le procédé consiste à : lorsqu'un signal de positionnement est perdu, déterminer un trajet de vol de retour en fonction d'informations de position enregistrées ; pendant un vol de retour en fonction du trajet de vol de retour, collecter une image de vol de retour à une première position ; réaliser un traitement de mise en correspondance sur l'image de vol de retour et des images de marqueur dans une base de données d'images, et déterminer une image de marqueur cible en fonction d'un résultat de traitement de mise en correspondance ; déterminer des informations de position concernant la première position en fonction de l'image de vol de retour, de l'image de marqueur cible et d'informations de pose associées à l'image de marqueur cible ; et régler un trajet de vol en fonction des informations de position concernant la première position et du trajet de vol de retour, de telle sorte qu'un vol de retour automatique et précis peut être effectué lorsque le véhicule aérien sans pilote perd un signal de positionnement.
(ZH) 一种路径调整方法及无人机,该方法包括:丢失定位信号时,根据已记录的位置信息确定返航路径;在按照返航路径返航时,在第一位置处采集返航图像;将返航图像与图像数据库中的标记图像进行匹配处理,并根据匹配处理的结果确定出目标标记图像;根据返航图像、目标标记图像以及与目标标记图像关联的位姿信息确定第一位置的位置信息;根据第一位置的位置信息和返航路径调整飞行路径,可以在无人机丢失定位信号时,自动精准地返航。
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: Chinese (ZH)
Filing Language: Chinese (ZH)