CN109964193A - Unmanned plane, the method and system for controlling unmanned plane - Google Patents
Unmanned plane, the method and system for controlling unmanned plane Download PDFInfo
- Publication number
- CN109964193A CN109964193A CN201780071651.1A CN201780071651A CN109964193A CN 109964193 A CN109964193 A CN 109964193A CN 201780071651 A CN201780071651 A CN 201780071651A CN 109964193 A CN109964193 A CN 109964193A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- request instruction
- permission
- user
- management
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 52
- 230000004044 response Effects 0.000 claims description 33
- 238000007726 management method Methods 0.000 claims description 32
- 238000004891 communication Methods 0.000 claims description 17
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 4
- 230000006870 function Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000000739 chaotic effect Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 210000003733 optic disk Anatomy 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- 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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Selective Calling Equipment (AREA)
Abstract
A method of for controlling unmanned plane, wherein the described method includes: obtaining the request instruction of user, the request instruction includes control request instruction and/or management-request instruction；And the permission according to the user, it sends or refusal sends the control request instruction to unmanned plane；And/or the permission according to the user, it executes or refusal executes the management-request instruction.This method can distinguish user right, keep unmanned plane management safer.The present invention also provides a kind of unmanned plane tele-control systems and unmanned plane using the method.
Description
The present invention relates to unmanned plane remote control method case, in particular to a kind of control method and control device.
At this stage, the application scenarios of unmanned plane are more, and to be that user is simple controlled by remote controler.The control for possessing the unmanned plane due to only having user, is not related to the problem of management of more people or multimachine.However, the extensive application with unmanned plane in the industries such as agricultural plant protection, safety monitoring, power-line patrolling, generally requires more people and more unmanned planes is controlled or managed.Due to there is the case where more people are managed unmanned plane, if the administration authority for personnel is not distinguish, biggish chaotic and risk necessarily is brought to management.
Summary of the invention
Embodiments of the present invention aim to solve at least one of the technical problems existing in the prior art.For this purpose, embodiments of the present invention need to provide a kind of control method and control device.
A method of for controlling unmanned plane, which comprises
The request instruction of user is obtained, the request instruction includes control request instruction and/or management-request instruction；And
According to the permission of the user, sends or refusal sends the control request instruction to unmanned plane；And/or
According to the permission of the user, executes or refusal executes the management-request instruction.
In some embodiments, the control request instruction includes at least one or more of the kinematic parameter of adjustment unmanned plane, the image transmitting parameter of adjustment unmanned plane, the holder for adjusting unmanned plane.
In some embodiments, the management-request instruction includes at least binding or unbinding unmanned plane, user is invited to be added, management is grouped to user, is grouped pipe to unmanned plane
One or more of manage, mission planning is carried out for unmanned plane, checks real-time image transmitting, the image transmitting record for managing history.
In some embodiments, the permission is the first permission, and first permission, which makes the control request instruction of the user that can all be sent to unmanned plane and/or the management-request instruction of the user, can all be performed.
In some embodiments, first permission includes the kinematic parameter for adjusting unmanned plane, the image transmitting parameter for adjusting unmanned plane, the holder, binding or the unbinding unmanned plane that adjust unmanned plane, the image transmitting record inviting user's addition, management is grouped to user, management is grouped to unmanned plane, mission planning is carried out for unmanned plane, checks real-time image transmitting, manages history.
In some embodiments, the permission is the second permission, second permission is lower than first permission, and second permission, which makes the control request instruction of the user that can all be sent to unmanned plane and/or the management-request instruction part of the user, to be performed.
In some embodiments, second permission includes the kinematic parameter for adjusting unmanned plane, the image transmitting parameter for adjusting unmanned plane, the holder for adjusting unmanned plane, user is invited to be added, mission planning is carried out for unmanned plane, checking real-time image transmitting, managing the image transmitting record of history.
In some embodiments, the permission is third permission, the third permission is lower than second permission, and the third permission is rejected the control request instruction of the user to be sent to the management-request instruction part of unmanned plane and/or the user and can be performed.
In some embodiments, the third permission includes the image transmitting record checked real-time image transmitting, check history.
In some embodiments, the method also includes:
Receive the control request instruction of the user；
According to the permission of the user, the control request instruction is sent to the unmanned plane；And
Receive the response signal of the unmanned plane.
In some embodiments, the response signal, which includes at least, receives response, refuses to respond；If the response signal is to receive response, the control that the unmanned plane executes the user terminal is asked
Ask instruction；If the response signal is to refuse to respond, the unmanned plane does not execute the control request instruction of the user terminal.
In some embodiments, the unmanned plane is unmanned vehicle, unmanned vehicle or unmanned boat.
A kind of unmanned plane tele-control system, the control system include:
Communication interface, for obtaining the request instruction of user, the request instruction includes control request instruction and/or management-request instruction；And
Database sends the authority information of the user for storing the permission of the user；Extremely
Processor determines to send or refusal sends the control request instruction to unmanned plane；And/or processor determines to execute or refusal executes the management-request instruction.
In some embodiments, the control request instruction includes at least one or more of the kinematic parameter of adjustment unmanned plane, the image transmitting parameter of adjustment unmanned plane, the holder for adjusting unmanned plane.
