CN105730694B - The control method and unmanned vehicle system of unmanned vehicle - Google Patents
The control method and unmanned vehicle system of unmanned vehicle Download PDFInfo
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- CN105730694B CN105730694B CN201610086834.8A CN201610086834A CN105730694B CN 105730694 B CN105730694 B CN 105730694B CN 201610086834 A CN201610086834 A CN 201610086834A CN 105730694 B CN105730694 B CN 105730694B
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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
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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Abstract
The present invention provides a kind of unmanned vehicle system comprising unmanned vehicle, multiple unmanned vehicle services sites and unmanned vehicle cloud server.Unmanned vehicle includes Flight main body and control terminal, for carrying out the flight operation of Flight main body；Multiple unmanned vehicle services sites are used to provide charging service and information exchange service to Flight main body；Unmanned vehicle cloud server is for controlling unmanned vehicle services sites.The present invention also provides a kind of control methods of unmanned vehicle, the control method and unmanned vehicle system of unmanned vehicle of the invention carry out the Flight main body of unmanned vehicle and the information exchange of control terminal by unmanned vehicle services sites, reduce the communications cost of unmanned vehicle, to reduce the cost of manufacture of unmanned vehicle, the flying quality of unmanned vehicle is improved.
Description
Technical field
The present invention relates to unmanned aerial vehicle (UAV) control fields, control method and unmanned flight more particularly to a kind of unmanned vehicle
Device system.
Background technique
With the development of unmanned vehicle industry, small miniature unmanned vehicle is light-weight, winged since its flying height is not high
Row is flexibly and can extensive concern with hovering, by the general public；The demand and application field of small miniature unmanned vehicle
It is continuously developed.
With the exploitation of the demand and application field of small miniature unmanned vehicle, people want small miniature unmanned vehicle
Ask also higher and higher, such as continuation of the journey, key message (such as fall information, accident information, important messages prompting message, state of flight letter
Breath, real-time figure communication breath etc.) it is timely transmission and remote control commands receive etc. requirement.
But the problem of only the relaying charging station of the prior art can solve above-mentioned continuation of the journey, key message are sent and remote
Process control command reception still will be operated by unmanned vehicle itself, considerably increase small miniature unmanned vehicle in this way
Communications cost, to increase the cost of manufacture of small miniature unmanned vehicle or reduce the flight of small miniature unmanned vehicle
Performance.
Therefore, it is necessary to the control method and unmanned vehicle system of a kind of unmanned vehicle are provided, to solve the prior art
The problems of.
Summary of the invention
The embodiment of the present invention provides a kind of cost of manufacture that can reduce unmanned vehicle and the flight for improving unmanned vehicle
The control method and unmanned vehicle system of the unmanned vehicle of performance；To solve the cost of manufacture of existing unmanned vehicle
Higher or poor flying quality technical problem.
The embodiment of the present invention provides a kind of unmanned vehicle system comprising:
Unmanned vehicle, including Flight main body and control terminal, for carrying out the flight operation of the Flight main body；
Multiple unmanned vehicle services sites, for providing charging service and information exchange clothes to the Flight main body
Business；And
Unmanned vehicle cloud server, for controlling the unmanned vehicle services sites.
The embodiment of the present invention also provides a kind of control method of unmanned vehicle, for above-mentioned unmanned vehicle system
In comprising:
The unmanned vehicle services sites periodicity sending beacon message；
The Flight main body receives the beacon message, and according to the beacon message, takes to corresponding unmanned vehicle
Business website returns to response message；
The unmanned vehicle services sites establishes the Flight main body and the unmanned flight according to the response message
The data communication of device cloud server routes；And
The unmanned vehicle cloud server is routed by the data communication, is controlled the Flight main body.
In the control method of unmanned vehicle of the present invention, the unmanned vehicle cloud server passes through described
Data communication routing, the step of controlling the Flight main body include:
The unmanned vehicle cloud server receives the real time information of the Flight main body, and the real time information is sent out
It send to the control terminal；And
The unmanned vehicle cloud server receives the control instruction of the control terminal, and the control instruction is sent
To the Flight main body.
In the control method of unmanned vehicle of the present invention, the real time information includes but is not limited to the letter that falls
Breath, accident information, state of flight information and real-time figure communication breath at least one.
