CN109690439A - Unmanned aerial vehicle (UAV) control method and system - Google Patents
Unmanned aerial vehicle (UAV) control method and system Download PDFInfo
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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
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0027—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement involving a plurality of vehicles, e.g. fleet or convoy travelling
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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
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Abstract
The embodiment of the present invention proposes a kind of unmanned aerial vehicle (UAV) control method and device.This method is applied to user terminal, comprising: establishes the communication connection of user terminal Yu multiple unmanned planes；Multiple unmanned planes are controlled by the user terminal, and show the status information of unmanned plane described in wherein at least one by the control interface of the user terminal.The embodiment of the present invention propose unmanned aerial vehicle (UAV) control method and device can realize while control multiple unmanned planes, be uniformly controlled combined with unit control and multiple unmanned planes between cooperation.
Description
The present invention relates to the technical field of unmanned aerial vehicle (UAV) control more particularly to a kind of unmanned aerial vehicle (UAV) control method and system.
It is mostly one-to-one control at present to the control of the mobile platforms such as unmanned plane.For controlling unmanned plane, after unmanned plane communicates successfully with control equipment such as mobile phones or computer, control equipment can receive the status information of unmanned plane push, while also the control information of user can be sent to unmanned plane.In this case, control equipment only needs to guarantee, can be sent to that unique control object without differentiation for the control instruction of user.But it is extremely inconvenient to control multiple unmanned planes in this way.
For more and more users, especially industry user, efficiently fulfils assignment task to the unmanned plane using unmanned plane etc, generally require to control multiple unmanned planes simultaneously and realize the cooperation between multiple unmanned planes.
Summary of the invention
In view of the above-mentioned problems, realize the purpose of the present invention is to provide a kind of unmanned aerial vehicle (UAV) control method and system while controlling multiple unmanned planes.
In a first aspect, the embodiment of the present invention proposes a kind of unmanned aerial vehicle (UAV) control method, it is applied to user terminal, comprising: establish the communication connection of user terminal Yu multiple unmanned planes；Multiple unmanned planes are controlled by the user terminal, and show the status information of unmanned plane described in wherein at least one by the control interface of the user terminal.
Second aspect, the embodiment of the present invention also propose a kind of unmanned aerial vehicle control system, comprising: communication device, control device and display device；The communication device is used to establish with unmanned plane and communicate to connect；The display device is used to show the status information of the unmanned plane；The control device leads to described respectively
T unit and display device communication connection, for controlling the communication connection of the communication device foundation and multiple unmanned planes, multiple unmanned planes are controlled, and the control display device shows the status information of unmanned plane described in wherein at least one.
The accessible beneficial effect of the present invention includes: to realize while controlling multiple unmanned planes, is uniformly controlled and combines with unit control, and realizes the cooperation between multiple unmanned planes.
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, a brief description of the drawings needed to be used in the description of the embodiments or the prior art will be given below, apparently, drawings in the following description are some embodiments of the invention, for those of ordinary skill in the art, without any creative labor, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of unmanned aerial vehicle control system figure involved in the embodiment of the present invention；
Fig. 2 is a kind of flow diagram of unmanned aerial vehicle (UAV) control method provided in an embodiment of the present invention；
Fig. 3 is a kind of schematic diagram of user terminal control interface provided in an embodiment of the present invention；
Fig. 4 is another unmanned aerial vehicle control system figure provided in an embodiment of the present invention；
Fig. 5 is another unmanned aerial vehicle control system figure provided in an embodiment of the present invention；
Fig. 6 is another unmanned aerial vehicle control system figure provided in an embodiment of the present invention.
Description of symbols:
User terminal -10
Remote controler -20
Unmanned plane -30
Control interface -40
Icon area -41
State region -42
Picture area -43
Server end -60
It is remotely controlled end -70
Control device -51
Communication device -52
Display device -53
Step: 101-102.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, following will be combined with the drawings in the embodiments of the present invention, technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, every other embodiment obtained by those of ordinary skill in the art without making creative efforts, shall fall within the protection scope of the present invention.It should be noted that the method for the embodiment of the present invention is not limited to step and sequence in flow chart that specification is addressed or diagrammatically shown.According to different embodiments, the step in method can increase, remove or change sequence.
The embodiment of the present invention proposes a kind of unmanned aerial vehicle (UAV) control method.The principle of this method is equally applicable to unmanned machine other than unmanned plane, such as unmanned automobile, robot etc..Unmanned plane is that one kind can carry camera, sensor, communication equipment or other payload, can controlled, follow-on mission, and usually by engine provide power remote driving or self-driving aircraft, can be based on the flight plan autonomous flight of pre-programmed.Unmanned plane is increasingly used in completing the task that various manned vehicles are unsuitable for completion, military aspect includes such as monitoring, scouting, Target Acquisition, data acquisition, communication relay, bait, harassing and wrecking, and civilian aspect includes that such as fire-fighting, natural calamity are scouted, police observes civil strike or scene of a crime and scientific research.
Fig. 1 is a kind of system diagram involved in the embodiment of the present invention, wherein user terminal 10 can control multiple unmanned planes 30 by remote controler 20 respectively.It should be appreciated that the system diagram embodied is a kind of situation typical for realizing technical solution of the present invention, and not exclusive situation.Operation in a kind of unmanned aerial vehicle (UAV) control method provided in an embodiment of the present invention can be realized by a controller.In the present embodiment, realize that the controller of this method is set to user terminal 10, in other embodiments, which may also be disposed in remote controler 20, mobile phone or other control equipment, namely user terminal 10 can also be established directly with unmanned plane 30 and be communicated to connect, without passing through remote controler 20.Unmanned aerial vehicle (UAV) control method provided in an embodiment of the present invention,
It can be achieved while controlling the cooperation between multiple unmanned planes and multiple unmanned planes.In the present embodiment, user terminal 10 can control multiple unmanned planes 30, and can be realized the cooperation between multiple unmanned planes 30, and the particular number of unmanned plane 30 can be by user's spread.