In some embodiments, the management-request instruction include at least binding or unbinding unmanned plane, invite user be added, user is grouped management, unmanned plane is grouped management, for unmanned plane carry out mission planning, check real-time image transmitting, management history image transmitting record one or more of.
In some embodiments, the permission is the first permission, and first permission, which makes the control request instruction of the user that can all be sent to unmanned plane and/or the management-request instruction of the user, can all be performed.
In some embodiments, first permission includes the kinematic parameter for adjusting unmanned plane, the image transmitting parameter for adjusting unmanned plane, the holder, binding or the unbinding unmanned plane that adjust unmanned plane, the image transmitting record inviting user's addition, management is grouped to user, management is grouped to unmanned plane, mission planning is carried out for unmanned plane, checks real-time image transmitting, manages history.
In some embodiments, the permission is the second permission, second permission is lower than first permission, and second permission, which makes the control request instruction of the user that can all be sent to unmanned plane and/or the management-request instruction part of the user, to be performed.
In some embodiments, second permission include adjust unmanned plane kinematic parameter,
The image transmitting parameter for adjusting unmanned plane the holder for adjusting unmanned plane, invites user to be added, mission planning is carried out for unmanned plane, checking real-time image transmitting, managing the image transmitting record of history.
In some embodiments, the permission is third permission, the third permission is lower than second permission, and the third permission is rejected the control request instruction of the user to be sent to the management-request instruction part of unmanned plane and/or the user and can be performed.
In some embodiments, the third permission includes the image transmitting record checked real-time image transmitting, check history.
In some embodiments, the control system further include:
Communication interface, for receiving the control request instruction of the user；
Database, for storing the permission of the user, sends the authority information of the user for storing the permission of the user；Extremely
Processor determines to send the control request instruction to the unmanned plane；And
The communication interface receives the response signal of the unmanned plane.
In some embodiments, the received response signal of the communication interface, which includes at least, receives response, refuses to respond；If the response signal is to receive response, the unmanned plane executes the control request instruction of the user terminal；If the response signal is to refuse to respond, the unmanned plane does not execute the control request instruction of the user terminal.
In some embodiments, the unmanned plane is unmanned vehicle, unmanned vehicle or unmanned boat.
A method of for controlling unmanned plane, the control method includes:
Obtain at least two control request instructions that unmanned plane tele-control system launches；
At least two control request instruction controls the load in the movement and the unmanned plane of the unmanned plane respectively, and the unmanned plane is performed simultaneously at least two control request instruction；And
At least two control request instruction is all the movement for controlling the unmanned plane, and the unmanned plane executes the control request instruction formerly obtained.
In some embodiments, the load is holder and filming apparatus.
In some embodiments, at least two control request instruction is acquired in different moments, and the control request instruction being more early acquired is the control request instruction formerly obtained.
In some embodiments, the unmanned plane is unmanned vehicle, unmanned vehicle or unmanned boat.
A kind of unmanned plane, the unmanned plane include:
Communication interface, at least two control request instructions launched for obtaining unmanned plane tele-control system；
Flight control system when for controlling the load in the movement and the unmanned plane that request instruction controls the unmanned plane respectively described at least two, controlling the unmanned plane and being performed simultaneously at least two control request instruction；And
When at least two control request instruction is all to control the movement of the unmanned plane, controls the unmanned plane and execute the control request instruction formerly obtained.
In some embodiments, the load is holder or filming apparatus.
In some embodiments, at least two control request instruction is acquired in different moments, and the control request instruction being more early acquired is the control request instruction formerly obtained.
In some embodiments, the unmanned plane is unmanned vehicle, unmanned vehicle or unmanned boat.
Above-mentioned and/or additional aspect and advantage of the invention will be apparent and be readily appreciated that in the description from combination following accompanying drawings to embodiment, in which:
Fig. 1 is the flow diagram of the control method of certain embodiments of the present invention.
Fig. 2 is the electronic device of certain embodiments of the present invention and the functional block diagram of control device.
Fig. 3 is the flow diagram of the control method of certain embodiments of the present invention.
Fig. 4 is the electronic device of certain embodiments of the present invention and the functional block diagram of control device.
Fig. 5 is the flow diagram of the control method of certain embodiments of the present invention.
Fig. 6 is the electronic device of certain embodiments of the present invention and the functional block diagram of control device.
Embodiments of the present invention are described below in detail, the example of the embodiment is shown in the accompanying drawings, and in which the same or similar labels are throughly indicated same or similar element or has
The element of same or like function.It is exemplary below with reference to the embodiment of attached drawing description, for explaining only the invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance or implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can explicitly or implicitly include one or more feature.In the description of the present invention, the meaning of " plurality " is two or more, unless otherwise specifically defined.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be mechanical connection, be also possible to be electrically connected or can be in communication with each other；It can be directly connected, the connection inside two elements or the interaction relationship of two elements can also be can be indirectly connected through an intermediary.For the ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
Following disclosure provides many different embodiments or example is used to realize different structure of the invention.In order to simplify disclosure of the invention, hereinafter the component of specific examples and setting are described.Certainly, they are merely examples, and is not intended to limit the present invention.In addition, the present invention repeat reference numerals and/or reference letter, this repetition can be for purposes of simplicity and clarity, itself not indicate the relationship between discussed various embodiments and/or setting in different examples.In addition, the present invention provides various specific techniques and material example, but those of ordinary skill in the art may be aware that other techniques application and/or other materials use.