In the control method of unmanned vehicle of the present invention, the unmanned vehicle cloud server passes through described
Data communication routing, the step of control the Flight main body:
The unmanned vehicle cloud server receives the data communication and routes corresponding unmanned vehicle services sites
Location information, and according to the positional information, Xiang Suoshu unmanned vehicle pushes the week of the unmanned vehicle services sites
Side relevant information.
In the control method of unmanned vehicle of the present invention, it is described to the unmanned vehicle push it is described nobody
The step of periphery relevant information of aircraft services sites specifically:
The periphery relevant information of the unmanned vehicle services sites is pushed to the controller.
In the control method of unmanned vehicle of the present invention, it is described to the unmanned vehicle push it is described nobody
The step of periphery relevant information of aircraft services sites specifically:
By the Flight main body, Xiang Suoshu controller pushes the periphery correlation letter of the unmanned vehicle services sites
Breath.
In the control method of unmanned vehicle of the present invention, the periphery relevant information includes but is not limited to periphery
At least one of services sites information, periphery sight spot information and periphery unmanned vehicle information.
In the control method of unmanned vehicle of the present invention, the unmanned vehicle services sites is answered according to
Information is answered, establishes the step of the data communication of the Flight main body and the unmanned vehicle cloud server routes and includes:
The unmanned vehicle services sites is authenticated and is authorized according to the response message, to the Flight main body
Operation；And
After certification and Authorized operation success, the number of the Flight main body Yu the unmanned vehicle cloud server is established
According to communication lines by.
In the control method of unmanned vehicle of the present invention, the response message is the automatic of the Flight main body
The controlled response message of response message or the control terminal.
Compared to the prior art, the control method of unmanned vehicle of the invention and unmanned vehicle system pass through nobody
Aircraft services sites carries out the Flight main body of unmanned vehicle and the information exchange of control terminal, reduces unmanned vehicle
Communications cost improves the flying quality of unmanned vehicle to reduce the cost of manufacture of unmanned vehicle；It solves existing
Unmanned vehicle cost of manufacture is higher or technical problem that flying quality is poor.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the preferred embodiment of unmanned vehicle system of the invention；
Fig. 2 is the flow chart of the first preferred embodiment of the control method of unmanned vehicle of the invention；
Fig. 3 is the flow chart of the second preferred embodiment of the control method of unmanned vehicle of the invention；
Fig. 4 is the stream of the control method of unmanned vehicle of the invention and the first specific embodiment of unmanned vehicle system
Cheng Tu；
Fig. 5 is the stream of the control method of unmanned vehicle of the invention and the second specific embodiment of unmanned vehicle system
Cheng Tu；
Fig. 6 is the stream of the control method of unmanned vehicle of the invention and the third specific embodiment of unmanned vehicle system
Cheng Tu.
Specific embodiment
Fig. 1 is please referred to, Fig. 1 is the structural schematic diagram of the preferred embodiment of unmanned vehicle system of the invention.This is preferably
The unmanned vehicle system of embodiment can carry out timely and effectively information exchange to unmanned vehicle.This preferred embodiment nobody
Aerocraft system 10 includes unmanned vehicle 11, multiple unmanned vehicle services sites 12 and unmanned vehicle cloud server
13。
Unmanned vehicle 11 includes Flight main body 111 and control terminal 112, control of the Flight main body 111 in control terminal 112
Instruction is lower to carry out flight operation.Unmanned vehicle services sites 12 is arranged in outdoor fixed point, for filling to the offer of Flight main body 111
Electricity service and information exchange service, the unmanned vehicle services sites 12 can be that the service range of outdoor erection is 500 meters of left sides
Right 2.4G frequency range wireless network service site.Unmanned vehicle cloud server 13 is used for unmanned vehicle services sites 12
Controlled, such as control unmanned vehicle services sites 12 to Flight main body 11 carry out charging operations, or with Flight main body 11 into
Row information interactive service etc..
The unmanned vehicle system 10 of this preferred embodiment is in use, the Flight main body 111 when unmanned vehicle 11 is in
When directly controlling in range of control terminal 112, control terminal 112 can be directly controlled and be received flight to Flight main body 111
The flight information etc. of main body 111；When the Flight main body 111 of unmanned vehicle 11 is in the directly controlling outside range of control terminal 112
When, the Flight main body 111 of unmanned vehicle 11 can pass through unmanned vehicle services sites 12 and unmanned vehicle cloud server
13 establish connection, thus control terminal 112 can by unmanned vehicle cloud server 13 to Flight main body 111 carry out control and
Receive the flight information etc. of Flight main body 111.