Referring to Fig. 2, unmanned aerial vehicle (UAV) control method provided in an embodiment of the present invention can be since step 101.
Step 101, the communication connection of user terminal Yu multiple unmanned planes is established；
In the present embodiment, control and communication involved in this method are realized by being located at control device and the communication device of user terminal 10, therefore the step is in the present embodiment, and as user terminal 10 sets up the communication connection between multiple unmanned planes 30.Specifically, user terminal 10 can be established directly with multiple unmanned planes 30 and be communicated to connect, and can also be established and be communicated to connect indirectly by remote controler 20 or other control devices and multiple unmanned planes 30.One user terminal 10 is established with multiple unmanned planes 30 simultaneously to be communicated to connect, and is to realize that the basis of Multi computer cooperation is realized on the basis of one-to-many control and multiple unmanned planes 30 by a user terminal 10.
Step 102, multiple unmanned planes are controlled by the user terminal, and shows the status information of unmanned plane described in wherein at least one by the control interface of the user terminal.
In the present embodiment, user terminal 10 can generate the control information for controlling multiple unmanned planes 30 according to the status information of multiple unmanned planes 30, control information can also be generated according to the input of user, and sends control information to multiple unmanned planes 30 that communication connection has been established that will be controlled.Each unmanned plane 30 that communication connection has been established can send respective status information to user terminal 10, and status information is specifically including but not limited to location information, battery level information, route information, flight plan information of unmanned plane 30 etc..All or part in the status information of each unmanned plane 30 can be shown by the control interface of user terminal 10.Specifically, the control interface of user terminal 10 can only show the status information of a unmanned plane 30, and can be switched between the status information of multiple unmanned planes 30 is shown, it can also select automatically or according to user while show two or more unmanned planes 30 status informations.
Unmanned aerial vehicle (UAV) control method provided by the present invention, which further comprises the steps of:, establishes multiple control object examples, wherein one has been established the corresponding control object example of the communication connection unmanned plane.
In the present embodiment, after user terminal 10 and a foundation communication connection of unmanned plane 30, that is, a control object example corresponding with the unmanned plane 30 is generated, unmanned plane 30 and control object example are one-to-one relationships.It is understood that unmanned plane 30 and control object example may not be one-to-one correspondence in some other embodiment, i.e., multiple corresponding control object examples of unmanned plane 30,
Or the same unmanned plane 30 can also be corresponded to multiple control object examples as needed in actual use.It therefore, can be the corresponding control object example of at least one unmanned plane 30.
Accordingly, in some embodiments, " correspondence " means that unmanned plane 30 specific for a frame is only controlled by a specific control object example, and the status information of the specific unmanned plane 30 is also only received, presented or sent by the specific control object example.About the mode for establishing corresponding relationship, the communication between various ways, such as specific unmanned plane 30 and specific control object example can be taken to pass through specific frequency etc..In the present embodiment, control object example corresponds to unmanned plane 30 by the identity information of unmanned plane 30.Specifically, each unmanned plane has respective identity code (SN code), includes the information in relation to 30 identity code of unmanned plane in status information, and control object example is corresponding with the unmanned plane by the identity code.The identity code of each unmanned plane 30 is that uniquely, in the occasion of the corresponding unmanned plane 30 of one control object example of the present embodiment, each control object example uniquely indicates symbol using the identity code of its corresponding unmanned plane 30 as it.Therefore, in the present embodiment, in the control information that user terminal 10 is sent to unmanned plane 30, the identity code including control command He the unmanned plane to be controlled guarantees that controlling information is accurately sent to the unmanned plane 30 to be controlled with this.
In some embodiments, control object example, which specifically can be, realizes that user terminal 10 controls a unmanned plane 30, and receives, the set of program required for the functions such as the status information that presents or send this unmanned plane 30.In the occasion of the corresponding control object example of multiple unmanned planes 30, control object example is equally the set of program required for realizing above-mentioned function；In the occasion of the corresponding multiple control object examples of a unmanned plane 30, a control object example can be a part for realizing the set of program of above-mentioned function.
Such as, in the prior art, one-to-one control is carried out to unmanned plane 30, then in user terminal 10, remote controler 20 or other control equipment, for controlling a unmanned plane 30, and the set of the program of status information for receiving, presenting or sending the unmanned plane 30, so that it may regard a control object example as, it is appreciated that the set of the program can replicate.In the present embodiment, the corresponding control object example of the unmanned plane is generated, as each unmanned plane 30 for establishing communication connection with user terminal 10 all generates the set of an above-mentioned program.It is mutually indepedent between the set of each program, it can respectively correspond and control at least one unmanned plane 30, and can receive, present or send the status information of at least one unmanned plane 30.The reproducibility of the set of above procedure, so that it may guarantee user can one user terminal 10 of spread and meanwhile control unmanned plane 30 quantity, needed to increase nobody at any time according to operation
The quantity of machine 30 or other unmanned planes.
User terminal 10 is after establishing communication connection with a unmanned plane 30, just establish a corresponding control object example, and the unmanned plane 30 is controlled by the control object example, and receive, present or send the status information of the unmanned plane 30 transmission, in this way, achieving that one-to-many control of the user terminal 10 to unmanned plane 30.Specifically, user terminal 10 produces the control information of control unmanned plane 30, then is separately sent to corresponding unmanned plane 30 for information is controlled by different control object examples.User terminal 10 generates control information either independently generating, and is also possible to be generated according to the input information of user, can also be according to the remote operation of user and generate.Correspondingly, can be summarized respectively by different control object examples for the status information of unmanned plane 30, that is, it can guarantee and presentation distinguished to the status information of different unmanned planes 30.