Referring to Fig. 1, the control method for being used to control unmanned plane that the present invention one is implemented, the control method passes through a unmanned plane tele-control system 100 and executes.The control method includes:
S1, obtains the request instruction of user, and the request instruction includes control request instruction and/or management-request instruction；
S2 obtains the control request instruction, according to the permission of user, sends or refusal sends the control request instruction to unmanned plane；
S3 obtains the management-request instruction, according to the permission of user, executes or refusal executes
The management-request instruction.
Referring to Fig. 2, the unmanned plane tele-control system 100 includes communication interface 101, database 102 and processor 103, it can be used for realizing S1 to S3.That is communication interface 101 is used to obtain the request instruction of user, and request instruction includes control request instruction and/or management-request instruction.Database 102 is used to read the permission of user.Processor 103 executes for sending or refusing to send the control request instruction to unmanned plane or refusal executes the management-request instruction obtained.In the present embodiment, the unmanned plane is by taking unmanned vehicle as an example.In other embodiments, the unmanned plane may be unmanned vehicle or unmanned boat.
Wherein, control request instruction includes one or more of the line of flight for adjusting unmanned vehicle, the image transmitting parameter for adjusting unmanned vehicle, the holder for adjusting unmanned vehicle.The flight parameter of the adjustment unmanned vehicle includes at least one or more of flying speed, the line of flight, offline mode for changing unmanned vehicle etc..It is appreciated that the content of control request instruction is not limited to the example above, it can also include more contents, such as flying speed, the offline mode etc. of adjustment unmanned vehicle.
Wherein, the image transmitting record that management-request instruction includes at least binding or unbinding unmanned vehicle, invitation other users are added, management are grouped to user, management is grouped to unmanned vehicle, mission planning is carried out for unmanned vehicle, checks real-time image transmitting, manages history.Specifically, the image transmitting record of the management history includes at least the image transmitting record of editor or deleting history, checks the image transmitting record of history.It is appreciated that the content of management-request instruction is not limited to the example above, it can also include more contents, as long as can think to belong to management-request instruction to the request instruction that personnel and equipment are managed.
Wherein, permission includes the first permission, the second permission, third permission.First permission, which makes the control request instruction of the user that can all be sent to unmanned vehicle and the management-request instruction of the user, can all be performed.Specifically, first permission makes the line of flight of the adjustable unmanned vehicle of the user, the image transmitting parameter for adjusting unmanned vehicle, the holder, binding or the unbinding unmanned vehicle that adjust unmanned vehicle, the image transmitting record for inviting other users that unmanned vehicle tele-control system is added, management is grouped to the user of addition, management is grouped to the unmanned vehicle of binding, mission planning is carried out for unmanned vehicle, checks real-time image transmitting, manages history.Second permission is lower than first power
Limit, second permission make the control request instruction of the user that can all be sent to unmanned vehicle, and the management-request instruction part of the user can be performed.Specifically, second permission makes the line of flight of the adjustable unmanned vehicle of the user, the image transmitting parameter for adjusting unmanned vehicle, the holder for adjusting unmanned vehicle, invites other users that unmanned vehicle tele-control system is added, mission planning is carried out for unmanned vehicle, checking real-time image transmitting, managing the image transmitting record of history.The third permission is lower than second permission, and the third permission is rejected the control request instruction of the user to be sent to unmanned vehicle, and the management-request instruction part of the user can be performed.Specifically, the image transmitting record that the third permission allows the user to check real-time image transmitting, check history.It is appreciated that the content that the first permission, the second permission and third permission are included is not limited to the example above.In addition, the permission also may include the more multi-grades such as the 4th permission, the 5th permission, the content that the permission of every kind of grade is included can also pass through input sets itself or change by the user with first permission by default.
Wherein, user can be divided into boss, team leader, winged hand according to possessed Permission Levels, and the boss has third permission with the second permission, the winged hand with the first permission, the team leader.Specifically, a user becomes boss by binding account and the unmanned vehicle.It is appreciated that a user can also become boss, such as mailbox verifying, mobile phone verifying, identification card number verifying etc. otherwise.The boss is by way of mailbox invitation or register account number, invite other users that unmanned vehicle tele-control system is added, it is appreciated that the boss can also invite the other users that system, such as mobile phone verifying, identification card number verifying etc. is added otherwise.The boss can also delete the team leader or the winged hand, and corresponding user is made to lose the team leader or the corresponding permission of the winged hand.The boss makes the other users become team leader or winged hand by carrying out authority distribution or setting to the other users.The boss can be grouped the winged hand, then hand over an one or more team leaders to be managed each grouping, after can also being grouped to the winged hand, wherein will be set as team leader by a winged hand.It is appreciated that the team leader can also be reset to winged hand by the boss, the winged hand can also be reset to team leader by the boss.The team leader can also be by way of mailbox invitation or register account number, and inviting other users that system is added becomes winged hand, it will be understood that the team leader can also invite the other users addition system, such as mobile phone to test otherwise
Card, identification card number verifying etc..The team leader can also delete the winged hand, and corresponding user is made to lose the corresponding permission of the winged hand.In addition, same user can serve as team leader or winged hand in different groups simultaneously.It for example, a user can be team leader in A group, while being to fly hand in B group；It is all simultaneously team leader or winged hand in A, B group；It is winged hand in A group, while is team leader in B group.