It is lower to the telecommunication requirement of the Flight main body 111 of unmanned vehicle 11 in this way, to reduce unmanned flight
The communications cost of device 11 improves flying for unmanned vehicle 11 on the basis of not improving the cost of manufacture of unmanned vehicle 11
Row performance.The concrete operating principle of the unmanned vehicle system 10 of this preferred embodiment can be found in the control of following unmanned vehicles
Specific descriptions in the preferred embodiment of method.
The present invention also provides a kind of control methods of unmanned vehicle, are used in above-mentioned unmanned vehicle system, this
Various electronic equipments can be used to be implemented for the control method of the unmanned vehicle of invention, which includes but is not limited to
People's computer, server computer, hand-held or laptop devices, mobile device (such as mobile phone, personal digital assistant
(PDA), media player etc.), multicomputer system, consumer electronic devices, minicomputer, mainframe computer including
Above-mentioned arbitrary system or the distributed computing environment of equipment, etc..But the electronic equipment can preferably carry out unmanned vehicle
The unmanned vehicle system remotely controlled, can effectively reduce the communications cost of unmanned vehicle in this way, fly to reduce nobody
The cost of manufacture of row device promotes the flying quality of unmanned vehicle.
Referring to figure 2., Fig. 2 is the flow chart of the first preferred embodiment of the control method of unmanned vehicle of the invention.
Above-mentioned electronic equipment can be used to be implemented for the control method of the unmanned vehicle of this preferred embodiment comprising:
Step S201, unmanned vehicle services sites periodicity sending beacon message；
Step S202, Flight main body receive beacon message, and according to beacon message, to corresponding unmanned vehicle service station
Point returns to response message；
Step S203, unmanned vehicle services sites establish Flight main body and unmanned vehicle cloud according to response message
The data communication of server routes；
Step S204, unmanned vehicle cloud server are routed by data communication, are controlled Flight main body.
The following detailed description of the detailed process of each step of the control method of the unmanned vehicle of this preferred embodiment.
In step s 201, unmanned vehicle services sites periodicity sending beacon message, such as SSID (Service Set
Identifier, service set) beacon, so that the unmanned vehicle on periphery and the unmanned vehicle services sites are established and are connected
It connects.Then pass to step S202.
In step S202, the beacon message that Flight main body receiving step S201 unmanned vehicle services sites is sent, and
Response message is returned to unmanned vehicle services sites according to the beacon message, which can be Flight main body (with control
Hold communication terminal or control terminal unresponsive) automatic-answering back device information, can also be that control terminal control Flight main body sends controlled answering
Answer information.Then pass to step S203.
In step S203, the response message that unmanned vehicle services sites is received according to step S202 establishes flight
Main body and the data communication of unmanned vehicle cloud server route.I.e. Flight main body can be routed and be controlled by the data communication
End is communicatively coupled, or relevant information is directly arrived unmanned vehicle cloud server by data communication routing storage
On, it is checked in case subsequent.Then pass to step S204.
In step S204, unmanned vehicle cloud server is routed by the data communication that step S203 is established, to winged
Row main body carries out flight control, such as receives the state of flight information of Flight main body and information of taking photo by plane, or send to Flight main body
Relevant control instruction, the control instruction can be instructed for control terminal by the flight operation that unmanned vehicle cloud server is sent
Or the state of flight according to Flight main body, the emergency operation instruction that unmanned vehicle cloud server is sent automatically.
The control process of the unmanned vehicle of the control method of the unmanned vehicle of this preferred embodiment is completed in this way.
The control method of the unmanned vehicle of this preferred embodiment carries out unmanned flight by unmanned vehicle services sites
The Flight main body of device and the information exchange of control terminal, reduce the communications cost of unmanned vehicle, fly to reduce nobody
The cost of manufacture of row device improves the flying quality of unmanned vehicle.
Referring to figure 3., Fig. 3 is the flow chart of the second preferred embodiment of the control method of unmanned vehicle of the invention.