On the basis of above-mentioned one-to-many control, in the present embodiment, user terminal 10 can be established by remote controler 20 and unmanned plane 30 again and be communicated to connect, and carry out while being uniformly controlled of certain parameters in 10 pairs of user terminal different unmanned planes 30, and can carry out individual control by remote controler 20 to certain parameters.For example, different angles is presented in the holder that user terminal 10 is uniformly controlled different unmanned planes 30 respectively, and user can control respectively flight path, the hovering position etc. of unmanned plane 30 by remote controler 20.Therefore, the embodiment of the present invention can realize to the unmanned planes such as unmanned plane 30 be uniformly controlled and the combination of unit control.
Fig. 3 is the schematic diagram of control interface 40 in the present embodiment.In the present embodiment, the icon for representing the control object example is shown in the control interface 40, wherein the corresponding icon of a control object example.Specifically, control interface 40 in the present embodiment is divided for three regions, icon area 41 is for showing above-mentioned icon, for state region 42 for showing the status informations such as the state parameter of unmanned plane 30, picture area 43 is used to show the information such as position, track, the plan route of picture and unmanned plane 30 that the camera mounted of unmanned plane 30 is passed back on map.In the present embodiment, three regions of control interface 40 can receive the input operation of user.Above-mentioned icon is shown as No. 1 unmanned plane, No. 2 unmanned planes, No. 3 unmanned planes etc. in icon area 41.Because control object example and unmanned plane 30 are one-to-one in the present embodiment, each icon is corresponding with a unmanned plane 30.As soon as in use, communicated to connect whenever user terminal 10 and unmanned plane 30 are established, the generation of icon area 41 one of control interface 40 represent one nobody 30 icon.User's selected element takes one of icon, then state region 42 and picture area 43 are accordingly switched to the status information and image information of unmanned plane 30 representated by selected icon.In some embodiments, user can choose multiple icons simultaneously, then control interface 40 can show the status information of multiple unmanned planes 30 simultaneously
With image information etc..
Unmanned aerial vehicle (UAV) control method provided by the embodiment of the present invention, further includes: detect the selection operation signal for selecting the control object example；According to the selection operation signal, selection one unmanned plane of control.In the present embodiment, user, which selects control object example corresponding with unmanned plane 30, to be realized by the icon for selecting the icon area 41 of control interface 40, correspondingly, it is also to be realized by control interface 40 that user terminal 10, which detects above-mentioned selection operation signal,.When user controls unmanned plane 30 by control interface 40, the one or more unmanned planes 30 that will be controlled are chosen in icon area 41, again in state region 42 and picture area 43 for input control signals such as state of flight, the flight paths of unmanned plane 30, then user terminal 10 can control signal according to these, generate and send corresponding control information to the unmanned plane 30 that user chooses.Specifically, control information is generated by control object example corresponding with each unmanned plane 30, is guaranteed that specific control information is sent to specific unmanned plane 30, is realized one-to-many control.
In the present embodiment, user terminal 10 sends the control information for controlling the corresponding unmanned plane according to the input control signal of the user by the input control signal that the control interface receives user.As described above, when user controls unmanned plane 30 by control interface 40, the one or more unmanned planes 30 that will be controlled are chosen in icon area 41, again in state region 42 and picture area 43 for input control signals such as state of flight, the flight paths of unmanned plane 30, then user terminal 10 can control signal according to these, generate and send corresponding control information to the unmanned plane 30 that user chooses.
Specifically, input control signal includes following at least one: controlling the state of the unmanned plane, controls the state of the camera of the UAV flight, controls the state of the holder of the unmanned plane carrying.Correspondingly, the status information of unmanned plane specifically also may include the state of unmanned plane 30, the state for the camera that unmanned plane 30 carries, the state etc. for the holder that unmanned plane 30 carries.
In the present embodiment, the state for controlling the unmanned plane includes that control is following at least one: setting destination, and key landing a, key takes off.Referring to Fig. 3, the icon that key landing and a key are taken off is shown in the state region 42 of the control interface 40 of user terminal 10, and user clicks the icon under the control model for one or several unmanned planes 30, user terminal 10 just generates corresponding control information, and is sent to corresponding unmanned plane 30.The function that destination is arranged can be completed on the map of picture area 43, user can click the location point on map, and as the destination of control 30 flight path of unmanned plane, user terminal 10 is detected after this set operation, it is converted into the control information that control unmanned plane 30 flies
It is sent to user's unmanned plane 30 to be controlled.
The state for controlling the camera of the UAV flight includes that control is following at least one: adjusting the focal length of the camera, adjusts the exposure of the camera.Referring to Fig. 3, can state region 42 mark off the display camera mounted of unmanned plane 30 state region, show the information such as focal length, the exposure of camera, and can operate in corresponding position detection user to the adjustment of some parameter.User terminal 10 inputs in control interface 40 for the operating control signal of one or more unmanned planes 30 according to user, generates and sends the control information for controlling corresponding unmanned plane 30.
The state for controlling the holder of the unmanned plane carrying includes that control is following at least one: adjusting the pitch angle of the holder, adjusts the roll angle of the holder, adjusts the flat-moving angle of the holder.It is similar referring to Fig. 3, can state region 42 mark off the holder that display unmanned plane 30 is carried state region, show the pitch angle of holder, roll angle, the information such as flat-moving angle, and can operate in corresponding position detection user to the adjustment of some parameter.User terminal 10 inputs in control interface 40 for the operating control signal of one or more unmanned planes 30 according to user, generates and sends the control information for controlling corresponding unmanned plane 30.
In the present embodiment, in addition to above-mentioned user artificially controls one or more unmanned planes 30, user terminal 10 can also be realized to the intelligent control of unmanned plane 30, to realize the work compound of multiple unmanned planes 30.Specifically include step: unmanned plane described in selection wherein at least two；The status information of the unmanned plane according to the wherein at least two of selection forms the Collaborative Control information for realizing the cooperation between multiple unmanned planes；And at least two unmanned planes send the Collaborative Control information thereto simultaneously.
Wherein, the unmanned plane 30 that selection will carry out work compound can be what user was selected by control interface 40, be also possible to user terminal 10 according to job task intelligent selection.In the present embodiment, it can shared information between different control object examples, i.e. different control object examples have certain relative independentability while, between each other again can direct or indirect shared information, shared information just includes the status information of unmanned plane 30.Specifically, in some embodiments, different control object examples can send information to other control object examples, the information that can be different control object example again such as can be summarized by third-party message processing module, be merged at the processing, then processing information can be distributed to different control object examples.This is the technical foundation that the equal unmanned planes of unmanned plane 30 carry out Multi computer cooperation.Such as, in some embodiments, different unmanned planes 30 can be by status informations such as the flight path information of oneself, other control object examples are shared to by its corresponding control object example, other control object examples are on this basis, go to control its corresponding unmanned plane 30, thus realize the flight path of different unmanned planes 30 be uniformly distributed, phase
The certain effects such as figure mutually parallel, formation is certain.For another example, in some embodiments, state of flight information of oneself etc. can be shared to other control object examples by its corresponding control object example by different unmanned planes 30, other control object examples are on this basis, it goes to control its corresponding unmanned plane 30, to realize the certain effects such as different 30 relay operations of unmanned plane.In the present embodiment, Collaborative Control information includes following at least one: flying according to same course line, successively flies simultaneously according to same course line, fly simultaneously according to different course lines, successively flies according to different course lines.This Collaborative Control information, user terminal 10 can calculate generation according to status informations such as the location information for the multiple unmanned planes 30 to be controlled, flight path, programme paths, and generate a series of control information and be separately sent to multiple unmanned planes 30.
In the present embodiment, user terminal 10 is established and is communicated to connect by long-range mode and multiple unmanned planes 30, i.e., the one or more links connecting in user terminal 10 with unmanned plane 30 are suitable for the connection type of telecommunication using 4G network etc..
Referring to Fig. 4, in one embodiment of the invention, unmanned aerial vehicle control system involved in method of the invention further includes server end 60 and remote control end 70, and user terminal 10 and server end 60 communicate to connect；It is remotely controlled end 70 to communicate to connect by the first long range radio transmissions mode and unmanned plane 30, server end 60 is communicated to connect by the second long range radio transmissions mode and remote control end 70.The communication mode of first long range radio transmissions mode is different from the communication mode of the second long range radio transmissions mode.In some embodiments, the farthest transmission range of the first long range radio transmissions mode is less than the farthest transmission range of the second long range radio transmissions mode.In the present embodiment, server end 60 can connect user terminal 10 by wired or wireless mode, first long range radio transmissions mode is WiFi connection, and the second long range radio transmissions mode is 4G network communication, this communication connection mode has expanded the scope of application of control method of the present invention significantly.The unmanned aerial vehicle (UAV) control method of the present embodiment is identical as a upper embodiment.User controls one or more unmanned planes 30 by the control interface of user terminal 10, and the status information of unmanned plane 30 can be shown in the control interface of user terminal 10.Server end 60 can realize the differentiated control to multiple users, so as to realize multiple users multiple unmanned planes 30 of Cooperation controlling simultaneously；Specifically, when a plurality of clients 10 are connect with server end 60, and when controlling one or more unmanned planes 30 simultaneously, the control information that server end 60 can send a plurality of clients 10 is handled according to priority, different permissions is distributed for different user end 10, to realize that multiple users can be by 10 work compound of a plurality of clients.The control such as posture, speed can be carried out to unmanned plane 30 by being remotely controlled end 70, so that realization is one-to-many to be uniformly controlled with unit control and deposit as the supplement for controlling user terminal 10 information.
Referring to Fig. 5, the embodiment of the present invention also proposes a kind of unmanned aerial vehicle control system, comprising: control dress
Set 51, communication device 52 and display device 53；The communication device 52 is used to establish with unmanned plane 30 and communicate to connect；The display device 53 is used to show the status information of the unmanned plane 30；The control device 51 is communicated to connect with the communication device 52 and the display device 53 respectively, for controlling the communication connection of communication device 52 foundation and multiple unmanned planes 30, multiple unmanned planes 30 are controlled, and the control display device 53 shows the status information of unmanned plane 30 described in wherein at least one.
In the present embodiment, control system sets up the communication connection between multiple unmanned planes 30.Specifically, control system can be established directly with multiple unmanned planes 30 and be communicated to connect, and can also be established and be communicated to connect indirectly by other control devices and multiple unmanned planes 30.One control system is established with multiple unmanned planes 30 simultaneously to be communicated to connect, and is to realize that the basis of Multi computer cooperation is realized on the basis of one-to-many control and multiple unmanned planes 30 by a control system.
In the present embodiment, control device 51 in control system can generate the control information for controlling multiple unmanned planes 30 according to the status information of multiple unmanned planes 30, control information can also be generated according to the input of user, and control information is sent to multiple unmanned planes 30 that communication connection has been established that will be controlled by communication device 52.Each unmanned plane 30 that communication connection has been established can send respective status information by communication device 52, and status information is specifically including but not limited to location information, battery level information, route information, flight plan information of unmanned plane 30 etc..All or part in the status information of each unmanned plane 30 can be shown by the control interface of display device 53 in control system.Specifically, the control interface of display device 53 can only show the status information of a unmanned plane 30, and can be switched between the status information of multiple unmanned planes 30 is shown, it can also select automatically or according to user while show two or more unmanned planes 30 status informations.
Unmanned aerial vehicle (UAV) control method provided by the present invention, which further comprises the steps of:, establishes multiple control object examples, wherein one has been established the corresponding control object example of the communication connection unmanned plane.
In the present embodiment, when control system is established after communication connection by communication device 52 and a unmanned plane 30, i.e., control device 51 generates a control object example corresponding with the unmanned plane 30, and unmanned plane 30 and control object example are one-to-one relationships.It is to be understood that, in some other embodiment, unmanned plane 30 and control object example may not be one-to-one correspondence, i.e., multiple corresponding control object examples of unmanned plane 30, or can also correspond to the same unmanned plane 30 with multiple control object examples as needed in actual use.It therefore, can be the corresponding control object example of at least one unmanned plane 30.
Accordingly, in some embodiments, " correspondence " means that unmanned plane 30 specific for a frame is only controlled by a specific control object example, and the status information of the specific unmanned plane 30 is also only received, presented or sent by the specific control object example.About the mode for establishing corresponding relationship, the communication between various ways, such as specific unmanned plane 30 and specific control object example can be taken to pass through specific frequency etc..In the present embodiment, control object example corresponds to unmanned plane 30 by the identity information of unmanned plane 30.Specifically, each unmanned plane has respective identity code (SN code), includes the information in relation to 30 identity code of unmanned plane in status information, and control object example is corresponding with the unmanned plane by the identity code.The identity code of each unmanned plane 30 is that uniquely, in the occasion of the corresponding unmanned plane 30 of one control object example of the present embodiment, each control object example uniquely indicates symbol using the identity code of its corresponding unmanned plane 30 as it.Therefore, in the present embodiment, in the control information that control system is sent to unmanned plane 30 by communication device 52, the identity code including control command He the unmanned plane to be controlled guarantees that controlling information is accurately sent to the unmanned plane 30 to be controlled with this.
In some embodiments, control object example, which specifically can be, controls a unmanned plane 30 in the control device 51 for realizing control system, and receives, the set of program required for the functions such as the status information that presents or send this unmanned plane 30.In the occasion of the corresponding control object example of multiple unmanned planes 30, control object example is equally the set of program required for realizing above-mentioned function；In the occasion of the corresponding multiple control object examples of a unmanned plane 30, a control object example can be a part for realizing the set of program of above-mentioned function.
Such as, in the prior art, one-to-one control is carried out to unmanned plane 30, then for controlling a unmanned plane 30, and the set of the program of status information for receiving, presenting or sending the unmanned plane 30, it can regard a control object example as, it will be understood that the set of the program can replicate.In the present embodiment, control device 51 generates the corresponding control object example of unmanned plane 30, and as each unmanned plane 30 for establishing communication connection with control system all generates the set of an above-mentioned program.It is mutually indepedent between the set of each program, it can respectively correspond and control at least one unmanned plane 30, and can receive, present or send the status information of at least one unmanned plane 30.The reproducibility of the set of above procedure, so that it may guarantee user can one control system of spread and meanwhile control unmanned plane 30 quantity, need to increase at any time the quantity of unmanned plane 30 or other unmanned planes according to operation.
As soon as the control device 51 of control system after establishing communication connection with unmanned plane 30, is established
One corresponding control object example, and the unmanned plane 30 is controlled by the control object example, and receive, present or send the status information of the unmanned plane 30 transmission, status information can be shown by display device 53.In this way, achieving that one-to-many control of the control system to unmanned plane 30.Specifically, control device 51 produces the control information of control unmanned plane 30, and control information is passed through communication device 52 respectively and is sent to corresponding unmanned plane 30 by different control object examples.Control device 51 generates control information either independently generating, and is also possible to the input information according to user in display device 53 and generates, can also be according to the remote operation of user and generate.Correspondingly, can be summarized respectively by different control object examples for the status information of unmanned plane 30, that is, it can guarantee and presentation distinguished to the status information of different unmanned planes 30.
On the basis of above-mentioned one-to-many control, in the present embodiment, control system can be established and be communicated to connect by the equal control equipment of remote controler 20 and unmanned plane 30 again, while being uniformly controlled of certain parameters is carried out to different unmanned planes 30 in control system, and certain parameters can be carried out individual control by remote controler 20.For example, different angles is presented in the holder that control system is uniformly controlled different unmanned planes 30 respectively, and user can control respectively flight path, the hovering position etc. of unmanned plane 30 by remote controler 20.Therefore, the embodiment of the present invention can realize to the unmanned planes such as unmanned plane 30 be uniformly controlled and the combination of unit control.
Fig. 3 is the schematic diagram of control interface 40 in the present embodiment, which can be used to the display device 53 in control system.In the present embodiment, the icon for representing the control object example is shown in the control interface 40, wherein the corresponding icon of a control object example.Specifically, control interface 40 in the present embodiment is divided for three regions, icon area 41 is for showing above-mentioned icon, for state region 42 for showing the status informations such as the state parameter of unmanned plane 30, picture area 43 is used to show the information such as position, track, the plan route of picture and unmanned plane 30 that the camera mounted of unmanned plane 30 is passed back on map.In the present embodiment, three regions of control interface 40 can receive the input operation of user.Above-mentioned icon is shown as No. 1 unmanned plane, No. 2 unmanned planes, No. 3 unmanned planes etc. in icon area 41.Because control object example and unmanned plane 30 are one-to-one in the present embodiment, each icon is corresponding with a unmanned plane 30.As soon as in use, whenever control system communication device 52 and unmanned plane 30 establish communication connection, 53 control interface 40 of display device icon area 41 generation one represent one nobody 30 icon.User's selected element takes one of icon, then state region 42 and picture area 43 are accordingly switched to the status information and image information of unmanned plane 30 representated by selected icon.In some embodiments, user can choose multiple icons simultaneously, then control interface 40 can show the shape of multiple unmanned planes 30 simultaneously
State information and image information etc..