Wherein, the boss inputs one or more of control request instructions such as the line of flight, the image transmitting parameter for adjusting unmanned vehicle, the holder for adjusting unmanned vehicle of adjustment unmanned vehicle, possess first permission according to the boss, the control request instruction can be sent to the unmanned plane；The boss inputs binding or unbinding unmanned vehicle, invites other users to be added, management is grouped to user, management is grouped to unmanned vehicle, mission planning is carried out for unmanned vehicle, checking one or more management-request instructions in the request instructions such as real-time image transmitting, the image transmitting record for managing history, possess first permission according to the boss, the management-request instruction can be performed.The team leader inputs one or more of control request instructions such as the line of flight, the image transmitting parameter for adjusting unmanned vehicle, the holder for adjusting unmanned vehicle of adjustment unmanned vehicle, if the control request instruction is directed to the unmanned vehicle in affiliated group of the team leader, then the control request instruction is sent to the unmanned vehicle, if what the control request instruction was directed to is not the unmanned vehicle in affiliated group of the team leader, the control request instruction can be rejected transmission；The team leader inputs binding or unbinding unmanned vehicle, management is grouped to user, is grouped one or more of management-request instructions such as management to unmanned vehicle, possess second permission according to the team leader, the management-request instruction can be rejected execution；One or more of management-request instructions such as team leader's input invites other users to be added, mission planning is carried out for unmanned vehicle, checking real-time image transmitting, the image transmitting of management history records, possess second permission according to the team leader, if the management-request instruction is directed to the management in affiliated group of the team leader, then the management-request instruction is performed, if what the management-request instruction was directed to is not the management in affiliated group of the team leader, the management-request instruction can be rejected execution.One or more of control request instructions such as the line of flight of the winged hand input adjustment unmanned vehicle, the image transmitting parameter for adjusting unmanned vehicle, the holder for adjusting unmanned vehicle, possess the third permission according to the winged hand, the control request instruction, which can be rejected, is sent to the nothing
People's aircraft；One or more of management-request instructions such as the winged hand input invitation other users addition, the image transmitting record that mission planning, editor or deleting history are carried out for unmanned vehicle, possess the third permission according to the winged hand, the management-request instruction can be rejected execution；One or more of management-request instructions such as real-time image transmitting, the image transmitting record for checking history are checked in the winged hand input, if the management-request instruction is directed to the image transmitting in affiliated group of the winged hand, then the management-request instruction is performed, if what the management-request instruction was directed to is not the image transmitting in affiliated group of the winged hand, the management-request instruction can be rejected execution.If being appreciated that, first permission, second permission, the content of the third permission are different, and above-mentioned transmission or implementing result may also change accordingly.
Referring to Fig. 3, the method for controlling unmanned plane that the present invention one is implemented, the control method is executed by a unmanned plane tele-control system 100.The control method includes:
S4 obtains the control request instruction of user；
S5 sends the control request instruction to the unmanned plane according to the permission of user terminal；
S6 receives the response signal of the unmanned plane.
Referring to Fig. 4, unmanned plane tele-control system 100 includes communication interface 101, database 102 and processor 103, it can be used for realizing S4 to S6.That is communication interface 101 is used to obtain the control request instruction of user, receives the response signal of the unmanned plane.Database 102 is used to read the permission of user.Processor 103 is for determining to send the control request instruction to unmanned plane.In the present embodiment, the unmanned plane is by taking unmanned vehicle as an example.In other embodiments, the unmanned plane may be unmanned vehicle or unmanned boat.
Wherein, the response signal includes at least and receives response signal, refuses to respond signal；If the response signal is to receive response signal, the unmanned vehicle executes the control request instruction of the user terminal；If the response signal is to refuse to respond signal, the unmanned vehicle does not execute the control request instruction of the user terminal.Specifically, the boss inputs one or more of control request instructions such as the line of flight, the image transmitting parameter for adjusting unmanned vehicle, the holder for adjusting unmanned vehicle of adjustment unmanned vehicle, possess first permission according to the boss, the control request instruction is sent to the unmanned vehicle；If the unmanned vehicle receives the control request instruction, the unmanned vehicle executes the control request instruction, and the response signal that receives is sent to the boss；If the unmanned vehicle refusal
The control request instruction, then the unmanned vehicle does not execute the control request instruction, and the signal that refuses to respond is sent to the boss.The team leader inputs one or more of control request instructions such as the line of flight, the image transmitting parameter for adjusting unmanned vehicle, the holder for adjusting unmanned vehicle of adjustment unmanned vehicle, if the control request instruction is directed to the unmanned vehicle in affiliated group of the team leader, the control request instruction is sent to the unmanned vehicle；If the unmanned vehicle receives the control request instruction, the unmanned vehicle executes the control request instruction, and the response signal that receives is sent to the team leader；If the unmanned vehicle refuses the control request instruction, the unmanned vehicle does not execute the control request instruction, and the signal that refuses to respond is sent to the team leader.