Above-mentioned electronic equipment can be used to be implemented for the control method of the unmanned vehicle of this preferred embodiment comprising:
Step S301, unmanned vehicle services sites periodicity sending beacon message；
Step S302, Flight main body receive beacon message, and according to information, return to corresponding unmanned vehicle services sites
Return response message；
Step S303, unmanned vehicle services sites are authenticated and are authorized behaviour according to response message, to Flight main body
Make；
After step S304, certification and Authorized operation success, Flight main body and unmanned vehicle cloud server are established
Data communication routing；
Step S305, unmanned vehicle cloud server receive data communication and route corresponding unmanned vehicle services sites
Location information, and according to location information, to the periphery relevant information of unmanned vehicle push unmanned vehicle services sites；
Step S306, unmanned vehicle cloud server are routed by data communication, receive the real time information of Flight main body,
And real time information is sent to control terminal；
Step S307, unmanned vehicle cloud server are routed by data communication, receive the control instruction of control terminal, and
Control instruction is sent to Flight main body.
The following detailed description of the detailed process of each step of the control method of the unmanned vehicle of this preferred embodiment.
In step S301, unmanned vehicle services sites periodicity sending beacon message, such as SSID (Service Set
Identifier, service set) beacon, so that the unmanned vehicle on periphery and the unmanned vehicle services sites are established and are connected
It connects.Then pass to step S302.
In step s 302, the beacon message that Flight main body receiving step S301 unmanned vehicle services sites is sent, and
Response message is returned to unmanned vehicle services sites according to the beacon message, which can be Flight main body (with control
Hold communication terminal or control terminal unresponsive) automatic-answering back device information, can also be that control terminal control Flight main body sends controlled answering
Answer information.Then pass to step S303.
In step S303, unmanned vehicle services sites authenticates Flight main body and is awarded according to response message
Power operation；For the ease of being managed to Flight main body, unmanned vehicle services sites establishes unmanned vehicle and unmanned flight
Before the data communication routing of device cloud server, first the Flight main body of request can be authenticated, judge that the Flight main body is
The no permission having using the unmanned vehicle services sites, such as authorizes the Flight main body to route using corresponding data communication
Deng.Then pass to step S304.
In step s 304, such as the certification and Authorized operation success in step S303, unmanned vehicle services sites built
The data communication of vertical Flight main body and unmanned vehicle cloud server routes.I.e. Flight main body can be routed by the data communication
It is communicatively coupled with control terminal, or directly takes relevant information to unmanned vehicle cloud by data communication routing storage
It is engaged on device, is checked in case subsequent.Then pass to step S305 and step S306.
In step S305, unmanned vehicle cloud server receives data communication and routes corresponding unmanned vehicle service
The location information of website, and according to location information, to the periphery correlation letter of unmanned vehicle push unmanned vehicle services sites
Breath；The periphery relevant information includes but is not limited to ambient services site information, periphery sight spot information and periphery unmanned vehicle
At least one of information, the user of such control terminal can more reasonably arrange flight to grasp according to the periphery relevant information
It makes a plan, user can choose reception or not receive the periphery relevant information here.
Unmanned vehicle cloud server can directly check the controller that pushes to of periphery relevant information for user；It can also
Periphery relevant information is pushed into Flight main body, after Flight main body receives the periphery relevant information, periphery relevant information is carried out
It is retransmited after coding to controller and is checked for user.
In step S306, unmanned vehicle cloud server is routed by data communication, receives the real-time of Flight main body
Information, and real time information is sent to control terminal；The real time information includes but is not limited to fall information, accident information, flight shape
At least one of state information and real-time figure communication breath.Accordingly even when control terminal can not be directly obtained the reality of Flight main body
When information, can also be in time by the real time information of unmanned vehicle cloud server indirect gain Flight main body.Then pass to step
Rapid S307.
In step S307, unmanned vehicle cloud server is routed by data communication, and the control for receiving control terminal refers to
It enables, and control instruction is sent to Flight main body.Similarly timely control terminal directly can not carry out flight control to Flight main body,
Flight control can be carried out to Flight main body indirectly by unmanned vehicle cloud server in time.The control instruction can be control terminal
The flight operation instruction sent by unmanned vehicle cloud server, such as course line changes and continuation of the journey point changes；Or according to
The state of flight of Flight main body, the emergency operation instruction that unmanned vehicle cloud server is sent automatically.