In unmanned aerial vehicle control system provided by the embodiment of the present invention, control device 51 is also used to: detecting the selection operation signal for selecting the control object example；According to the selection operation signal, selection one unmanned plane of control.In the present embodiment, user, which selects control object example corresponding with unmanned plane 30, to be realized by the icon for the icon area 41 for selecting the control interface 40 of display device 53, correspondingly, it is also to be realized by control interface 40 that control device 51, which detects above-mentioned selection operation signal,.When user controls unmanned plane 30 by control interface 40, the one or more unmanned planes 30 that will be controlled are chosen in icon area 41, again in state region 42 and picture area 43 for input control signals such as state of flight, the flight paths of unmanned plane 30, then control device 51 can control signal according to these, generate and send corresponding control information to the unmanned plane 30 that user chooses by communication device 52.Specifically, control information is generated by control object example corresponding with each unmanned plane 30 in control device 51, is guaranteed that specific control information is sent to specific unmanned plane 30, is realized one-to-many control.
In the present embodiment, display device 53 receives the input control signal of user by the control interface 40, control device 51 is according to the input control signal of the user, the control information for controlling corresponding unmanned plane 30 is generated, and the control information for controlling the corresponding unmanned plane is sent by communication device 52.As described above, when user controls unmanned plane 30 by control interface 40, the one or more unmanned planes 30 that will be controlled are chosen in icon area 41, again in state region 42 and picture area 43 for input control signals such as state of flight, the flight paths of unmanned plane 30, then control device 51 can control signal according to these, generate and send corresponding control information to the unmanned plane 30 that user chooses by communication device 52.
Specifically, input control signal includes following at least one: controlling the state of the unmanned plane, controls the state of the camera of the UAV flight, controls the state of the holder of the unmanned plane carrying.Correspondingly, the status information of unmanned plane specifically also may include the state of unmanned plane 30, the state for the camera that unmanned plane 30 carries, the state etc. for the holder that unmanned plane 30 carries.
In the present embodiment, the state for controlling the unmanned plane includes that control is following at least one: setting destination, and key landing a, key takes off.Referring to Fig. 3, the icon that key landing and a key are taken off is shown in the state region 42 of the control interface 40 of display device 53, and user clicks the icon under the control model for one or several unmanned planes 30, control device 51 just generates corresponding control information, and passes through communication device
52 are sent to corresponding unmanned plane 30.The function that destination is arranged can be completed on the map of picture area 43, user can click the location point on map, destination as control 30 flight path of unmanned plane, control device 51 detects after this set operation, it is converted into the control information that control unmanned plane 30 flies, user's unmanned plane 30 to be controlled is sent to by communication device 52.
The state for controlling the camera of the UAV flight includes that control is following at least one: adjusting the focal length of the camera, adjusts the exposure of the camera.Referring to Fig. 3, can state region 42 mark off the display camera mounted of unmanned plane 30 state region, show the information such as focal length, the exposure of camera, and can operate in corresponding position detection user to the adjustment of some parameter.Control device 51 inputs in control interface 40 for the operating control signal of one or more unmanned planes 30 according to user, generates and sends the control information for controlling corresponding unmanned plane 30 by communication device 52.
The state for controlling the holder of the unmanned plane carrying includes that control is following at least one: adjusting the pitch angle of the holder, adjusts the roll angle of the holder, adjusts the flat-moving angle of the holder.It is similar referring to Fig. 3, can state region 42 mark off the holder that display unmanned plane 30 is carried state region, show the pitch angle of holder, roll angle, the information such as flat-moving angle, and can operate in corresponding position detection user to the adjustment of some parameter.Control device 51 inputs in control interface 40 for the operating control signal of one or more unmanned planes 30 according to user, generates and sends the control information for controlling corresponding unmanned plane 30 by communication device 52.
In the present embodiment, in addition to above-mentioned user artificially controls one or more unmanned planes 30, control system can also be realized to the intelligent control of unmanned plane 30, to realize the work compound of multiple unmanned planes 30.The display device 53 is for selecting unmanned plane 30 described in wherein at least two；The control device 51 is used for the status information of the unmanned plane according to the wherein at least two of selection, forms the Collaborative Control information for realizing the cooperation between multiple unmanned planes；The communication device 52 is at least two unmanned planes to send the Collaborative Control information thereto simultaneously.
Wherein, the unmanned plane 30 that selection will carry out work compound can be what user was selected by the control interface 40 of display device 53, be also possible to control device 51 according to job task intelligent selection.In the present embodiment, it can shared information between different control object examples, i.e. different control object examples have certain relative independentability while, between each other again can direct or indirect shared information, shared information just includes the status information of unmanned plane 30.Specifically, in some embodiments, different control object examples can send information to other control object examples, and can be different control object example
Information the processing such as can be summarized, be merged by third-party message processing module, then processing information can be distributed to different control object examples.This is the technical foundation that the equal unmanned planes of unmanned plane 30 carry out Multi computer cooperation.Such as, in some embodiments, different unmanned planes 30 can be by status informations such as the flight path information of oneself, other control object examples are shared to by its corresponding control object example, other control object examples are on this basis, it goes to control its corresponding unmanned plane 30, to realize that the flight path of different unmanned planes 30 is uniformly distributed, is parallel to each other, forming the certain effects such as certain figure.For another example, in some embodiments, state of flight information of oneself etc. can be shared to other control object examples by its corresponding control object example by different unmanned planes 30, other control object examples are on this basis, it goes to control its corresponding unmanned plane 30, to realize the certain effects such as different 30 relay operations of unmanned plane.
In the present embodiment, Collaborative Control information includes following at least one: flying according to same course line, successively flies simultaneously according to same course line, fly simultaneously according to different course lines, successively flies according to different course lines.This Collaborative Control information, control device 51 can calculate generation according to status informations such as the location information for the multiple unmanned planes 30 to be controlled, flight path, programme paths, and a series of control information is generated, multiple unmanned planes 30 are separately sent to by communication device 52.
In the present embodiment, control system is established and is communicated to connect by long-range mode and multiple unmanned planes 30, i.e., the one or more links connecting in control system with unmanned plane 30 are suitable for the connection type of telecommunication using 4G network etc..
Referring to Fig. 6, in one embodiment of the invention, unmanned aerial vehicle control system provided by the invention further includes server end 60 and remote control end 70, and user terminal 10 is communicated to connect by communication device 52 and server end 60；It is remotely controlled end 70 to communicate to connect by the first long range radio transmissions mode and unmanned plane 30, server end 60 is communicated to connect by the second long range radio transmissions mode and remote control end 70.The communication mode of first long range radio transmissions mode is different from the communication mode of the second long range radio transmissions mode.In some embodiments, the farthest transmission range of the first long range radio transmissions mode is less than the farthest transmission range of the second long range radio transmissions mode.In the present embodiment, server end 60 can connect user terminal 10 by wired or wireless mode, first long range radio transmissions mode is WiFi connection, and the second long range radio transmissions mode is 4G network communication, this communication connection mode has expanded the scope of application of control system of the present invention significantly.The unmanned aerial vehicle (UAV) control method of the present embodiment is identical as a upper embodiment.User controls one or more unmanned planes 30 by the control interface of the display device 53 of user terminal 10, and the status information of unmanned plane 30 can be shown in the control interface of 10 display device 53 of user terminal.Server end 60 can realize the differentiated control to multiple users, so as to realize multiple users multiple unmanned planes 30 of Cooperation controlling simultaneously；Specifically, when a plurality of clients 10
It is connect with server end 60, and when controlling one or more unmanned planes 30 simultaneously, the control information that server end 60 can send a plurality of clients 10 is handled according to priority, different permissions is distributed for different user end 10, to realize that multiple users can be by 10 work compound of a plurality of clients.The control such as posture, speed can be carried out to unmanned plane 30 by being remotely controlled end 70, so that realization is one-to-many to be uniformly controlled with unit control and deposit as the supplement for controlling user terminal 10 information.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；Although present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it is still possible to modify the technical solutions described in the foregoing embodiments, or equivalent substitution of some or all of the technical features；And these are modified or replaceed, the range for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (34)
- A kind of unmanned aerial vehicle (UAV) control method is applied to user terminal characterized by comprisingEstablish the communication connection of user terminal Yu multiple unmanned planes；Multiple unmanned planes are controlled by the user terminal, and show the status information of unmanned plane described in wherein at least one by the control interface of the user terminal.
- Unmanned aerial vehicle (UAV) control method as described in claim 1, which is characterized in that further include:Establish multiple control object examples, wherein one has been established the corresponding control object example of the unmanned plane of communication connection.
- Unmanned aerial vehicle (UAV) control method as claimed in claim 2, which is characterized in that further include:The icon for representing the control object example is shown in the control interface, wherein the corresponding icon of a control object example.
- Unmanned aerial vehicle (UAV) control method as claimed in claim 3, which is characterized in that the icon is for selecting one unmanned plane of control, or the status information for selecting one unmanned plane of display.
- Unmanned aerial vehicle (UAV) control method as claimed in claim 2, which is characterized in that further include:Detect the selection operation signal for selecting the control object example；According to the selection operation signal, selection one unmanned plane of control.
- Unmanned aerial vehicle (UAV) control method as described in claim 1, which is characterized in that further include:The input control signal of user is received by the control interface；According to the input control signal of the user, the control information for controlling the corresponding unmanned plane is sent.
- Unmanned aerial vehicle (UAV) control method as claimed in claim 6, which is characterized in that the input control signal includes following at least one:The state for controlling the unmanned plane controls the state of the camera of the UAV flight, controls the state of the holder of the unmanned plane carrying.
- Unmanned aerial vehicle (UAV) control method as claimed in claim 7, which is characterized in that described in the control The state of unmanned plane includes that control is following at least one: setting destination, and key landing a, key takes off.
- Unmanned aerial vehicle (UAV) control method as claimed in claim 7, which is characterized in that the state of the camera of the control UAV flight includes that control is following at least one: adjusting the focal length of the camera, adjusts the exposure of the camera.
- Unmanned aerial vehicle (UAV) control method as claimed in claim 7, it is characterized in that, the state of the holder of the control unmanned plane carrying includes that control is following at least one: adjusting the pitch angle of the holder, adjusts the roll angle of the holder, adjusts the flat-moving angle of the holder.
- Unmanned aerial vehicle (UAV) control method as claimed in claim 6, which is characterized in that the control information includes the identity code of control command He the unmanned plane to be controlled.
- Unmanned aerial vehicle (UAV) control method as claimed in claim 6, which is characterized in that further include:Select unmanned plane described in wherein at least two；The status information of the unmanned plane according to the wherein at least two of selection forms the Collaborative Control information for realizing the cooperation between multiple unmanned planes；AndAt least two unmanned planes send the Collaborative Control information thereto simultaneously.
- Unmanned aerial vehicle (UAV) control method as claimed in claim 12, it is characterized in that, the Collaborative Control information includes following at least one: flying according to same course line, successively fly according to same course line simultaneously, it flies according to different course lines, successively flies according to different course lines simultaneously.
- Unmanned aerial vehicle (UAV) control method as described in claim 1, which is characterized in that the user terminal is established and communicated to connect by long-range mode and multiple unmanned planes.
- Unmanned aerial vehicle (UAV) control method as claimed in claim 14, which is characterized in that further include remote control end and server end；The server end and the user terminal communicate to connect, and can be used in carrying out differentiated control to the control of the unmanned plane to multiple user terminals；The remote control end is connect by the first long range radio transmissions mode with the UAV Communication；The server end is also communicated to connect by the second long range radio transmissions mode and the remote control end.
- Unmanned aerial vehicle (UAV) control method as claimed in claim 15, which is characterized in that the communication mode of the first long range radio transmissions mode and the communication mode of the second long range radio transmissions mode are not Together.
- Unmanned aerial vehicle (UAV) control method as claimed in claim 16, which is characterized in that the farthest transmission range of the first long range radio transmissions mode is less than the farthest transmission range of the second long range radio transmissions mode.
- A kind of unmanned aerial vehicle control system characterized by comprising communication device, control device and display device；The communication device is used to establish with unmanned plane and communicate to connect；The display device is used to show the status information of the unmanned plane；The control device is communicated to connect with the communication device and the display device respectively, for controlling the communication connection of the communication device foundation and multiple unmanned planes, multiple unmanned planes are controlled, and the control display device shows the status information of unmanned plane described in wherein at least one.
- Unmanned aerial vehicle control system as claimed in claim 18, which is characterized in that the control device is also used to establish multiple control object examples, wherein one has been established the corresponding control object example of the unmanned plane of communication connection with the communication device.
- Unmanned aerial vehicle control system as claimed in claim 19, which is characterized in that the display device is also used to show the icon for representing the control object example, wherein the corresponding icon of a control object example.
- Unmanned aerial vehicle control system as claimed in claim 20, which is characterized in that one unmanned plane of control can be selected by operating the icon, or the status information of one unmanned plane of display can be selected.
- Unmanned aerial vehicle control system as claimed in claim 19, which is characterized in that the display device is also used to detect the selection operation signal for selecting the control object example, and sends the control device for the selection operation signal；The control device is according to the selection operation signal, selection one unmanned plane of control.
- Unmanned aerial vehicle control system as claimed in claim 18, which is characterized in that the display device is also used to receive the input control signal of user；The control device is also used to the input control signal according to the user, generates the control information for controlling the corresponding unmanned plane；The communication device is for sending the control information.
- Unmanned aerial vehicle control system as claimed in claim 23, it is characterized in that, the input control signal includes that control is following at least one: controlling the state of the unmanned plane, controls the state of the camera of the UAV flight, controls the state of the holder of the unmanned plane carrying.
- Unmanned aerial vehicle control system as claimed in claim 24, which is characterized in that the state of the control unmanned plane includes that control is following at least one: setting destination, and key landing a, key takes off.
- Unmanned aerial vehicle control system as claimed in claim 24, which is characterized in that the state of the camera of the control UAV flight includes that control is following at least one: adjusting the focal length of the camera, adjusts the exposure of the camera.
- Unmanned aerial vehicle control system as claimed in claim 24, it is characterized in that, the state of the holder of the control unmanned plane carrying includes that control is following at least one: adjusting the pitch angle of the holder, adjusts the roll angle of the holder, adjusts the flat-moving angle of the holder.
- Unmanned aerial vehicle control system as claimed in claim 23, which is characterized in that the control information includes the identity code of control command He the unmanned plane to be controlled.
- Unmanned aerial vehicle control system as claimed in claim 23, which is characterized in thatThe display device is for unmanned plane described in the selection wherein at least two of operation signal according to the user's choice；The control device is used for the status information of the unmanned plane according to the wherein at least two of selection, forms the Collaborative Control information for realizing the cooperation between multiple unmanned planes；The communication device is at least two unmanned planes to send the Collaborative Control information thereto simultaneously.
- Unmanned aerial vehicle control system as claimed in claim 29, it is characterized in that, the Collaborative Control information includes following at least one: flying according to same course line, successively fly according to same course line simultaneously, it flies according to different course lines, successively flies according to different course lines simultaneously.
- Unmanned aerial vehicle control system as claimed in claim 18, which is characterized in that the communication device is used to establish and communicate to connect by long-range mode and multiple unmanned planes.
- Unmanned aerial vehicle control system as claimed in claim 31, which is characterized in that further include remote control end and server end；The server end and the user terminal communicate to connect, and can be used in carrying out differentiated control to the control of the unmanned plane to multiple user terminals；The remote control end is connect by the first long range radio transmissions mode with the UAV Communication；The server end is also communicated to connect by the second long range radio transmissions mode and the remote control end.
- Unmanned aerial vehicle control system as claimed in claim 32, which is characterized in that the communication mode of the first long range radio transmissions mode is different from the communication mode of the second long range radio transmissions mode.
- Unmanned aerial vehicle control system as claimed in claim 33, which is characterized in that the farthest transmission range of the first long range radio transmissions mode is less than the farthest transmission range of the second long range radio transmissions mode.
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| PCT/CN2017/075044 WO2018152847A1 (en) | 2017-02-27 | 2017-02-27 | Unmanned aerial vehicle control method and system |
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