Referring to Fig. 5, the method for controlling unmanned plane that the present invention one is implemented.The method is executed by unmanned plane, which comprises
S7 obtains at least two control request instructions that unmanned plane tele-control system launches；
S8, at least two control request instruction control the load in the flight and the unmanned plane of the unmanned plane respectively, and the unmanned plane is performed simultaneously at least two control request instruction；
S9, at least two control request instruction is all the dynamic row for controlling the unmanned plane, and the unmanned plane executes the control request instruction formerly obtained.
Referring to Fig. 6, the unmanned plane of the present embodiment, by taking unmanned vehicle 200 as an example, in other embodiments, the unmanned plane may be unmanned vehicle or unmanned boat.The unmanned vehicle 200 includes communication interface 201, flight control system 202, can be used for realizing S7 to S9.That is communication interface 201 is used to obtain at least two control request instructions that unmanned vehicle tele-control system launches.The control request instruction that flight control system 202 is used to be performed simultaneously at least two control request instruction or first obtains.At least two control request instruction is acquired in different moments, and the control request instruction being more early acquired is the control request instruction formerly obtained.
Wherein, the load is holder or filming apparatus.The flight of the control unmanned vehicle includes one or more of the line of flight, offline mode, flying speed for adjusting the unmanned vehicle etc.；Load on the control unmanned vehicle includes adjustment holder, adjustment image biography
One or more of defeated parameter etc..Specifically, the unmanned vehicle obtains the control request instruction of the flight of a control unmanned vehicle in the line of flight, offline mode, flying speed for adjusting the unmanned vehicle, an adjustment holder is obtained again, adjusts one or more control request instructions in image transmitting parameter, then the flight of the control unmanned vehicle and multiple control request instructions of the load on the control unmanned vehicle can be executed by aircraft；The unmanned vehicle obtains the control request instruction of the flight of a control unmanned vehicle in the line of flight, offline mode, flying speed for adjusting the unmanned vehicle, the control request instruction of the flight of another control unmanned vehicle in the line of flight, offline mode, flying speed of an adjustment unmanned vehicle is obtained again, then the unmanned vehicle will continue to execute the control request instruction formerly obtained.
In the description of this specification, the description of reference term " embodiment ", " some embodiments ", " exemplary embodiment ", " example ", " specific example " or " some examples " etc. means to be contained at least one embodiment or example of the invention in conjunction with the embodiment or example particular features, structures, materials, or characteristics described.In the present specification, schematic expression of the above terms are not necessarily referring to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be combined in any suitable manner in any one or more embodiments or example.
Any process described otherwise above or method description are construed as in flow chart or herein, indicate the module, segment or the part that include the steps that one or more codes for realizing specific logical function or the executable instruction of process, and the range of the preferred embodiment of the present invention includes other realization, sequence shown or discussed can not wherein be pressed, including according to related function by it is basic simultaneously in the way of or in the opposite order, function is executed, this should understand by the embodiment of the present invention person of ordinary skill in the field.
Expression or logic and/or step described otherwise above herein in flow charts, such as, it is considered the order list of the executable instruction for realizing logic function, it may be embodied in any computer-readable medium, for instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be from instruction execution system, device or equipment instruction fetch and the system executed instruction) use, or used in conjunction with these instruction execution systems, device or equipment.For the purpose of this specification, " computer-readable medium " can be it is any can
With comprising, storage, communicate, propagate, or transport program is for instruction execution system, device or equipment or the device used in conjunction with these instruction execution systems, device or equipment.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electrical connection section (electronic device) of one or more wirings, portable computer diskette box (magnetic device), random access memory (RAM), read-only memory (ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk read-only storage (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other suitable media, because can be for example by carrying out optical scanner to paper or other media, then it edited, interpreted or is handled when necessary with other suitable methods electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.In the above-described embodiment, multiple steps or method can be executed in memory and by suitable instruction execution system with storage software or firmware is realized.Such as, if realized with hardware, in another embodiment, it may be implemented using any one or a combination of the following techniques well known in the art: there is the discrete logic for realizing the logic gates of logic function to data-signal, specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), field programmable gate array (FPGA) etc..
Those skilled in the art are understood that realize that all or part of the steps that above-mentioned implementation method carries is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer readable storage medium, the program when being executed, includes the steps that one or a combination set of embodiment of the method.
In addition, each functional unit in each embodiment of the present invention can integrate in a processing module, it is also possible to each unit and physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated module both can take the form of hardware realization, can also be realized in the form of software function module.If the integrated module is realized and when sold or used as an independent product in the form of software function module, also can store in a computer readable storage medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is
Illustratively, it is not considered as limiting the invention, those skilled in the art can make changes, modifications, alterations, and variations to the above described embodiments within the scope of the invention.
