CN105261189A - Unmanned aerial vehicle flight control method and system - Google Patents
Unmanned aerial vehicle flight control method and system Download PDFInfo
- Publication number
- CN105261189A CN105261189A CN201510785437.5A CN201510785437A CN105261189A CN 105261189 A CN105261189 A CN 105261189A CN 201510785437 A CN201510785437 A CN 201510785437A CN 105261189 A CN105261189 A CN 105261189A
- Authority
- CN
- China
- Prior art keywords
- telepilot
- unmanned plane
- wireless telecommunications
- focus
- control
- 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
Landscapes
- Mobile Radio Communication Systems (AREA)
- Selective Calling Equipment (AREA)
Abstract
The invention discloses an unmanned aerial vehicle flight control method and system. The method comprises the steps that wireless communication is established between an unmanned aerial vehicle and a first remote controller, the unmanned aerial vehicle receives a control request from the first remote controller and sends a switchover negotiation message to a second remote controller which controls the unmanned aerial vehicle currently, the unmanned aerial vehicle receives a switchover response from the second remote controller and sends a control allowance message to the first remote controller if the switchover response indicates switchover agreement, and the unmanned aerial vehicle flies under the control of the first remote controller. According to the unmanned aerial vehicle flight control method and system, the unmanned aerial vehicle can be controlled by multiple remote controllers.
Description
Technical field
The present invention relates to unmanned flight's technology, particularly relate to a kind of flight control method and system of unmanned plane.
Background technology
In recent years, unmanned plane is a research field enlivened very much always.SUAV (small unmanned aerial vehicle) has the ability such as vertical takeoff and landing and hovering in small space and complex environment, and this becomes the ideal platform of multiple-task.Unmanned plane has important application in civilian, military etc.
Passing through Wireless Fidelity (WI-FI, WirelessFidelity) signal carries out unmanned plane in the application scenarios of remote control, current unmanned plane communicates in man-to-man mode with telepilot, and each unmanned plane only has a unique fixing telepilot to control it.
, there is significant limitation, underaction during practical application in the existing this scheme controlled one to one unmanned plane.
Summary of the invention
The invention provides a kind of flight control method of unmanned plane, the method can realize utilizing multiple telepilot to control unmanned plane, makes practical application more flexible.
The invention provides a kind of flight control system of unmanned plane, this system can realize utilizing multiple telepilot to control unmanned plane, makes practical application more flexible.
A flight control method for unmanned plane, the method comprises:
Unmanned plane is set up wireless telecommunications with the first telepilot and is connected;
Unmanned plane receives the control request from the first telepilot, sends handover negotiation optimization message to current to the second telepilot that it controls;
Unmanned plane receives the handoff response from the second telepilot, if handoff response switches for agreeing to, then sends to the first telepilot and allows control message;
Unmanned plane flies under the control of the first telepilot.
A flight control system for unmanned plane, this system comprises unmanned plane, the first telepilot and the second telepilot, and described second telepilot is the current telepilot controlled unmanned plane;
Described unmanned plane, sets up wireless telecommunications with described first telepilot and is connected, and receives the control request from described first telepilot, sends handover negotiation optimization message to current to described two telepilots that it controls; Receive the handoff response from described second telepilot, if handoff response switches for agreeing to, then send to described first telepilot and allow control message, fly under the control of described first telepilot;
Described first telepilot, connects with described unmanned plane, sends to described unmanned plane the request of control; Receive the permission control message from described unmanned plane, described unmanned plane is controlled;
Described second telepilot, currently controls described unmanned plane, receives the handover negotiation optimization message from unmanned plane, returns handoff response.
Such scheme can be found out, in the present invention, unmanned plane is set up wireless telecommunications with the first telepilot and is connected wireless telecommunications, receives the control request from the first telepilot, sends handover negotiation optimization message to current to the second telepilot that it controls; Unmanned plane receives the handoff response from the second telepilot, if handoff response switches for agreeing to, then sends to the first telepilot and allows control message; Unmanned plane flies under the control of the first telepilot.The present invention changes usual control mode one to one, provides plural telepilot and carries out unmanned plane switching the scheme controlled, make practical application more flexible, meet demand further.
Accompanying drawing explanation
Fig. 1 is the flight control method indicative flowchart of unmanned plane of the present invention;
Fig. 2 is that the present invention is switched to the Signalling exchange example of the second telepilot from the first telepilot;
Fig. 3 is the first mode of operation schematic diagram of unmanned plane of the present invention;
Fig. 4 is the second mode of operation schematic diagram of unmanned plane of the present invention;
Fig. 5 is the third mode of operation schematic diagram of unmanned plane of the present invention;
Fig. 6 is the 4th kind of mode of operation schematic diagram of unmanned plane of the present invention;
Fig. 7 be unmanned plane of the present invention pattern between switch schematic diagram;
Fig. 8 is the flight control system structural representation of unmanned plane of the present invention.
Embodiment
For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with embodiment and accompanying drawing, the present invention is described in more detail.
In existing scheme, unmanned plane communicates in man-to-man mode with telepilot, and this mode exists significant limitation, underaction during practical application.
Inventor, in conjunction with practical situations, comprehensively analyzes, and proposes the scheme utilizing multiple telepilot to control unmanned plane, is described as follows.
In practical application, for the application scenario of unmanned plane through multiple remote place, the control mode of usual employing comprises: only control it in unmanned plane work startup and end-of-job stage, and pilot process is due to distant and cannot control it; Or, hold telepilot by staff and closely follow unmanned plane.For this kind of situation, cause control operation very inconvenient.Given this, the present invention breaks through the custom processing mode usually carrying out one to one controlling, and provides multiple telepilot carries out relay control method to unmanned plane.See Fig. 1, be the flight control method indicative flowchart of unmanned plane of the present invention, it comprises the following steps:
Step 101, unmanned plane is set up wireless telecommunications with the first telepilot and is connected.