Certainly here unmanned flight's server site can also the Flight main body to unmanned vehicle carry out continuation of the journey charging operations,
The operation is identical as the continuation of the journey charging principle of existing unmanned flight's server site.
The control process of the unmanned vehicle of the control method of the unmanned vehicle of this preferred embodiment is completed in this way.
On the basis of first preferred embodiment, the control method of the unmanned vehicle of this preferred embodiment is to unmanned flight
Device is authenticated and Authorized operation, ensure that the Information Security of unmanned vehicle cloud server；Base is increased simultaneously
In the information push function of the unmanned vehicle of location information, the information exchange validity of unmanned vehicle is further improved.
Illustrate control method and the unmanned vehicle system of unmanned vehicle of the invention below by several specific embodiments
The concrete operating principle of system.
Referring to figure 4., Fig. 4 be unmanned vehicle of the invention control method and unmanned vehicle system it is first specific
The flow chart of embodiment.The Flight main body and control terminal for realizing unmanned vehicle in this embodiment can not communications status
Under real-time information transmission process.Comprising:
Step S401, unmanned vehicle services sites periodicity sending SSID beacon；
Step S402 in the case that Flight main body receives the SSID beacon, answers the return of unmanned vehicle services sites
Answer information.
Step S403, unmanned vehicle services sites authenticate Flight main body, authorized and are counted according to response message
Take operation, after the completion of aforesaid operations, the data communication for establishing Flight main body and unmanned vehicle cloud server is routed.
Step S404, Flight main body by real time information for example fall information, accident information, state of flight information and in real time figure
Communication breath etc. is sent to unmanned vehicle cloud server.
Step S405, unmanned vehicle cloud server save above-mentioned real time information, so that control terminal is looked into
It sees, or directly by above-mentioned real-time information processing to control terminal.
Referring to figure 5., Fig. 5 be unmanned vehicle of the invention control method and unmanned vehicle system it is second specific
The flow chart of embodiment.Unmanned vehicle cloud server is realized in this embodiment to push away the information of unmanned vehicle
Pass through journey.Comprising:
Step S501, unmanned vehicle cloud server obtain the data communication established and route corresponding unmanned vehicle clothes
There is unmanned vehicle to carry out flight operation for the location information of business website, i.e. the position periphery.
Step S502, unmanned vehicle cloud server obtain the corresponding unmanned vehicle services sites of the location information
Periphery relevant information, such as ambient services site information, periphery sight spot information and periphery unmanned vehicle information.
Above-mentioned periphery relevant information is pushed to the control of unmanned vehicle by step S503, unmanned vehicle cloud server
End or control terminal are directly checked on unmanned vehicle cloud server.The user of control terminal can be according to this week in this way
Side relevant information more reasonably arranges flight operation plan.
Fig. 6 is please referred to, Fig. 6 is specific for the control method of unmanned vehicle of the invention and the third of unmanned vehicle system
The flow chart of embodiment.Realize control terminal to the remote control process of Flight main body in this embodiment.Comprising:
Step S601, unmanned vehicle services sites periodicity sending SSID beacon；
Step S602 in the case that Flight main body receives the SSID beacon, answers the return of unmanned vehicle services sites
Answer information.
Step S603, unmanned vehicle services sites authenticate Flight main body, authorized and are counted according to response message
Take operation, after the completion of aforesaid operations, the data communication for establishing Flight main body and unmanned vehicle cloud server is routed.
The variation in control instruction such as course line, track, continuation of the journey point is sent to unmanned vehicle cloud by step S604, control terminal
Server.
Step S605, above-mentioned control instruction is sent to Flight main body by unmanned vehicle cloud server, so as to flight
Main body carries out distance flight control.Certain unmanned vehicle cloud server can also simultaneously carry out the real time information of Flight main body
It saves, so that control terminal is checked, or directly by above-mentioned real-time information processing to control terminal.
The control method and unmanned vehicle system of unmanned vehicle of the invention pass through unmanned vehicle services sites
The Flight main body of unmanned vehicle and the information exchange of control terminal are carried out, the communications cost of unmanned vehicle is reduced, thus
The cost of manufacture for reducing unmanned vehicle improves the flying quality of unmanned vehicle；Solves existing unmanned vehicle
Cost of manufacture is higher or technical problem that flying quality is poor.
" component ", " module ", " system ", " interface ", " process " etc. are generally intended to as used herein the term
Refer to computer related entity: hardware, the combination of hardware and software, software or software in execution.For example, component can be but not
It is limited to be the process on a processor of running, processor, object, executable application, thread, program and/or the computer executed.
By diagram, both the application and the controller run on the controller can be component.One or more components can have
It is in the process executed and/or thread, and component can be located on a computer and/or be distributed in two or more meters
Between calculation machine.
There is provided herein the various operations of embodiment.In one embodiment, one or more operations can be with structure
At the computer-readable instruction stored on one or more computer-readable mediums, will make to succeed in one's scheme when being executed by electronic equipment
It calculates equipment and executes the operation.Describing the sequences of some or all of operations, to should not be construed as to imply that these operations necessarily suitable
Sequence is relevant.It will be appreciated by those skilled in the art that the alternative sequence of the benefit with this specification.Furthermore, it is to be understood that
Not all operation must exist in each embodiment provided in this article.
Moreover, word " preferred " used herein means serving as example, example or illustration.Feng Wen is described as " preferably
" any aspect or design be not necessarily to be construed as than other aspect or design it is more advantageous.On the contrary, the use purport of word " preferred "
Concept is being proposed in specific ways.Term "or" as used in this application is intended to mean the "or" for including and non-excluded
"or".That is, unless specified otherwise or clear from the context, " X uses A or B " means that nature includes any one of arrangement.
That is, if X uses A；X uses B；Or X uses A and B both, then " X uses A or B " is met in aforementioned any example.
Moreover, although the disclosure, this field skill has shown and described relative to one or more implementations
Art personnel will be appreciated that equivalent variations and modification based on the reading and understanding to the specification and drawings.The disclosure include it is all this
The modifications and variations of sample, and be limited only by the scope of the following claims.In particular, to by said modules (such as element,
Resource etc.) the various functions that execute, term for describing such components is intended to correspond to the specified function for executing the component
The random component (unless otherwise instructed) of energy (such as it is functionally of equal value), even if illustrated herein with execution in structure
The disclosure exemplary implementations in function open structure it is not equivalent.In addition, although the special characteristic of the disclosure
Through being disclosed relative to the only one in several implementations, but this feature can with such as can be to given or specific application
For be expectation and one or more other features combinations of other advantageous implementations.Moreover, with regard to term " includes ", " tool
Have ", " containing " or its deformation be used in specific embodiments or claims for, such term be intended to with term
The similar mode of "comprising" includes.
Each functional unit in the embodiment of the present invention can integrate in a processing module, be also possible to each unit list
It is solely physically present, can also be integrated in two or more units in a module.Above-mentioned integrated module can both use
Formal implementation of hardware can also be realized in the form of software function module.If the integrated module is with software function
The form of module is realized and when sold or used as an independent product, also can store in computer-readable storage Jie
In matter.Storage medium mentioned above can be read-only memory, disk or CD etc..Above-mentioned each device or system, can be with
Execute the method in correlation method embodiment.
In conclusion although the present invention has been disclosed above in the preferred embodiment, but above preferred embodiment is not to limit
The system present invention, those skilled in the art can make various changes and profit without departing from the spirit and scope of the present invention
Decorations, therefore protection scope of the present invention subjects to the scope of the claims.
Claims (9)
1. a kind of unmanned vehicle system characterized by comprising
Unmanned vehicle, including Flight main body and control terminal, for carrying out the flight operation of the Flight main body；
Multiple unmanned vehicle services sites, for providing charging service and information exchange service to the Flight main body；With
And
Unmanned vehicle cloud server, for controlling the unmanned vehicle services sites；
The unmanned vehicle cloud server receives the control instruction of the control terminal, and the control instruction is sent to institute
State Flight main body.
2. a kind of control method of unmanned vehicle, in unmanned vehicle system described in claim 1, feature to exist
In the control method of the unmanned vehicle includes:
The unmanned vehicle services sites periodicity sending beacon message；
The Flight main body receives the beacon message, and according to the beacon message, to corresponding unmanned vehicle service station
Point returns to response message；
The unmanned vehicle services sites establishes the Flight main body and the unmanned vehicle cloud according to the response message
Hold the data communication routing of server；And
The unmanned vehicle cloud server is routed by the data communication, is controlled the Flight main body；The step
It suddenly include that the unmanned vehicle cloud server receives the real time information of the Flight main body, and the real time information is sent
To the control terminal；And the unmanned vehicle cloud server receives the control instruction of the control terminal, and by the control
System instruction is sent to the Flight main body.
3. the control method of unmanned vehicle according to claim 2, which is characterized in that the real time information includes but not
It is limited at least one of fall information, accident information, state of flight information and real-time figure communication breath.
4. the control method of unmanned vehicle according to claim 2, which is characterized in that the unmanned vehicle cloud clothes
The step of business device is routed by the data communication, is controlled the Flight main body:
The unmanned vehicle cloud server receives the position that the data communication routes corresponding unmanned vehicle services sites
Confidence breath, and according to the positional information, Xiang Suoshu unmanned vehicle pushes the periphery phase of the unmanned vehicle services sites
Close information.
5. the control method of unmanned vehicle according to claim 4, which is characterized in that described to the unmanned vehicle
The step of pushing the periphery relevant information of the unmanned vehicle services sites specifically:
The periphery relevant information of the unmanned vehicle services sites is pushed to the controller.
6. the control method of unmanned vehicle according to claim 4, which is characterized in that described to the unmanned vehicle
The step of pushing the periphery relevant information of the unmanned vehicle services sites specifically:
By the Flight main body, Xiang Suoshu controller pushes the periphery relevant information of the unmanned vehicle services sites.
7. the control method of unmanned vehicle according to claim 4, which is characterized in that the periphery relevant information includes
But it is not limited at least one of ambient services site information, periphery sight spot information and periphery unmanned vehicle information.
8. the control method of unmanned vehicle according to claim 2, which is characterized in that the unmanned vehicle service station
Point establishes the data communication routing of the Flight main body and the unmanned vehicle cloud server according to the response message
Step includes:
The unmanned vehicle services sites is authenticated and is authorized behaviour to the Flight main body according to the response message
Make；And
After certification and Authorized operation success, the data for establishing the Flight main body and the unmanned vehicle cloud server are logical
Letter routing.
9. the control method of unmanned vehicle according to claim 2, which is characterized in that the response message is described flies
The automatic-answering back device information of row main body or the controlled response message of the control terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610086834.8A CN105730694B (en) | 2016-02-16 | 2016-02-16 | The control method and unmanned vehicle system of unmanned vehicle |
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| CN201610086834.8A CN105730694B (en) | 2016-02-16 | 2016-02-16 | The control method and unmanned vehicle system of unmanned vehicle |
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| Publication Number | Publication Date |
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| CN105730694A CN105730694A (en) | 2016-07-06 |
| CN105730694B true CN105730694B (en) | 2019-03-05 |
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| CN107636552A (en) | 2016-09-27 | 2018-01-26 | 深圳市大疆创新科技有限公司 | A kind of flight control method and device, control device |
| CN106774388A (en) * | 2016-12-09 | 2017-05-31 | 中山市凌波网络科技有限公司 | A kind of multidate multi-time Scales aircraft guidance system for possessing high in the clouds operational capability |
| CN108255197A (en) * | 2016-12-29 | 2018-07-06 | 上海三思电子工程有限公司 | Unmanned plane guiding charging method, wisdom road lamp system and wisdom street lamp |
| CN108700889B (en) * | 2017-02-27 | 2022-06-10 | 深圳市大疆创新科技有限公司 | Control method, remote monitoring equipment, remote controller, server and streaming media server |
| CN109583802B (en) * | 2017-09-29 | 2022-09-30 | 北京京东乾石科技有限公司 | Unmanned distribution network system and scheduling method |
| CN108377271A (en) * | 2018-04-24 | 2018-08-07 | 福州大学 | A kind of multi-rotor aerocraft service network |
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| CN204390045U (en) * | 2015-02-03 | 2015-06-10 | 深圳市华海技术有限公司 | Unmanned plane and unmanned aerial vehicle control system |
| CN105162219B (en) * | 2015-07-22 | 2018-05-11 | 刘芳 | The charging method and charging management method of unmanned plane |
| CN204945772U (en) * | 2015-08-03 | 2016-01-06 | 张志勇 | Tele-control system platform |
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