Claims (32)
- A method of for controlling unmanned plane, which is characterized in that the described method includes:The request instruction of user is obtained, the request instruction includes control request instruction and/or management-request instruction；AndAccording to the permission of the user, sends or refusal sends the control request instruction to unmanned plane；And/orAccording to the permission of the user, executes or refusal executes the management-request instruction.
- The method as described in claim 1, which is characterized in that the control request instruction includes at least one or more of the kinematic parameter of adjustment unmanned plane, the image transmitting parameter of adjustment unmanned plane, the holder for adjusting unmanned plane.
- Method according to claim 2, it is characterized in that, the management-request instruction include at least binding or unbinding unmanned plane, invite user be added, user is grouped management, unmanned plane is grouped management, for unmanned plane carry out mission planning, check real-time image transmitting, management history image transmitting record one or more of.
- The method as described in claim 1, which is characterized in that the permission is the first permission, and first permission, which makes the control request instruction of the user that can all be sent to unmanned plane and/or the management-request instruction of the user, can all be performed.
- Method as claimed in claim 4, it is characterized in that, first permission includes the kinematic parameter for adjusting unmanned plane, the image transmitting parameter for adjusting unmanned plane, the holder, binding or the unbinding unmanned plane that adjust unmanned plane, the image transmitting record inviting user's addition, management is grouped to user, management is grouped to unmanned plane, mission planning is carried out for unmanned plane, checks real-time image transmitting, manages history.
- Method as claimed in claim 4, it is characterized in that, the permission is the second permission, second permission is lower than first permission, second permission, which makes the control request instruction of the user that can all be sent to unmanned plane and/or the management-request instruction part of the user, to be performed.
- Method as claimed in claim 6, it is characterized in that, second permission includes the kinematic parameter for adjusting unmanned plane, the image transmitting parameter for adjusting unmanned plane, the holder for adjusting unmanned plane, user is invited to be added, mission planning is carried out for unmanned plane, checking real-time image transmitting, managing the image transmitting record of history.
- Method as claimed in claim 5, it is characterized in that, the permission is third permission, the third permission is lower than second permission, the third permission is rejected the control request instruction of the user to be sent to the management-request instruction part of unmanned plane and/or the user and can be performed.
- Method according to claim 8, which is characterized in that the third permission includes the image transmitting record checked real-time image transmitting, check history.
- Method as described in claim 1-6, which is characterized in that the method also includes:Receive the control request instruction of the user；According to the permission of the user, the control request instruction is sent to the unmanned plane；AndReceive the response signal of the unmanned plane.
- The method of claim 7, which is characterized in that the response signal, which includes at least, to be received response, refuses to respond；If the response signal is to receive response, the unmanned plane executes the control request instruction of the user terminal；If the response signal is to refuse to respond, the unmanned plane does not execute the control request instruction of the user terminal.
- Unmanned plane tele-control system as described in claim 1-11, which is characterized in that the unmanned plane is unmanned vehicle, unmanned vehicle or unmanned boat.
- A kind of unmanned plane tele-control system, which is characterized in that the control system includes:Communication interface, for obtaining the request instruction of user, the request instruction includes control request instruction and/or management-request instruction；AndDatabase sends the authority information of the user for storing the permission of the user；ExtremelyProcessor determines to send or refusal sends the control request instruction to unmanned plane；And/orProcessor determines to execute or refusal executes the management-request instruction.
- Unmanned plane tele-control system as claimed in claim 13, which is characterized in that the control request instruction includes at least one or more of the kinematic parameter of adjustment unmanned plane, the image transmitting parameter of adjustment unmanned plane, the holder for adjusting unmanned plane.
- Unmanned plane tele-control system as claimed in claim 14, it is characterized in that, the management-request instruction include at least binding or unbinding unmanned plane, invite user be added, user is grouped management, unmanned plane is grouped management, for unmanned plane carry out mission planning, check real-time image transmitting, management history image transmitting record one or more of.
- Unmanned plane tele-control system as claimed in claim 15, it is characterized in that, the permission is the first permission, and first permission, which makes the control request instruction of the user that can all be sent to unmanned plane and/or the management-request instruction of the user, can all be performed.
- Unmanned plane tele-control system as claimed in claim 16, it is characterized in that, first permission includes the kinematic parameter for adjusting unmanned plane, the image transmitting parameter for adjusting unmanned plane, the holder, binding or the unbinding unmanned plane that adjust unmanned plane, user is invited to add The image transmitting record enter, management is grouped to user, management is grouped to unmanned plane, mission planning is carried out for unmanned plane, checks real-time image transmitting, manages history.
- Unmanned plane tele-control system as claimed in claim 16, it is characterized in that, the permission is the second permission, second permission is lower than first permission, second permission, which makes the control request instruction of the user that can all be sent to unmanned plane and/or the management-request instruction part of the user, to be performed.
- Unmanned plane tele-control system as claimed in claim 18, it is characterized in that, second permission includes the kinematic parameter for adjusting unmanned plane, the image transmitting parameter for adjusting unmanned plane, the holder for adjusting unmanned plane, user is invited to be added, mission planning is carried out for unmanned plane, checking real-time image transmitting, managing the image transmitting record of history.