Current, what control unmanned plane is the second telepilot, in subsequent flights process, if another telepilot needs to control this unmanned plane, first sets up wireless telecommunications with it and is connected, and sends control and ask.
These wireless telecommunications connect can be specially following connected mode: WI-FI (802.11x), the low-yield (BLE of bluetooth, BluetoothLowEnergy), Long Term Evolution (LTE, LongTermEvolution), Zigbee or infrared ray, etc.
Step 102, unmanned plane receives the control request from the first telepilot, sends handover negotiation optimization message to current to the second telepilot that it controls.
Step 103, unmanned plane receives the handoff response from the second telepilot, if handoff response switches for agreeing to, then sends to the first telepilot and allows control message.
After second remote control handover negotiation optimization message, will show the information of " whether allowing to switch ", user selects "Yes" or "No" according to actual conditions, and selection result is fed back to unmanned plane.Unmanned plane determines whether to continue switching flow according to handoff response, particularly, if handoff response switches for agreeing to, then sends to the first telepilot and allows control message, otherwise, refuse the control of the first telepilot.
Step 104, unmanned plane flies under the control of the first telepilot.
Afterwards, the first telepilot just can control unmanned plane, so far, completes remote control and switches.Fig. 2 also show the Signalling exchange example being switched to the second telepilot from the first telepilot.
The flow process of Fig. 1 is the second telepilot release control power, is switched to the concrete scheme of the first telepilot.For some situation, unmanned plane have left the range of control of the second telepilot, according to existing scheme, this stage does not have telepilot to control device, the invention provides the control program for this stage, be attached in Fig. 1 flow process, particularly: before unmanned plane described in step 102 receives the control request from the first telepilot, the method also comprises:
Unmanned plane judges the current telepilot whether had its control, if had, then performs the described step sending handover negotiation optimization message to current the second telepilot controlled it; Otherwise, directly perform and send to the first telepilot the step allowing control message.
Telepilot is except the existing mode of employing is connected with unmanned plane, and further, present invention also offers and adopt wireless telecommunications focus to carry out the mode connected, this wireless telecommunications focus is specifically as WI-FI focus etc.Be described in detail with the connection between the first telepilot and unmanned plane below, specifically comprise:
First telepilot detects wireless telecommunications focus, that extracts preservation in this locality identifies corresponding hotspot validates password with this wireless telecommunications focus, the checking request comprising hotspot validates password is sent to this wireless telecommunications focus, and this wireless telecommunications focus is arranged on unmanned plane or is arranged on other equipment;
This wireless telecommunications focus extracts the original hot spot authentication password of preserving, and compares with the hotspot validates password received, if both are consistent, then allows the access of the first telepilot;
Receive the broadcast message that unmanned plane issues in the network that first telepilot is emerged at this wireless telecommunications focus, connect according to broadcast information and unmanned plane.The relevant information of this unmanned plane is contained in broadcast message, as device identification etc., after first remote control broadcast message, extract the connectivity verification password corresponding with device identification preserved according to device identification in this locality, the checking request comprising connectivity verification password is sent to this unmanned plane; This unmanned plane extracts the original connectivity verification password preserved, and compares with the connectivity verification password received, if both are consistent, then connects with the first telepilot.
During concrete enforcement, the relevant information of each wireless telecommunications focus in each telepilot, can be preserved in advance, as the mapping relations between focus mark and hotspot validates password; All right, preserve the relevant information of each unmanned plane in advance, as the mapping relations between device identification and connectivity verification password; All right, preserve the authentication password that each unmanned plane is controlled in advance.Correspondingly, on unmanned plane, also preserve the information such as hotspot validates password, connectivity verification password, authentication password in advance.
Further, in order to improve security further, unmanned plane can also carry out authentication to the telepilot of Request Control, particularly:
Telepilot sends to the control request of unmanned plane to comprise authentication password, and after unmanned plane described in step 102 receives the control request from the first telepilot, the method also comprises:
Unmanned plane extracts the local original authentication password preserved, compare with the authentication password received, if both are consistent, then perform the described step sending handover negotiation optimization message to current the second telepilot controlled it, otherwise the control of refusal the first telepilot.
The present invention realizes, except scheme that multiple telepilot controls unmanned plane, also based on the application scenarios of multiple telepilot to unmanned plane, providing the multiple operational module of unmanned plane, comprising except providing:
Unmanned plane periodically carries out Hot spots detection, knows that self wireless telecommunications focus is in open mode, and out of touch with all telepilots, then detect and whether there is available telepilot, if had, then connect with the telepilot detected, accept the control of this telepilot.
Whether, in above-mentioned flow process, the realization whether detection exists available telepilot can be specially: adopt broadcast mode to detect, see can receive and carry out corresponding telepilot to broadcast; Described with detect telepilot and connect, specifically can comprise: receive the control request from telepilot, carry out checking and judge, after consistent, allow to connect; If do not detect available telepilot, sustainablely to detect, all right, close self wireless telecommunications focus, detect other wireless telecommunications focuses available.
Aforementionedly carried out the pattern of telepilot detection by self focus for unmanned plane, the pattern that wireless telecommunications focus operates is added to unmanned plane to below and be described.
Unmanned plane periodically carries out Hot spots detection, find that self wireless telecommunications focus is in closed condition, whether detect is there are other wireless telecommunications focuses available, if had, then connect with this wireless telecommunications focus, and detect in the network that this wireless telecommunications focus emerged whether there is available telepilot, if, then connect with the telepilot detected, accept the control of this telepilot.
In above-mentioned flow process, detect the realization that whether there is available telepilot in the network that this wireless telecommunications focus emerged can be specially: in the network that this wireless telecommunications focus is emerged, issue broadcast detect, see whether can receive and carry out corresponding telepilot to broadcast; Described with detect telepilot and connect, specifically can comprise: receive the control request from telepilot, carry out checking and judge, after consistent, allow to connect; If do not detect available telepilot, sustainablely to detect, all right, open self wireless telecommunications focus, enter front a kind of pattern.
Rough division and explanation are carried out to the mode of operation of unmanned plane above, carried out example elaboration below in conjunction with Fig. 3-7, here, according to the difference of wireless communication environments, marked off four kinds of mode of operations.
Pattern one, unmanned plane are in slave mode, and utilize and self communicate with telepilot as wireless telecommunications focus.
In this case, unmanned plane self is as wireless telecommunications focus, and multiple telepilot is operated in the environment that this wireless telecommunications focus emerged, and unmanned plane accepts the control of wherein some telepilots.This mode of operation as shown in Figure 3.
Pattern two, unmanned plane are in slave mode, and utilize other wireless telecommunications focus to communicate with telepilot.
In this case, unmanned plane is in the environment that certain wireless telecommunications focus emerged, and may have one or more telepilot in this wireless communication environments, and unmanned plane accepts the control of wherein some telepilots.This mode of operation as shown in Figure 4.
Pattern three, unmanned plane are in automatic mode, and self wireless telecommunications focus is opened, and wait for telepilot access.
In this case, unmanned plane is not controlled, according to preset program, is in automatic mode, opens the wireless telecommunications focus of self simultaneously, once there be telepilot to add this wireless communication networks, then proceeds to the first mode of operation.This mode of operation as shown in Figure 5.
Pattern four, unmanned plane are in automatic mode, and self wireless telecommunications focus is closed, and detect in current environment whether there is available wireless telecommunications focus simultaneously.
In this case, unmanned plane is not controlled, according to preset program, is in automatic mode.If unmanned plane detects available wireless telecommunications focus, then add this wireless communication networks, then finding remote controller in the network, if find available telepilot, then proceed to the second mode of operation.Pattern four as shown in Figure 6.
In the course of the work, first unmanned plane is generally in the 4th kind of mode of operation, while automatic operation, whether first it detect exists other wireless telecommunications focus available, and whether there is one or more telepilot in the environment that emerged of this wireless telecommunications focus, if existed, then work under the control of a unmanned plane telepilot wherein, be namely operated in the second mode of operation.In this case, other telepilot of non-acquire the right of control can be weighed to the telepilot request remote control of acquire the right of control, thus realizes relay control.
When unmanned plane leaves this wireless communication environments, out of touch with all telepilots, then can open self wireless telecommunications focus function, form a wireless communication environments, enter the third mode of operation, if this wireless communication environments exists to have telepilot to detect, and in this wireless communication environments, do not have other telepilot to control unmanned plane, then this telepilot acquire the right of control, if there has been other telepilot to control unmanned plane, then this telepilot to the telepilot control right request of acquire the right of control, thus can realize relay control.Now unmanned plane is operated in the first mode of operation.
If after unmanned plane opens self wireless telecommunications focus function, get in touch with it without any telepilot within a period of time, then unmanned plane enters the 4th kind of mode of operation, close self wireless telecommunications focus function, detect the wireless telecommunications focus having telepilot to exist that whether there is other, if had, then enter aforesaid the second mode of operation.If the wireless telecommunications focus of telepilot do not detected within a period of time, then reopen the wireless telecommunications focus function of self, if telepilot detected, enter the first mode of operation.In sum, unmanned plane cyclic switching in above four kinds of mode of operations.As shown in Figure 7, in figure, wireless telecommunications focus is specially WI-FI focus in the conversion of unmanned plane between each mode of operation.
Mode below by form states aforementioned four kinds of mode of operations.
The various operational mode state of table 1 and the condition entering and leave
The suitable environment of the present invention program is numerous, illustrates:
The take-off process of unmanned plane and descent comparatively complicated relative to flight course, probably need artificial intervention to control.Place of arrival second after unmanned plane takes off from the control of place first people, if the control of nobody, may meet accident in the process selecting landing place or hovering place.If place second also exists a telepilot, operating personnel can control unmanned plane according to these place actual conditions, can avoid the generation of fortuitous event.
In addition, if in place second, find that unmanned plane has the situation of energy shortage or abnormal state, operating personnel make it land by telepilot to safeguard it, and supplementing to it increases energy and overhaul it, thus strengthens its cruising time.
During specific implementation, preserve following information in unmanned plane inside:
Enable self full detail needed for wireless telecommunications focus, wherein have telepilot to add the information such as the password needed for this wireless communication networks; When unmanned plane adds other wireless telecommunications focus, the information such as required password; All information being awarded the telepilot of control; Deng.
Preserve following information in telepilot inside: add unmanned plane wireless telecommunications focus emerge the encrypted message of network; To enciphered message during unmanned plane application control; Telepilot add other wireless telecommunications focus emerge the encrypted message of network; Deng.
See Fig. 8, be the flight control system of unmanned plane of the present invention, it is characterized in that, this system comprises unmanned plane, the first telepilot and the second telepilot, and described second telepilot is the current telepilot controlled unmanned plane;
Described unmanned plane, sets up wireless telecommunications with described first telepilot and is connected, and receives the control request from described first telepilot, sends handover negotiation optimization message to current to described two telepilots that it controls; Receive the handoff response from described second telepilot, if handoff response switches for agreeing to, then send to described first telepilot and allow control message, fly under the control of described first telepilot;
Described first telepilot, connects with described unmanned plane, sends to described unmanned plane the request of control; Receive the permission control message from described unmanned plane, described unmanned plane is controlled;
Described second telepilot, currently controls described unmanned plane, receives the handover negotiation optimization message from unmanned plane, returns handoff response.
Preferably, described unmanned plane comprises connection establishment module and handover module;
Described connection establishment module, sets up wireless telecommunications with described first telepilot and is connected;
Described handover module, receives the control request from described first telepilot, sends handover negotiation optimization message to current to described two telepilots that it controls; Receive the handoff response from described second telepilot, if handoff response switches for agreeing to, then send to described first telepilot and allow control message, fly under the control of described first telepilot.
Preferably, described handover module, before receiving the control request from the first telepilot, also judges the current telepilot whether had its control, if had, then sends handover negotiation optimization message to current to the second telepilot that it controls; Otherwise, send directly to the first telepilot and allow control message.
Preferably, this system also comprises wireless telecommunications focus;
Described first telepilot, wireless telecommunications focus detected, that extracts preservation in this locality identifies corresponding hotspot validates password with this wireless telecommunications focus, the checking request comprising hotspot validates password is sent to this wireless telecommunications focus, and this wireless telecommunications focus is arranged on unmanned plane or is arranged on other equipment;
Described wireless telecommunications focus, extracts the original hot spot authentication password of preserving, and compares with the hotspot validates password received, if both are consistent, then allows the access of the first telepilot;
Described first telepilot, receives the broadcast message that unmanned plane issues, connects according to broadcast information and unmanned plane in the network that described wireless telecommunications focus is emerged.
Preferably, described handover module, after receiving the control request from the first telepilot, also extract the local original authentication password preserved, compare with the authentication password received, if both are consistent, then to current, handover negotiation optimization message is sent to the second telepilot that it controls, otherwise the control of refusal the first telepilot.
Preferably, described unmanned plane comprises the first detecting module, periodically carry out Hot spots detection, know that self wireless telecommunications focus is in open mode, and out of touch with all telepilots, then detect and whether there is available telepilot, if had, then connect with the telepilot detected, accept the control of this telepilot.
Preferably, described second detecting module, whether periodically carry out Hot spots detection, find that self wireless telecommunications focus is in closed condition, detecting is there are other wireless telecommunications focuses available, if had, then connect with this wireless telecommunications focus, and detect in the network that this wireless telecommunications focus emerged whether there is available telepilot, if, then connect with the telepilot detected, accept the control of this telepilot.
The wireless telecommunications that the present invention relates to connect and comprise the multiple implementation can carrying out wireless connections in short-range, can have the substitute mode of this function all within protection scope of the present invention.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within the scope of protection of the invention.
Claims (15)
1. a flight control method for unmanned plane, is characterized in that, the method comprises:
Unmanned plane is set up wireless telecommunications with the first telepilot and is connected;
Unmanned plane receives the control request from the first telepilot, sends handover negotiation optimization message to current to the second telepilot that it controls;
Unmanned plane receives the handoff response from the second telepilot, if handoff response switches for agreeing to, then sends to the first telepilot and allows control message;
Unmanned plane flies under the control of the first telepilot.
2. the method for claim 1, is characterized in that, before described unmanned plane receives the control request from the first telepilot, the method also comprises:
Unmanned plane judges the current telepilot whether had its control, if had, then performs the described step sending handover negotiation optimization message to current the second telepilot controlled it; Otherwise, directly perform the described step sending permission control message to the first telepilot.
3. the method for claim 1, is characterized in that, described unmanned plane and the first telepilot are set up wireless telecommunications and be connected and comprise:
First telepilot detects wireless telecommunications focus, that extracts preservation in this locality identifies corresponding hotspot validates password with this wireless telecommunications focus, the checking request comprising hotspot validates password is sent to this wireless telecommunications focus, and this wireless telecommunications focus is arranged on unmanned plane or is arranged on other equipment;
This wireless telecommunications focus extracts the original hot spot authentication password of preserving, and compares with the hotspot validates password received, if both are consistent, then allows the access of the first telepilot;
Receive the broadcast message that unmanned plane issues in the network that first telepilot is emerged at this wireless telecommunications focus, connect according to broadcast information and unmanned plane.
4. the method for claim 1, is characterized in that, described control request comprises authentication password, and after described unmanned plane receives the control request from the first telepilot, the method also comprises:
Unmanned plane extracts the local original authentication password preserved, compare with the authentication password received, if both are consistent, then perform the described step sending handover negotiation optimization message to current the second telepilot controlled it, otherwise the control of refusal the first telepilot.
5. the method for claim 1, it is characterized in that, the method also comprises: unmanned plane periodically carries out Hot spots detection, know that self wireless telecommunications focus is in open mode, and out of touch with all telepilots, then detect and whether there is available telepilot, if had, then connect with the telepilot detected, accept the control of this telepilot.
6. method as claimed in claim 5, it is characterized in that, if unmanned plane does not detect available telepilot, then closes self wireless telecommunications focus, detects other wireless telecommunications focuses available.
7. the method for claim 1, it is characterized in that, the method also comprises: unmanned plane periodically carries out Hot spots detection, finds that self wireless telecommunications focus is in closed condition, and whether detect is there are other wireless telecommunications focuses available, if had, then connect with this wireless telecommunications focus, and detect in the network that this wireless telecommunications focus emerged whether there is available telepilot, if, then connect with the telepilot detected, accept the control of this telepilot.
8. method as claimed in claim 7, is characterized in that, if do not detect telepilot in the network that emerged at this wireless telecommunications focus of unmanned plane, then opens self wireless telecommunications focus.
9. a flight control system for unmanned plane, is characterized in that, this system comprises unmanned plane, the first telepilot and the second telepilot, and described second telepilot is the current telepilot controlled unmanned plane;
Described unmanned plane, sets up wireless telecommunications with described first telepilot and is connected, and receives the control request from described first telepilot, sends handover negotiation optimization message to current to described two telepilots that it controls; Receive the handoff response from described second telepilot, if handoff response switches for agreeing to, then send to described first telepilot and allow control message, fly under the control of described first telepilot;
Described first telepilot, connects with described unmanned plane, sends to described unmanned plane the request of control; Receive the permission control message from described unmanned plane, described unmanned plane is controlled;
Described second telepilot, currently controls described unmanned plane, receives the handover negotiation optimization message from unmanned plane, returns handoff response.
10. system as claimed in claim 9, it is characterized in that, described unmanned plane comprises connection establishment module and handover module;
Described connection establishment module, sets up wireless telecommunications with described first telepilot and is connected;
Described handover module, receives the control request from described first telepilot, sends handover negotiation optimization message to current to described two telepilots that it controls; Receive the handoff response from described second telepilot, if handoff response switches for agreeing to, then send to described first telepilot and allow control message, fly under the control of described first telepilot.
11. systems as claimed in claim 10, it is characterized in that, described handover module, before receiving the control request from the first telepilot, also judges the current telepilot whether had its control, if had, then to current, handover negotiation optimization message is sent to the second telepilot that it controls; Otherwise, send directly to the first telepilot and allow control message.
12. systems as claimed in claim 9, it is characterized in that, this system also comprises wireless telecommunications focus;
Described first telepilot, wireless telecommunications focus detected, that extracts preservation in this locality identifies corresponding hotspot validates password with described wireless telecommunications focus, the checking request comprising hotspot validates password is sent to described wireless telecommunications focus, and described wireless telecommunications focus is arranged on unmanned plane or is arranged on other equipment;
Described wireless telecommunications focus, extracts the original hot spot authentication password of preserving, and compares with the hotspot validates password received, if both are consistent, then allows the access of the first telepilot;
Described first telepilot, receives the broadcast message that unmanned plane issues, connects according to broadcast information and unmanned plane in the network that described wireless telecommunications focus is emerged.
13. systems as claimed in claim 10, it is characterized in that, described handover module, after receiving the control request from the first telepilot, also extract the local original authentication password preserved, compare, if both are consistent with the authentication password received, then to current, handover negotiation optimization message is sent to the second telepilot that it controls, otherwise the control of refusal the first telepilot.
14. systems according to any one of claim 9 to 13, it is characterized in that, described unmanned plane comprises the first detecting module, periodically carry out Hot spots detection, know that self wireless telecommunications focus is in open mode, and out of touch with all telepilots, then detect and whether there is available telepilot, if had, then connect with the telepilot detected, accept the control of this telepilot.
15. systems according to any one of claim 9 to 13, it is characterized in that, described second detecting module, periodically carry out Hot spots detection, find that self wireless telecommunications focus is in closed condition, whether detect is there are other wireless telecommunications focuses available, if had, then connect with this wireless telecommunications focus, and detect in the network that this wireless telecommunications focus emerged whether there is available telepilot, if so, then connect with the telepilot detected, accept the control of this telepilot.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510785437.5A CN105261189A (en) | 2015-11-16 | 2015-11-16 | Unmanned aerial vehicle flight control method and system |
| TW105107265A TWI585563B (en) | 2015-11-16 | 2016-03-09 | Flight control method and system for UAV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510785437.5A CN105261189A (en) | 2015-11-16 | 2015-11-16 | Unmanned aerial vehicle flight control method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105261189A true CN105261189A (en) | 2016-01-20 |
Family
ID=55100856
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510785437.5A Pending CN105261189A (en) | 2015-11-16 | 2015-11-16 | Unmanned aerial vehicle flight control method and system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN105261189A (en) |
| TW (1) | TWI585563B (en) |
Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105575095A (en) * | 2016-02-03 | 2016-05-11 | 普宙飞行器科技（深圳）有限公司 | Unmanned aerial vehicle dual-remote-control system |
| CN105955295A (en) * | 2016-05-27 | 2016-09-21 | 北京小米移动软件有限公司 | Unmanned plane control method and unmanned plane control device |
| CN106102110A (en) * | 2016-06-21 | 2016-11-09 | 北京小米移动软件有限公司 | The method of switching control power and control terminal |
| CN106406349A (en) * | 2016-10-28 | 2017-02-15 | 易瓦特科技股份公司 | Flight control method and system for unmanned aerial vehicle |
| CN106444811A (en) * | 2016-10-26 | 2017-02-22 | 徐州飞梦电子科技有限公司 | Control method of utilizing signal intensity switching to control plant protection unmanned aerial vehicle |
| CN106494620A (en) * | 2016-10-26 | 2017-03-15 | 宁波科邦华诚技术转移服务有限公司 | Controlling system and method unmanned plane more |
| CN106569442A (en) * | 2016-10-26 | 2017-04-19 | 江苏蒲公英无人机有限公司 | Plant protection unmanned aerial vehicle multi-control method |
| CN106569443A (en) * | 2016-10-26 | 2017-04-19 | 徐州飞梦电子科技有限公司 | Plant protection unmanned aerial vehicle multi-control system |
| CN106797387A (en) * | 2016-02-25 | 2017-05-31 | 深圳市大疆创新科技有限公司 | Equipment authentication method, device, authenticating device, unmanned plane and remote control |
| CN106719546A (en) * | 2016-12-13 | 2017-05-31 | 上海埃威航空电子有限公司 | aviation pesticide spraying monitoring system and method |
| CN107195167A (en) * | 2016-03-15 | 2017-09-22 | 零度智控（北京）智能科技有限公司 | The communication system and method for controlled plant and the application controlled plant |
| US20170285633A1 (en) * | 2016-04-01 | 2017-10-05 | Lntel Corporation | Drone control registration |
| CN107438801A (en) * | 2016-09-27 | 2017-12-05 | 深圳市大疆创新科技有限公司 | A kind of flying vehicles control method, terminal and aircraft |
| CN108062107A (en) * | 2017-11-30 | 2018-05-22 | 中国航空工业集团公司沈阳飞机设计研究所 | A kind of unmanned aerial vehicle (UAV) control weighs variation |
| CN108346274A (en) * | 2018-03-15 | 2018-07-31 | 深圳市道通智能航空技术有限公司 | Detect method, apparatus, remote controler, UAV system and the medium of unmanned plane |
| CN109062249A (en) * | 2018-08-07 | 2018-12-21 | 思翼科技（深圳）有限公司 | A kind of agricultural plant protection no-manned machine distant control Relay Technique |
| CN109164722A (en) * | 2018-08-29 | 2019-01-08 | 芜湖翼讯飞行智能装备有限公司 | Radio communication control apparatus in UAV Formation Flight |
| WO2019061336A1 (en) * | 2017-09-29 | 2019-04-04 | 深圳市大疆创新科技有限公司 | Method for protecting flight control system and circuit |
| WO2019095300A1 (en) * | 2017-11-17 | 2019-05-23 | SZ DJI Technology Co., Ltd. | Systems and methods for synchronizing multiple control devices with a movable object |
| CN110753313A (en) * | 2019-10-30 | 2020-02-04 | 深圳市道通智能航空技术有限公司 | Data synchronization method and system |
| CN110770728A (en) * | 2018-10-29 | 2020-02-07 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method, unmanned aerial vehicle and terminal for controlling unmanned aerial vehicle |
| CN110999217A (en) * | 2018-08-21 | 2020-04-10 | 深圳市大疆创新科技有限公司 | Setting method of control function, control equipment and control system |
| CN111600916A (en) * | 2019-02-02 | 2020-08-28 | 华为技术有限公司 | Unmanned aerial vehicle control method, device and system |
| WO2021012181A1 (en) * | 2019-07-23 | 2021-01-28 | 深圳市大疆创新科技有限公司 | Remote control mobile platform control method, and device and computer-readable storage medium |
| CN112567435A (en) * | 2020-03-10 | 2021-03-26 | 深圳市大疆创新科技有限公司 | Device management method, device, movable platform and storage medium |
| CN112584331A (en) * | 2019-09-30 | 2021-03-30 | 华为技术有限公司 | Unmanned aerial vehicle flight area management method and related device |
| WO2023046174A1 (en) * | 2021-09-26 | 2023-03-30 | 深圳市道通智能航空技术股份有限公司 | Unmanned aerial vehicle real-time target tracking method and apparatus, device and storage medium |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210018935A1 (en) * | 2019-07-15 | 2021-01-21 | Geosat Aerospace & Technology Inc. | Unmanned aerial vehicle and method for launching unmanned aerial vehicle |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101004607A (en) * | 2007-01-19 | 2007-07-25 | 北京航空航天大学 | Double measurement and control system in use for coaxial dual rotors of unmanned helicopter |
| CN201035780Y (en) * | 2007-04-17 | 2008-03-12 | 金健 | Aviation model coach system |
| CN101296019A (en) * | 2008-05-27 | 2008-10-29 | 北京航空航天大学 | Relay repeater system for unmanned helicopter |
| CN102553258A (en) * | 2012-03-02 | 2012-07-11 | 北京航空航天大学 | Switcher of model airplane remote controller |
| CN102802071A (en) * | 2012-08-24 | 2012-11-28 | 上海广电电子科技有限公司 | Intelligent television, mobile terminal, multi-screen interaction system and wireless communication method |
| CN103037477A (en) * | 2012-12-14 | 2013-04-10 | 深圳市夏瑞电子有限公司 | Method, server side and client side of family media device accessing to wireless fidelity (wifi) hotspot |
| CN103566598A (en) * | 2013-10-24 | 2014-02-12 | 上海北大方正科技电脑系统有限公司 | Aeromodel remote controller switcher and aeromodel with same |
| CN103942940A (en) * | 2014-04-02 | 2014-07-23 | 重庆翼动科技有限公司 | Control system for aircraft |
| CN104702870A (en) * | 2013-12-06 | 2015-06-10 | 中兴通讯股份有限公司 | Multi-source control method and device for smart micro projection |
| US20150170524A1 (en) * | 2013-03-11 | 2015-06-18 | Arinc Incorporated | SYSTEMS AND METHODS FOR REAL-TIME DATA COMMUNICATIONS AND MESSAGING WITH OPERATORS OF SMALL UNMANNED AIRCRAFT SYSTEMS (sUAS) |
| CN104955167A (en) * | 2015-04-24 | 2015-09-30 | 览意科技（上海）有限公司 | Connection method and system between model plane and remote controller |
| CN104980210A (en) * | 2015-06-26 | 2015-10-14 | 陈昊 | Unmanned aerial vehicle matched with authentication communication mechanism, ground station matched with authentication communication mechanism and authentication method |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI243568B (en) * | 2003-11-28 | 2005-11-11 | Chung Shan Inst Of Science | Encoder/decoder with variable format for the data chain of UAV controlled by a remote controller |
| CN102053619B (en) * | 2009-11-06 | 2012-11-21 | 北京理工大学 | Method for switching automatic flight mode and manual remotely-controlled flight mode of miniature unmanned helicopter |
-
2015
- 2015-11-16 CN CN201510785437.5A patent/CN105261189A/en active Pending
-
2016
- 2016-03-09 TW TW105107265A patent/TWI585563B/en active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101004607A (en) * | 2007-01-19 | 2007-07-25 | 北京航空航天大学 | Double measurement and control system in use for coaxial dual rotors of unmanned helicopter |
| CN201035780Y (en) * | 2007-04-17 | 2008-03-12 | 金健 | Aviation model coach system |
| CN101296019A (en) * | 2008-05-27 | 2008-10-29 | 北京航空航天大学 | Relay repeater system for unmanned helicopter |
| CN102553258A (en) * | 2012-03-02 | 2012-07-11 | 北京航空航天大学 | Switcher of model airplane remote controller |
| CN102802071A (en) * | 2012-08-24 | 2012-11-28 | 上海广电电子科技有限公司 | Intelligent television, mobile terminal, multi-screen interaction system and wireless communication method |
| CN103037477A (en) * | 2012-12-14 | 2013-04-10 | 深圳市夏瑞电子有限公司 | Method, server side and client side of family media device accessing to wireless fidelity (wifi) hotspot |
| US20150170524A1 (en) * | 2013-03-11 | 2015-06-18 | Arinc Incorporated | SYSTEMS AND METHODS FOR REAL-TIME DATA COMMUNICATIONS AND MESSAGING WITH OPERATORS OF SMALL UNMANNED AIRCRAFT SYSTEMS (sUAS) |
| CN103566598A (en) * | 2013-10-24 | 2014-02-12 | 上海北大方正科技电脑系统有限公司 | Aeromodel remote controller switcher and aeromodel with same |
| CN104702870A (en) * | 2013-12-06 | 2015-06-10 | 中兴通讯股份有限公司 | Multi-source control method and device for smart micro projection |
| CN103942940A (en) * | 2014-04-02 | 2014-07-23 | 重庆翼动科技有限公司 | Control system for aircraft |
| CN104955167A (en) * | 2015-04-24 | 2015-09-30 | 览意科技（上海）有限公司 | Connection method and system between model plane and remote controller |
| CN104980210A (en) * | 2015-06-26 | 2015-10-14 | 陈昊 | Unmanned aerial vehicle matched with authentication communication mechanism, ground station matched with authentication communication mechanism and authentication method |
Non-Patent Citations (1)
| Title |
|---|
| 王宪才: "电网无人机首次实现接力飞行", 《国家电网报》 * |
Cited By (45)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105575095A (en) * | 2016-02-03 | 2016-05-11 | 普宙飞行器科技（深圳）有限公司 | Unmanned aerial vehicle dual-remote-control system |
| WO2017143570A1 (en) * | 2016-02-25 | 2017-08-31 | 深圳市大疆创新科技有限公司 | Method and device for device authentication, authentication device, unmanned aerial vehicle and remote controller |
| CN106797387B (en) * | 2016-02-25 | 2020-12-18 | 深圳市大疆创新科技有限公司 | Equipment authentication method and device, authentication equipment, unmanned aerial vehicle and remote controller |
| CN106797387A (en) * | 2016-02-25 | 2017-05-31 | 深圳市大疆创新科技有限公司 | Equipment authentication method, device, authenticating device, unmanned plane and remote control |
| CN107195167B (en) * | 2016-03-15 | 2019-11-08 | 天津远翥科技有限公司 | The communication system and method for controlled plant and the application controlled plant |
| CN107195167A (en) * | 2016-03-15 | 2017-09-22 | 零度智控（北京）智能科技有限公司 | The communication system and method for controlled plant and the application controlled plant |
| US11209815B2 (en) * | 2016-04-01 | 2021-12-28 | Intel Corporation | Drone control registration |
| US20220100189A1 (en) * | 2016-04-01 | 2022-03-31 | Lntel Corporation | Drone control registration |
| US20170285633A1 (en) * | 2016-04-01 | 2017-10-05 | Lntel Corporation | Drone control registration |
| CN105955295A (en) * | 2016-05-27 | 2016-09-21 | 北京小米移动软件有限公司 | Unmanned plane control method and unmanned plane control device |
| US10134269B2 (en) | 2016-06-21 | 2018-11-20 | Beijing Xiaomi Mobile Software Co., Ltd. | Control switching method and control terminal, and storage medium |
| CN106102110A (en) * | 2016-06-21 | 2016-11-09 | 北京小米移动软件有限公司 | The method of switching control power and control terminal |
| WO2017219503A1 (en) * | 2016-06-21 | 2017-12-28 | 北京小米移动软件有限公司 | Method for switching right of control, and control terminal |
| EP3260362B1 (en) * | 2016-06-21 | 2023-03-15 | Beijing Xiaomi Mobile Software Co., Ltd. | Transferring control authorization for a controlled terminal |
| CN107438801B (en) * | 2016-09-27 | 2019-11-22 | 深圳市大疆创新科技有限公司 | A kind of flying vehicles control method, terminal and aircraft |
| CN107438801A (en) * | 2016-09-27 | 2017-12-05 | 深圳市大疆创新科技有限公司 | A kind of flying vehicles control method, terminal and aircraft |
| WO2018058289A1 (en) * | 2016-09-27 | 2018-04-05 | 深圳市大疆创新科技有限公司 | Aircraft control method, terminal and aircraft |
| CN106569442A (en) * | 2016-10-26 | 2017-04-19 | 江苏蒲公英无人机有限公司 | Plant protection unmanned aerial vehicle multi-control method |
| CN106494620A (en) * | 2016-10-26 | 2017-03-15 | 宁波科邦华诚技术转移服务有限公司 | Controlling system and method unmanned plane more |
| CN106444811A (en) * | 2016-10-26 | 2017-02-22 | 徐州飞梦电子科技有限公司 | Control method of utilizing signal intensity switching to control plant protection unmanned aerial vehicle |
| CN106569443A (en) * | 2016-10-26 | 2017-04-19 | 徐州飞梦电子科技有限公司 | Plant protection unmanned aerial vehicle multi-control system |
| CN106406349A (en) * | 2016-10-28 | 2017-02-15 | 易瓦特科技股份公司 | Flight control method and system for unmanned aerial vehicle |
| CN106406349B (en) * | 2016-10-28 | 2019-11-19 | 易瓦特科技股份公司 | UAV Flight Control method and system |
| CN106719546A (en) * | 2016-12-13 | 2017-05-31 | 上海埃威航空电子有限公司 | aviation pesticide spraying monitoring system and method |
| WO2019061336A1 (en) * | 2017-09-29 | 2019-04-04 | 深圳市大疆创新科技有限公司 | Method for protecting flight control system and circuit |
| CN109937439A (en) * | 2017-09-29 | 2019-06-25 | 深圳市大疆创新科技有限公司 | A kind of method and circuit for protecting flight control system |
| WO2019095300A1 (en) * | 2017-11-17 | 2019-05-23 | SZ DJI Technology Co., Ltd. | Systems and methods for synchronizing multiple control devices with a movable object |
| US11304161B2 (en) | 2017-11-17 | 2022-04-12 | SZ DJI Technology Co., Ltd. | Systems and methods for synchronizing multiple control devices with a movable object |
| CN108062107A (en) * | 2017-11-30 | 2018-05-22 | 中国航空工业集团公司沈阳飞机设计研究所 | A kind of unmanned aerial vehicle (UAV) control weighs variation |
| CN108346274A (en) * | 2018-03-15 | 2018-07-31 | 深圳市道通智能航空技术有限公司 | Detect method, apparatus, remote controler, UAV system and the medium of unmanned plane |
| CN109062249A (en) * | 2018-08-07 | 2018-12-21 | 思翼科技（深圳）有限公司 | A kind of agricultural plant protection no-manned machine distant control Relay Technique |
| CN110999217B (en) * | 2018-08-21 | 2021-08-13 | 深圳市大疆创新科技有限公司 | Setting method of control function, control equipment and control system |
| CN110999217A (en) * | 2018-08-21 | 2020-04-10 | 深圳市大疆创新科技有限公司 | Setting method of control function, control equipment and control system |
| CN109164722A (en) * | 2018-08-29 | 2019-01-08 | 芜湖翼讯飞行智能装备有限公司 | Radio communication control apparatus in UAV Formation Flight |
| CN110770728B (en) * | 2018-10-29 | 2024-04-16 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method, unmanned aerial vehicle and terminal for controlling unmanned aerial vehicle |
| CN110770728A (en) * | 2018-10-29 | 2020-02-07 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method, unmanned aerial vehicle and terminal for controlling unmanned aerial vehicle |
| CN111600916A (en) * | 2019-02-02 | 2020-08-28 | 华为技术有限公司 | Unmanned aerial vehicle control method, device and system |
| CN111600916B (en) * | 2019-02-02 | 2022-03-25 | 华为技术有限公司 | Unmanned aerial vehicle control method, device and system |
| WO2021012181A1 (en) * | 2019-07-23 | 2021-01-28 | 深圳市大疆创新科技有限公司 | Remote control mobile platform control method, and device and computer-readable storage medium |
| CN112584331B (en) * | 2019-09-30 | 2022-07-12 | 华为技术有限公司 | Unmanned aerial vehicle flight area management method and related device |
| CN112584331A (en) * | 2019-09-30 | 2021-03-30 | 华为技术有限公司 | Unmanned aerial vehicle flight area management method and related device |
| CN110753313A (en) * | 2019-10-30 | 2020-02-04 | 深圳市道通智能航空技术有限公司 | Data synchronization method and system |
| CN112567435B (en) * | 2020-03-10 | 2023-04-04 | 深圳市大疆创新科技有限公司 | Device management method, device, movable platform and storage medium |
| CN112567435A (en) * | 2020-03-10 | 2021-03-26 | 深圳市大疆创新科技有限公司 | Device management method, device, movable platform and storage medium |
| WO2023046174A1 (en) * | 2021-09-26 | 2023-03-30 | 深圳市道通智能航空技术股份有限公司 | Unmanned aerial vehicle real-time target tracking method and apparatus, device and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| TWI585563B (en) | 2017-06-01 |
| TW201719311A (en) | 2017-06-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105261189A (en) | Unmanned aerial vehicle flight control method and system | |
| US10945185B2 (en) | Method and apparatus for supporting fast link recovery and link status reporting in wireless communication system | |
| KR101941643B1 (en) | System and method for control of multi drone | |
| US12016059B2 (en) | Early data transmission in CU-DU split | |
| US20210168667A1 (en) | Method and apparatus for preventing loss of uplink data in wireless communication system | |
| US11564277B2 (en) | Method and apparatus for supporting early data transmission in inactive state in wireless communication system | |
| US11432204B2 (en) | Method and apparatus for enhancing handover procedure for supporting conditional handover in wireless communication system | |
| EP3681202A1 (en) | Method and apparatus for mobility management in wireless communication system | |
| US11963252B2 (en) | Uplink data fast transmission in CU-DU split | |
| US20190394825A1 (en) | Method and apparatus for performing cell selection triggered by lower layer signaling in wireless communication system | |
| US11363514B2 (en) | Method and apparatus for performing conditional cell change based on channel occupancy in wireless communication system | |
| EP3902304A1 (en) | Wireless network communication method, network device, and terminal | |
| EP3878210B1 (en) | Method and apparatus for performing mobility in wireless communication system | |
| CN105955295A (en) | Unmanned plane control method and unmanned plane control device | |
| US20200023999A1 (en) | Method for charging battery of unmanned aerial robot and device for supporting same in unmanned aerial system | |
| US20220174563A1 (en) | Mobility enhancement for new radio access technology | |
| US12015996B2 (en) | Sidelink resource handling for CU-DU split based V2X communication | |
| EP4124122A1 (en) | Communication related to network slice | |
| US20210314835A1 (en) | A cell reselection by adjusting cell reselection parameter | |
| US11064402B2 (en) | Method and apparatus for releasing a mobility configuration without a signal from a network in a wireless communication system | |
| CN104969602B (en) | Electrical tilt antenna managing device, remote controllers, base station, system and method | |
| EP4228325A1 (en) | Provision of rach related information for connection failure detection | |
| WO2021035641A1 (en) | Control method, remote server, control station and storage medium | |
| CN108781363B (en) | Information transmission method, device, system and storage medium | |
| KR20220140896A (en) | Method and apparatus for resetting in a wireless communication system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160120 |