- Unmanned plane tele-control system as claimed in claim 18, it is characterized in that, the permission is third permission, the third permission is lower than second permission, the third permission is rejected the control request instruction of the user to be sent to the management-request instruction part of unmanned plane and/or the user and can be performed.
- Unmanned plane tele-control system as claimed in claim 20, which is characterized in that the third permission includes the image transmitting record checked real-time image transmitting, check history.
- Unmanned plane tele-control system as described in claim 13-21, which is characterized in that the control system further include:Communication interface, for receiving the control request instruction of the user；Database, for storing the permission of the user, sends the authority information of the user for storing the permission of the user；ExtremelyProcessor determines to send the control request instruction to the unmanned plane；AndThe communication interface receives the response signal of the unmanned plane.
- Unmanned plane tele-control system as claimed in claim 22, which is characterized in that the received response signal of communication interface, which includes at least, to be received response, refuses to respond；If the response signal is to receive response, the unmanned plane executes the control request instruction of the user terminal；If the response signal is to refuse to respond, the unmanned plane does not execute the control request instruction of the user terminal.
- Unmanned plane tele-control system as described in claim 13-23, which is characterized in that the unmanned plane is unmanned vehicle, unmanned vehicle or unmanned boat.
- A method of for controlling unmanned plane, the control method includes:Obtain at least two control request instructions that unmanned plane tele-control system launches；At least two control request instruction controls the load in the movement and the unmanned plane of the unmanned plane respectively, and the unmanned plane is performed simultaneously at least two control request instruction；AndAt least two control request instruction is all the movement for controlling the unmanned plane, and the unmanned plane executes the control request instruction formerly obtained.
- Method as claimed in claim 25, which is characterized in that the load is holder and filming apparatus.
- Method as claimed in claim 25, which is characterized in that at least two control request instruction is acquired in different moments, and the control request instruction being more early acquired is the control request instruction formerly obtained.
- Unmanned plane as claimed in claim 25, which is characterized in that the unmanned plane is unmanned vehicle, unmanned vehicle or unmanned boat.
- A kind of unmanned plane, the unmanned plane include:Communication interface, at least two control request instructions launched for obtaining unmanned plane tele-control system；Flight control system when for controlling the load in the movement and the unmanned plane that request instruction controls the unmanned plane respectively described at least two, controlling the unmanned plane and being performed simultaneously at least two control request instruction；AndWhen at least two control request instruction is all to control the movement of the unmanned plane, controls the unmanned plane and execute the control request instruction formerly obtained.
- Unmanned plane as claimed in claim 29, which is characterized in that the load is holder or filming apparatus.
- Unmanned plane as claimed in claim 29, which is characterized in that at least two control request instruction is acquired in different moments, and the control request instruction being more early acquired is the control request instruction formerly obtained.
- Unmanned plane as claimed in claim 29, which is characterized in that the unmanned plane is unmanned vehicle, unmanned vehicle or unmanned boat.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/075047 WO2018152848A1 (en) | 2017-02-27 | 2017-02-27 | Unmanned aerial vehicle and method and system for controlling the unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109964193A true CN109964193A (en) | 2019-07-02 |
Family
ID=63254164
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780071651.1A Pending CN109964193A (en) | 2017-02-27 | 2017-02-27 | Unmanned plane, the method and system for controlling unmanned plane |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109964193A (en) |
| WO (1) | WO2018152848A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112106007A (en) * | 2019-08-29 | 2020-12-18 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle management method, equipment, unmanned aerial vehicle, system and storage medium |
| CN112313650A (en) * | 2019-10-30 | 2021-02-02 | 深圳市大疆创新科技有限公司 | User right defining method, mobile terminal and computer readable storage medium |
| CN113630903A (en) * | 2020-05-08 | 2021-11-09 | 苹果公司 | Unmanned aerial vehicle and controller association |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113671882A (en) * | 2021-08-25 | 2021-11-19 | 李奎 | Remote robot control system based on Internet and control method thereof |
| CN115774456A (en) * | 2021-09-06 | 2023-03-10 | 北京三快在线科技有限公司 | Control method and device for unmanned aerial vehicle |
| CN115115286B (en) * | 2022-08-29 | 2022-12-16 | 深圳市金得润科技有限公司 | A operation material management system for plant protection unmanned aerial vehicle |
| CN115564315B (en) * | 2022-11-28 | 2023-09-22 | 苏州维伟思医疗科技有限公司 | Unmanned aerial vehicle control method, server, control terminal and storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104332072A (en) * | 2014-10-22 | 2015-02-04 | 北京航空航天大学 | General aviation flight plan management system |
| CN104991563A (en) * | 2015-05-12 | 2015-10-21 | 零度智控（北京）智能科技有限公司 | Graded unmanned plane operating method and system |
| CN105556408A (en) * | 2014-09-15 | 2016-05-04 | 深圳市大疆创新科技有限公司 | Flight control method of aircrafts and device related thereto |
| CN106027462A (en) * | 2016-01-21 | 2016-10-12 | 李明 | Operation request control method and device |
| CN106155070A (en) * | 2016-07-04 | 2016-11-23 | 零度智控（北京）智能科技有限公司 | Unmanned plane takes off control method and device, remote terminal |
| CN106227224A (en) * | 2016-07-28 | 2016-12-14 | 零度智控（北京）智能科技有限公司 | Flight control method, device and unmanned plane |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107409051B (en) * | 2015-03-31 | 2021-02-26 | 深圳市大疆创新科技有限公司 | Authentication system and method for generating flight controls |
| CN106354032A (en) * | 2015-07-17 | 2017-01-25 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle control method, device and system |
| CN105139178A (en) * | 2015-09-15 | 2015-12-09 | 余江 | Express delivery method and system based on unmanned aerial vehicle |
| CN106331613B (en) * | 2016-08-22 | 2020-06-23 | 天津航天中为数据系统科技有限公司 | Communication method and system based on unmanned aerial vehicle |
-
2017
- 2017-02-27 WO PCT/CN2017/075047 patent/WO2018152848A1/en active Application Filing
- 2017-02-27 CN CN201780071651.1A patent/CN109964193A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105556408A (en) * | 2014-09-15 | 2016-05-04 | 深圳市大疆创新科技有限公司 | Flight control method of aircrafts and device related thereto |
| CN104332072A (en) * | 2014-10-22 | 2015-02-04 | 北京航空航天大学 | General aviation flight plan management system |
| CN104991563A (en) * | 2015-05-12 | 2015-10-21 | 零度智控（北京）智能科技有限公司 | Graded unmanned plane operating method and system |
| CN106027462A (en) * | 2016-01-21 | 2016-10-12 | 李明 | Operation request control method and device |
| CN106155070A (en) * | 2016-07-04 | 2016-11-23 | 零度智控（北京）智能科技有限公司 | Unmanned plane takes off control method and device, remote terminal |
| CN106227224A (en) * | 2016-07-28 | 2016-12-14 | 零度智控（北京）智能科技有限公司 | Flight control method, device and unmanned plane |
Non-Patent Citations (3)
| Title |
|---|
| 万刚: "《无人机测绘技术及应用》", 31 December 2015, 北京测绘出版社 * |
| 王宝昌: "《无人机航拍技术 无人机应用技术》", 31 January 2017, 西安工业大学出版社 * |
| 王志成: "《Access数据库应用基础教程》", 31 January 2016, 北京邮电大学出版社 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112106007A (en) * | 2019-08-29 | 2020-12-18 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle management method, equipment, unmanned aerial vehicle, system and storage medium |
| CN112313650A (en) * | 2019-10-30 | 2021-02-02 | 深圳市大疆创新科技有限公司 | User right defining method, mobile terminal and computer readable storage medium |
| CN113630903A (en) * | 2020-05-08 | 2021-11-09 | 苹果公司 | Unmanned aerial vehicle and controller association |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018152848A1 (en) | 2018-08-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109964193A (en) | Unmanned plane, the method and system for controlling unmanned plane | |
| KR102318639B1 (en) | File Downloading Method, Apparatus, and Non-Transitory Computer-Readable Storage Medium | |
| US10983902B2 (en) | Collaborative computer aided test plan generation | |
| US7085954B2 (en) | Storage system performing remote copying bypassing controller | |
| EP3699755A3 (en) | Alignment a combination of software of ecus in an onboard system and ecu | |
| CN106060187A (en) | Address allocation methods and devices | |
| CN104079445A (en) | Distributed type pressure testing system and method | |
| CN109510842A (en) | A kind of method and device of industry control network file Mandatory Access Control configuration | |
| CN104065618A (en) | Method, terminal and server for controlling user permission | |
| US11520620B2 (en) | Electronic device and non-transitory storage medium implementing test path coordination method | |
| CN109711144A (en) | Cloud mobile phone applies black, white list management method | |
| CN111123728B (en) | Unmanned vehicle simulation method, device, equipment and computer readable medium | |
| CN109857118A (en) | For planning the method, apparatus, equipment and storage medium of driving strategy | |
| CN107438871A (en) | Collecting method, data acquisition device and data collecting system | |
| CN108445740A (en) | Unmanned aerial vehicle (UAV) control method, non-transient computer readable storage medium and electronic equipment | |
| CN109726988A (en) | A kind of flow engine call method, device, electronic equipment and readable storage medium storing program for executing | |
| DE102008039636A1 (en) | Fire detection system and method for configuring a fire detection system | |
| CN110516128A (en) | Information configuring methods, equipment, storage medium and device | |
| CN111131324A (en) | Login method and device of business system, storage medium and electronic device | |
| TAY | Rethinking institutional repositories | |
| CN116708412A (en) | Data uploading method and device, electronic equipment and storage medium | |
| CN112468578B (en) | Real-time industrial data acquisition system and method | |
| CN106657227B (en) | The method and device of resource is subscribed in a kind of change | |
| US11477292B1 (en) | Digital photo frame, a system thereof, and a method thereof | |
| KR101889604B1 (en) | Method of verifying images received and transmitted by dicom gateway |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |