CN105955295A - Unmanned plane control method and unmanned plane control device - Google Patents
Unmanned plane control method and unmanned plane control device Download PDFInfo
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- CN105955295A CN105955295A CN201610365865.7A CN201610365865A CN105955295A CN 105955295 A CN105955295 A CN 105955295A CN 201610365865 A CN201610365865 A CN 201610365865A CN 105955295 A CN105955295 A CN 105955295A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention relates to an unmanned plane control method and an unmanned plane control device. The method comprises steps that a control request is sent through a server to the second remote control equipment, the control request comprises the information of a target unmanned plane, and the target unmanned plane is controlled by the second remote control equipment; a permission control command sent by the second remote control equipment through the server is received; connection with the target unmanned plane is carried out according to the permission control command to realize control on the target unmanned plane. According to the method, if the remote control equipment is out of power in a control process, interruption of flight of the unmanned plane can be avoided through switching to another remote control equipment, moreover, the unmanned plane can be switched to a control scope of another long-distance remote control equipment before the unmanned plane surpasses a control scope of one remote control equipment, and thereby a flight distance of the unmanned plane is expanded.
Description
Technical field
It relates to unmanned aerial vehicle (UAV) control technical field, particularly relate to a kind of unmanned aerial vehicle (UAV) control method and device.
Background technology
Unmanned plane is the most manned the flying of the presetting apparatus manipulation utilizing radio robot with providing for oneself
Machine.From technical standpoint definition can be divided into: unmanned fixed-wing aircraft, unmanned VTOL machine, unmanned airship,
Depopulated helicopter, unmanned multi-rotor aerocraft, unmanned parasol etc..When controlling unmanned plane, can be by distant
Control equipment is controlled.
Summary of the invention
Disclosure embodiment provides control method and the device of a kind of unmanned plane, including following technical scheme:
First aspect according to disclosure embodiment, it is provided that a kind of unmanned aerial vehicle (UAV) control method, distant for first
Control equipment, including:
Control request is sent to the second remote control equipment by server, described control request include target without
Man-machine information, described UAV targets is currently controlled by described second remote control equipment；
Receive the permission control command that described second remote control equipment is sent by server；
It is connected to described UAV targets, so that described UAV targets to be entered according to described permission control command
Row controls.
In one embodiment, described method also includes:
Receiving the unmanned plane information in the controlled range that server sends, described unmanned plane information includes geography
Positional information, the current corresponding control device controlling described unmanned plane；
According to user instruction, determine UAV targets to be controlled.
In one embodiment, described method also includes:
Receive the stopping control command that described second remote control equipment is sent by described server；
According to described stopping control command, disconnect the connection with described UAV targets, to stop described
UAV targets is controlled.
Second aspect according to disclosure embodiment, it is provided that a kind of unmanned aerial vehicle (UAV) control method, distant for second
Control equipment, including:
When described second remote control equipment is attached with unmanned plane, receive the first remote control equipment by service
The control request that device sends, the described information controlling to ask to include unmanned plane；
Send instruction according to the permission received, sent by described server and allow control command to described
First remote control equipment, and send the control command allowing to be connected with described first remote control equipment to described unmanned
Machine；
When after described first remote control equipment and described unmanned plane successful connection, disconnect described second remote control equipment
And the connection between described unmanned plane.
In one embodiment, described method also includes:
According to the stopping control instruction receiving, sent by described server and stop control command to described
First remote control equipment, so that described first remote control equipment is according to described stopping control command, disconnects with described
The connection of unmanned plane.
The third aspect according to disclosure embodiment, it is provided that a kind of unmanned aerial vehicle (UAV) control method, for server,
Including:
Receive the control request that the first remote control equipment sends, the described letter controlling to ask to include UAV targets
Breath；
Asking to send to the second remote control equipment by described control, described second remote control equipment is currently to described mesh
Mark unmanned plane is controlled；
Receive the permission control command that described second remote control equipment sends, and described permission control command is turned
Send to described first remote control equipment, so that described first remote control equipment connects according to described permission control command
To described UAV targets.
In one embodiment, described method also includes:
Unmanned plane information to described first remote control sent in the controlled range of described first remote control equipment sets
Standby, so that described first remote control equipment is according to user instruction, determine UAV targets to be controlled, wherein,
Described unmanned plane information includes geographical location information and the current corresponding control device controlling described unmanned plane.
In one embodiment, described method also includes:
Receive the stopping control command that described second remote control equipment sends, and described stopping control command being turned
Send to described first remote control equipment, so that described first remote control equipment is according to described stopping control command, disconnected
Open and the connection of described UAV targets.
Fourth aspect according to disclosure embodiment, it is provided that a kind of unmanned aerial vehicle (UAV) control device, distant for first
Control equipment, including:
Sending module, for sending control request to the second remote control equipment, described control by server
Request includes the information of UAV targets, and described UAV targets is currently carried out by described second remote control equipment
Control；
First receiver module, the permission sent by server for receiving described second remote control equipment is controlled
Order；
First processing module, for being connected to described UAV targets according to described permission control command, with
Described UAV targets is controlled.
In one embodiment, described device also includes:
Second receiver module, the unmanned plane information in receiving the controlled range that server sends, described
Unmanned plane information includes geographical location information, the current corresponding control device controlling described unmanned plane；
Determine module, for according to user instruction, determine UAV targets to be controlled.
In one embodiment, described device also includes:
3rd receiver module, for receiving the stopping that described second remote control equipment is sent by described server
Control command；
Second processing module, for according to described stopping control command, disconnects with described UAV targets's
Connect, to stop described UAV targets is controlled.
Fourth aspect according to disclosure embodiment, it is provided that a kind of unmanned aerial vehicle (UAV) control device, distant for first
Control equipment, including:
Sending module, for sending control request to the second remote control equipment, described control by server
Request includes the information of UAV targets, and described UAV targets is currently carried out by described second remote control equipment
Control；
First receiver module, the permission sent by server for receiving described second remote control equipment is controlled
Order；
First processing module, for being connected to described UAV targets according to described permission control command, with
Described UAV targets is controlled.
In one embodiment, described device also includes:
Second receiver module, the unmanned plane information in receiving the controlled range that server sends, described
Unmanned plane information includes geographical location information, the current corresponding control device controlling described unmanned plane；
Determine module, for according to user instruction, determine UAV targets to be controlled.
In one embodiment, described device also includes:
3rd receiver module, for receiving the stopping that described second remote control equipment is sent by described server
Control command；
Second processing module, for according to described stopping control command, disconnects with described UAV targets's
Connect, to stop described UAV targets is controlled.
The 5th aspect according to disclosure embodiment, it is provided that a kind of unmanned aerial vehicle (UAV) control device, distant for second
Control equipment, including:
Receiver module, for when described second remote control equipment is attached with unmanned plane, receiving first distant
The control that control equipment is sent by server is asked, the described information controlling to ask to include unmanned plane；
Sending module, for sending instruction according to the permission received, is sent by described server and allows
Control command is to described first remote control equipment, and sends the control allowing to be connected with described first remote control equipment
Order is to described unmanned plane；
Processing module, for when, after described first remote control equipment and described unmanned plane successful connection, disconnecting institute
State the connection between the second remote control equipment and described unmanned plane.
The 6th aspect according to disclosure embodiment, it is provided that a kind of unmanned aerial vehicle (UAV) control device, for server,
Including:
Request receiver module, is used for receiving the control request that the first remote control equipment sends, and described control is asked
Information including UAV targets；
First sending module, for controlling request send described to the second remote control equipment, described second distant
Described UAV targets is currently controlled by control equipment；
Order receiver module, for receiving the permission control command that described second remote control equipment sends, and will
Described permission control command is forwarded to described first remote control equipment, so that described first remote control equipment is according to institute
State permission control command and be connected to described UAV targets.
In one embodiment, described device also includes:
Second sending module, the unmanned plane information in the controlled range sending described first remote control equipment
To described first remote control equipment, so that described first remote control equipment is according to user instruction, determine to be controlled
UAV targets, wherein, described unmanned plane information includes that geographical location information and current control are described unmanned
The corresponding of machine controls device.
The 7th aspect according to disclosure embodiment, it is provided that a kind of unmanned aerial vehicle (UAV) control device, distant for first
Control equipment, including:
Processor；
For storing the memorizer of processor executable；
Wherein, described processor is configured to:
Control request is sent to the second remote control equipment by server, described control request include target without
Man-machine information, described UAV targets is currently controlled by described second remote control equipment；
Receive the permission control command that described second remote control equipment is sent by server；
It is connected to described UAV targets, so that described UAV targets to be entered according to described permission control command
Row controls.
Eighth aspect according to disclosure embodiment, it is provided that a kind of unmanned aerial vehicle (UAV) control device, distant for second
Control equipment, including:
Processor；
For storing the memorizer of processor executable；
Wherein, described processor is configured to:
When described second remote control equipment is attached with unmanned plane, receive the first remote control equipment by service
The control request that device sends, the described information controlling to ask to include unmanned plane；
Send instruction according to the permission received, sent by described server and allow control command to described
First remote control equipment, and send the control command allowing to be connected with described first remote control equipment to described unmanned
Machine；
When after described first remote control equipment and described unmanned plane successful connection, disconnect described second remote control equipment
And the connection between described unmanned plane.
The 9th aspect according to disclosure embodiment, it is provided that a kind of unmanned aerial vehicle (UAV) control device, for server,
Including:
Processor；
For storing the memorizer of processor executable；
Wherein, described processor is configured to:
Receive the control request that the first remote control equipment sends, the described letter controlling to ask to include UAV targets
Breath；
Asking to send to the second remote control equipment by described control, described second remote control equipment is currently to described mesh
Mark unmanned plane is controlled；
Receive the permission control command that described second remote control equipment sends, and described permission control command is turned
Send to described first remote control equipment, so that described first remote control equipment connects according to described permission control command
To described UAV targets.
Embodiment of the disclosure that the technical scheme of offer can include following beneficial effect:
Technique scheme, when the second remote control equipment controls UAV targets, if the first remote control equipment
Think adapter control, then can send control request by server to the second remote control equipment, control request
Include the information of UAV targets, so, if the first remote control equipment adapter agreed to by the second remote control equipment
Control, then can be sent by server and allow control command to the first remote control equipment, so, first
Remote control equipment is connected to UAV targets, thus it is unmanned to be continued to control target by the first remote control equipment
Machine, the second remote control equipment then stops controlling described UAV targets.So, if remote control during Kong Zhiing
Equipment does not has electricity, can not interrupt the flight of unmanned plane, switches another remote control equipment, simultaneously can be
Before unmanned plane is beyond the span of control of a remote control equipment, it is switched to another remote control equipment at a distance,
Thus expand the flying distance of unmanned plane,
It should be appreciated that it is only exemplary and explanatory that above general description and details hereinafter describe
, the disclosure can not be limited.
Accompanying drawing explanation
Accompanying drawing herein is merged in description and constitutes the part of this specification, it is shown that meet these public affairs
The embodiment opened, and for explaining the principle of the disclosure together with description.
Fig. 1 is the flow chart according to a kind of unmanned aerial vehicle (UAV) control method shown in an exemplary embodiment.
Fig. 2 is the flow chart according to the another kind of unmanned aerial vehicle (UAV) control method shown in an exemplary embodiment.
Fig. 3 is the flow chart according to the another kind of unmanned aerial vehicle (UAV) control method shown in an exemplary embodiment.
Fig. 4 is the flow chart according to a kind of unmanned aerial vehicle (UAV) control method shown in an exemplary embodiment.
Fig. 5 is the flow chart according to the another kind of unmanned aerial vehicle (UAV) control method shown in an exemplary embodiment.
Fig. 6 is the flow chart according to a kind of unmanned aerial vehicle (UAV) control method shown in an exemplary embodiment.
Fig. 7 A is the flow chart according to the another kind of unmanned aerial vehicle (UAV) control method shown in an exemplary embodiment.
Fig. 7 B is the flow chart according to another the unmanned aerial vehicle (UAV) control method shown in an exemplary embodiment.
Fig. 8 A to Fig. 8 D is the flow process according to a kind of unmanned aerial vehicle (UAV) control method shown in an exemplary embodiment
Schematic diagram.
Fig. 9 is the block diagram according to a kind of unmanned aerial vehicle (UAV) control device shown in an exemplary embodiment.
Figure 10 is the block diagram according to the another kind of unmanned aerial vehicle (UAV) control device shown in an exemplary embodiment.
Figure 11 is the block diagram according to another the unmanned aerial vehicle (UAV) control device shown in an exemplary embodiment.
Figure 12 is the block diagram according to a kind of unmanned aerial vehicle (UAV) control device shown in an exemplary embodiment.
Figure 13 is the block diagram according to a kind of unmanned aerial vehicle (UAV) control device shown in an exemplary embodiment.
Figure 14 is the block diagram according to the another kind of unmanned aerial vehicle (UAV) control device shown in an exemplary embodiment.
Figure 15 is according to the block diagram being applicable to unmanned aerial vehicle (UAV) control device shown in an exemplary embodiment.
Detailed description of the invention
Here will illustrate exemplary embodiment in detail, its example represents in the accompanying drawings.Following retouches
Stating when relating to accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represents same or analogous and wants
Element.Embodiment described in following exemplary embodiment does not represent own consistent with the disclosure
Embodiment.On the contrary, they only with as appended claims describes in detail, the disclosure some
The example of the apparatus and method that aspect is consistent.
Fig. 1 is the flow chart according to a kind of unmanned aerial vehicle (UAV) control method shown in an exemplary embodiment.
As it is shown in figure 1, disclosure embodiment provides a kind of unmanned aerial vehicle (UAV) control method, the method can be used for
First remote control equipment, including step S101-S103:
In step S101, control request being sent to the second remote control equipment by server, controlling please
The information including UAV targets, the second remote control equipment is asked currently UAV targets to be controlled；
In step s 102, the permission control command that the second remote control equipment is sent is received by server；
In step s 103, according to allowing control command to be connected to UAV targets, with unmanned to target
Machine is controlled.
In this embodiment, when the second remote control equipment controls UAV targets, if the first remote control equipment
Think adapter control, then can send control request by server to the second remote control equipment, control request
Include the information of UAV targets, so, if the first remote control equipment adapter agreed to by the second remote control equipment
Control, then can be sent by server and allow control command to the first remote control equipment, so, first
Remote control equipment is connected to UAV targets, thus it is unmanned to be continued to control target by the first remote control equipment
Machine, the second remote control equipment then stops controlling UAV targets.So, if remote control equipment during Kong Zhiing
No electricity, can not interrupt the flight of unmanned plane, switches another remote control equipment, simultaneously can be unmanned
Before machine is beyond the span of control of a remote control equipment, it is switched to another remote control equipment at a distance, thus
Expand the flying distance of unmanned plane.
Fig. 2 is the flow chart according to the another kind of unmanned aerial vehicle (UAV) control method shown in an exemplary embodiment.
As in figure 2 it is shown, in one embodiment, said method also includes step S201-S202:
In step s 201, the unmanned plane information in the controlled range that server sends, unmanned plane are received
Information includes geographical location information, the current corresponding control device controlling unmanned plane；
In step S202, according to user instruction, determine UAV targets to be controlled.
In this embodiment, each unmanned plane can send the geographical location information of oneself and wait until server,
When the first remote control equipment response controls unmanned plane, server can send the unmanned plane letter in its controlled range
Breath is to the first remote control equipment, and these unmanned plane information can be showed user, and root by the first remote control equipment
According to the instruction of user's input, determine UAV targets to be controlled.
Fig. 3 is the flow chart according to the another kind of unmanned aerial vehicle (UAV) control method shown in an exemplary embodiment.
As it is shown on figure 3, in one embodiment, said method also includes step S301-S302:
In step S301, receive the stopping control command that the second remote control equipment is sent by server；
In step s 302, according to stopping control command, the connection with UAV targets is disconnected, to stop
Only UAV targets is controlled.
In this embodiment, after control is given the first remote control equipment by the second remote control equipment, if it is desired to
Re-fetch control, stopping control command can being sent to server, thus disconnect the first remote control equipment
Connection with UAV targets so that the first remote control equipment stops being controlled UAV targets.
Fig. 4 is the flow chart according to a kind of unmanned aerial vehicle (UAV) control method shown in an exemplary embodiment.
As shown in Figure 4, disclosure embodiment provides a kind of unmanned aerial vehicle (UAV) control method, and the method can be used for
Second remote control equipment, including step S401-S403:
In step S401, when the second remote control equipment is attached with unmanned plane, receive the first remote control
The control that equipment is sent by server is asked, and controls request and includes the information of unmanned plane；
In step S402, send instruction according to the permission received, sent by server and allow control
System order is to the first remote control equipment, and sends the control command allowing to be connected with the first remote control equipment to unmanned
Machine；
In step S403, when after the first remote control equipment and unmanned plane successful connection, disconnect the second remote control
Connection between equipment and unmanned plane.
In this embodiment, when the second remote control equipment controls UAV targets, if the first remote control equipment
Think adapter control, then can send control request by server to the second remote control equipment, control request
Include the information of UAV targets, so, if the first remote control equipment adapter agreed to by the second remote control equipment
Control, then can be sent by server and allow control command to the first remote control equipment, so, first
Remote control equipment is connected to UAV targets, thus it is unmanned to be continued to control target by the first remote control equipment
Machine, the second remote control equipment then stops controlling UAV targets.So, if remote control equipment during Kong Zhiing
No electricity, can not interrupt the flight of unmanned plane, switches another remote control equipment, simultaneously can be unmanned
Before machine is beyond the span of control of a remote control equipment, it is switched to another remote control equipment at a distance, thus
Expand the flying distance of unmanned plane.
Fig. 5 is the flow chart according to the another kind of unmanned aerial vehicle (UAV) control method shown in an exemplary embodiment.
As it is shown in figure 5, in one embodiment, said method also includes step S501:
In step S501, according to the stopping control instruction receiving, sent by server and stop control
System order is to the first remote control equipment, so that the first remote control equipment is according to stopping control command, disconnects with unmanned
The connection of machine.
In this embodiment, after control is given the first remote control equipment by the second remote control equipment, if it is desired to
Re-fetch control, stopping control command can being sent to server, thus disconnect the first remote control equipment
Connection with UAV targets so that the first remote control equipment stops being controlled UAV targets.
Fig. 6 is the flow chart according to a kind of unmanned aerial vehicle (UAV) control method shown in an exemplary embodiment.
As shown in Figure 6, disclosure embodiment provides a kind of unmanned aerial vehicle (UAV) control method, and the method can be used for
Server, including step S601-S603:
In step s 601, receiving the control request that the first remote control equipment sends, control request includes mesh
The information of mark unmanned plane；
In step S602, sending control request to the second remote control equipment, the second remote control equipment is current
UAV targets is controlled；
In step S603, receive the permission control command that the second remote control equipment sends, and permission is controlled
Order processed is forwarded to the first remote control equipment, so that the first remote control equipment is according to allowing control command to be connected to mesh
Mark unmanned plane.
In this embodiment, when the second remote control equipment controls UAV targets, if the first remote control equipment
Think adapter control, then can send control request by server to the second remote control equipment, control request
Include the information of UAV targets, so, if the first remote control equipment adapter agreed to by the second remote control equipment
Control, then can be sent by server and allow control command to the first remote control equipment, so, first
Remote control equipment is connected to UAV targets, thus it is unmanned to be continued to control target by the first remote control equipment
Machine, the second remote control equipment then stops controlling UAV targets.So, if remote control equipment during Kong Zhiing
No electricity, can not interrupt the flight of unmanned plane, switches another remote control equipment, simultaneously can be unmanned
Before machine is beyond the span of control of a remote control equipment, it is switched to another remote control equipment at a distance, thus
Expand the flying distance of unmanned plane.
Fig. 7 A is the flow chart according to the another kind of unmanned aerial vehicle (UAV) control method shown in an exemplary embodiment.
As shown in Figure 7 A, in one embodiment, said method also includes step S701:
In step s 701, the unmanned plane information in the controlled range of the first remote control equipment that sends is to first
Remote control equipment, so that the first remote control equipment is according to user instruction, determines UAV targets to be controlled, its
In, unmanned plane information includes geographical location information and the current corresponding control device controlling unmanned plane.
In this embodiment, each unmanned plane can send the geographical location information of oneself and wait until server,
When the first remote control equipment response controls unmanned plane, server can send the unmanned plane letter in its controlled range
Breath is to the first remote control equipment, and these unmanned plane information can be showed user, and root by the first remote control equipment
According to the instruction of user's input, determine UAV targets to be controlled.
Fig. 7 B is the flow chart according to another the unmanned aerial vehicle (UAV) control method shown in an exemplary embodiment.
As shown in Figure 7 B, in one embodiment, said method also includes step S711:
In step S711, receive the stopping control command that the second remote control equipment sends, and stopping is controlled
Order processed is forwarded to the first remote control equipment so that the first remote control equipment according to stop control command, disconnect with
The connection of UAV targets.
In this embodiment, after control is given the first remote control equipment by the second remote control equipment, if it is desired to
Re-fetch control, stopping control command can being sent to server, thus disconnect the first remote control equipment
Connection with UAV targets so that the first remote control equipment stops being controlled UAV targets.
Below with a specific embodiment, describe the technical scheme of the disclosure in detail.
With unmanned plane for aircraft 801, the first remote control equipment is hand-held remote control 802, the second remote control equipment
As a example by hand-held remote control 803.As shown in Figure 8 A, aircraft 801 is connected with joystick 803,
Constantly by position and the state of flight of X, A, it is sent to server update.When hand-held remote control 802
When thinking the control of adapter aircraft 801, as shown in Figure 8 B, joystick remote controller 802 is to service
Device sends and controls request, and has aircraft 801 in zone of control being detected, can send Shen by server
The instruction that please control is to hand-held remote control 803.As shown in Figure 8 C, hand-held remote control 803 receives ejection
After the application control instruction of 802, it is allowed to after, send the instruction agreeing to control to 802, and send can be with
802 instructions connected are to aircraft 801.As shown in Figure 8 C, hand-held remote control 802 and aircraft 801
Being attached, 803 stop control 801 simultaneously, and control has joined.
Following for disclosure device embodiment, may be used for performing method of disclosure embodiment.
Fig. 9 is the block diagram according to a kind of unmanned aerial vehicle (UAV) control device shown in an exemplary embodiment, this device
Can pass through software, hardware or both be implemented in combination with become the some or all of of remote control equipment.As
Shown in Fig. 9, this unmanned aerial vehicle (UAV) control device includes:
Sending module 91, is configured to be sent to the second remote control equipment, institute control request by server
Stating the information controlling to ask to include UAV targets, described second remote control equipment is currently unmanned to described target
Machine is controlled；
First receiver module 92, is configured to receive described second remote control equipment by permitting that server sends
Permitted control command；
First processing module 93, is configured to be connected to described target according to described permission control command unmanned
Machine, to be controlled described UAV targets.
In this embodiment, when the second remote control equipment controls UAV targets, if the first remote control equipment
Think adapter control, then can send control request by server to the second remote control equipment, control request
Include the information of UAV targets, so, if the first remote control equipment adapter agreed to by the second remote control equipment
Control, then can be sent by server and allow control command to the first remote control equipment, so, first
Remote control equipment is connected to UAV targets, thus it is unmanned to be continued to control target by the first remote control equipment
Machine, the second remote control equipment then stops controlling described UAV targets.So, if remote control during Kong Zhiing
Equipment does not has electricity, can not interrupt the flight of unmanned plane, switches another remote control equipment, simultaneously can be
Before unmanned plane is beyond the span of control of a remote control equipment, it is switched to another remote control equipment at a distance,
Thus expand the flying distance of unmanned plane.
Figure 10 is the block diagram according to the another kind of unmanned aerial vehicle (UAV) control device shown in an exemplary embodiment.
As shown in Figure 10, in one embodiment, said apparatus also includes:
Second receiver module 1001, is configured to the unmanned plane letter receiving in the controlled range that server sends
Breath, described unmanned plane information includes geographical location information, the current corresponding control dress controlling described unmanned plane
Put；
Determine module 1002, be configured to, according to user instruction, determine UAV targets to be controlled.
In this embodiment, each unmanned plane can send the geographical location information of oneself and wait until server,
When the first remote control equipment response controls unmanned plane, server can send the unmanned plane letter in its controlled range
Breath is to the first remote control equipment, and these unmanned plane information can be showed user, and root by the first remote control equipment
According to the instruction of user's input, determine UAV targets to be controlled.
Figure 11 is the block diagram according to another the unmanned aerial vehicle (UAV) control device shown in an exemplary embodiment.
As shown in figure 11, in one embodiment, said apparatus also includes:
3rd receiver module 1101, is configured to receive described second remote control equipment and is sent out by described server
The stopping control command sending；
Second processing module 1102, is configured to, according to described stopping control command, disconnect and described target
The connection of unmanned plane, to stop being controlled described UAV targets.
In this embodiment, after control is given the first remote control equipment by the second remote control equipment, if it is desired to
Re-fetch control, stopping control command can being sent to server, thus disconnect the first remote control equipment
Connection with UAV targets so that the first remote control equipment stops being controlled UAV targets.
Figure 12 is the block diagram according to a kind of unmanned aerial vehicle (UAV) control device shown in an exemplary embodiment, this device
Can pass through software, hardware or both be implemented in combination with become the some or all of of remote control equipment.As
Shown in Figure 12, this unmanned aerial vehicle (UAV) control device includes:
Receiver module 1201, is configured as described second remote control equipment and unmanned plane when being attached, connects
Receive the control request that the first remote control equipment is sent, the described letter controlling to ask to include unmanned plane by server
Breath；
Sending module 1202, is configured to send instruction, by described server according to the permission received
Send and allow control command extremely described first remote control equipment, and send permission with described first remote control equipment even
The control command connect is to described unmanned plane；
Processing module 1203, is configured as described first remote control equipment and described unmanned plane successful connection
After, disconnect the connection between described second remote control equipment and described unmanned plane.
In this embodiment, when the second remote control equipment controls UAV targets, if the first remote control equipment
Think adapter control, then can send control request by server to the second remote control equipment, control request
Include the information of UAV targets, so, if the first remote control equipment adapter agreed to by the second remote control equipment
Control, then can be sent by server and allow control command to the first remote control equipment, so, first
Remote control equipment is connected to UAV targets, thus it is unmanned to be continued to control target by the first remote control equipment
Machine, the second remote control equipment then stops controlling described UAV targets.So, if remote control during Kong Zhiing
Equipment does not has electricity, can not interrupt the flight of unmanned plane, switches another remote control equipment, simultaneously can be
Before unmanned plane is beyond the span of control of a remote control equipment, it is switched to another remote control equipment at a distance,
Thus expand the flying distance of unmanned plane.
Figure 13 is the block diagram according to a kind of unmanned aerial vehicle (UAV) control device shown in an exemplary embodiment, this device
Can pass through software, hardware or both be implemented in combination with become the some or all of of server.Such as figure
Shown in 13, this unmanned aerial vehicle (UAV) control device includes:
Request receiver module 1301, is configured to receive the control request that the first remote control equipment sends, described
Control request and include the information of UAV targets；
First sending module 1302, is configured to control request transmission to the second remote control equipment, institute by described
State the second remote control equipment currently described UAV targets to be controlled；
Order receiver module 1303, is configured to receive the permission control life that described second remote control equipment sends
Order, and described permission control command is forwarded to described first remote control equipment, so that described first remote control sets
For being connected to described UAV targets according to described permission control command.
In this embodiment, when the second remote control equipment controls UAV targets, if the first remote control equipment
Think adapter control, then can send control request by server to the second remote control equipment, control request
Include the information of UAV targets, so, if the first remote control equipment adapter agreed to by the second remote control equipment
Control, then can be sent by server and allow control command to the first remote control equipment, so, first
Remote control equipment is connected to UAV targets, thus it is unmanned to be continued to control target by the first remote control equipment
Machine, the second remote control equipment then stops controlling described UAV targets.So, if remote control during Kong Zhiing
Equipment does not has electricity, can not interrupt the flight of unmanned plane, switches another remote control equipment, simultaneously can be
Before unmanned plane is beyond the span of control of a remote control equipment, it is switched to another remote control equipment at a distance,
Thus expand the flying distance of unmanned plane.
As shown in figure 14, in one embodiment, said apparatus also includes:
Second sending module 1401, is configured to the nothing sending in the controlled range of described first remote control equipment
People's machine information, to described first remote control equipment, so that described first remote control equipment is according to user instruction, determines
UAV targets to be controlled, wherein, described unmanned plane information includes geographical location information and current control
The corresponding of described unmanned plane controls device.
In this embodiment, each unmanned plane can send the geographical location information of oneself and wait until server,
When the first remote control equipment response controls unmanned plane, server can send the unmanned plane letter in its controlled range
Breath is to the first remote control equipment, and these unmanned plane information can be showed user, and root by the first remote control equipment
According to the instruction of user's input, determine UAV targets to be controlled.
The 7th aspect according to disclosure embodiment, it is provided that a kind of unmanned aerial vehicle (UAV) control device, distant for first
Control equipment, including:
Processor；
For storing the memorizer of processor executable；
Wherein, described processor is configured to:
Control request is sent to the second remote control equipment by server, described control request include target without
Man-machine information, described UAV targets is currently controlled by described second remote control equipment；
Receive the permission control command that described second remote control equipment is sent by server；
It is connected to described UAV targets, so that described UAV targets to be entered according to described permission control command
Row controls.
Above-mentioned processor is also configured to:
Receiving the unmanned plane information in the controlled range that server sends, described unmanned plane information includes geography
Positional information, the current corresponding control device controlling described unmanned plane；
According to user instruction, determine UAV targets to be controlled.
Above-mentioned processor is also configured to:
Receive the stopping control command that described second remote control equipment is sent by described server；
According to described stopping control command, disconnect the connection with described UAV targets, to stop described
UAV targets is controlled.
Eighth aspect according to disclosure embodiment, it is provided that a kind of unmanned aerial vehicle (UAV) control device, distant for second
Control equipment, including:
Processor；
For storing the memorizer of processor executable；
Wherein, described processor is configured to:
When described second remote control equipment is attached with unmanned plane, receive the first remote control equipment by service
The control request that device sends, the described information controlling to ask to include unmanned plane；
Send instruction according to the permission received, sent by described server and allow control command to described
First remote control equipment, and send the control command allowing to be connected with described first remote control equipment to described unmanned
Machine；
When after described first remote control equipment and described unmanned plane successful connection, disconnect described second remote control equipment
And the connection between described unmanned plane.
The 9th aspect according to disclosure embodiment, it is provided that a kind of unmanned aerial vehicle (UAV) control device, for server,
Including:
Processor；
For storing the memorizer of processor executable；
Wherein, described processor is configured to:
Receive the control request that the first remote control equipment sends, the described letter controlling to ask to include UAV targets
Breath；
Asking to send to the second remote control equipment by described control, described second remote control equipment is currently to described mesh
Mark unmanned plane is controlled；
Receive the permission control command that described second remote control equipment sends, and described permission control command is turned
Send to described first remote control equipment, so that described first remote control equipment connects according to described permission control command
To described UAV targets.
Above-mentioned processor is also configured to:
Unmanned plane information to described first remote control sent in the controlled range of described first remote control equipment sets
Standby, so that described first remote control equipment is according to user instruction, determine UAV targets to be controlled, wherein,
Described unmanned plane information includes geographical location information and the current corresponding control device controlling described unmanned plane.
Figure 15 is according to a kind of block diagram for unmanned aerial vehicle (UAV) control device shown in an exemplary embodiment.Example
As, device 1500 may be provided in a server.Device 1500 includes processing assembly 1522, and it enters
One step includes one or more processor, and by the memory resource representated by memorizer 1532, is used for
Storage can be by the instruction of the execution processing assembly 1522, such as application program.Memorizer 1532 stores
Application program can include one or more each corresponding to one group instruction module.Additionally,
Process assembly 1522 to be configured to perform instruction, to perform said method.
Device 1500 can also include that a power supply module 1526 is configured to perform the power supply of device 1500
Management, a wired or wireless network interface 1558 is configured to device 1500 is connected to network, and
One input and output (I/O) interface 1558.Device 1500 can operate based on being stored in memorizer 1532
Operating system, such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM,
FreeBSDTM or similar.
A kind of non-transitory computer-readable recording medium, when the instruction in described storage medium is by device
When the processor of 1500 performs so that device 1500 is able to carry out above-mentioned unmanned aerial vehicle (UAV) control method, described
Method includes:
Receive the control request that the first remote control equipment sends, the described letter controlling to ask to include UAV targets
Breath；
Asking to send to the second remote control equipment by described control, described second remote control equipment is currently to described mesh
Mark unmanned plane is controlled；
Receive the permission control command that described second remote control equipment sends, and described permission control command is turned
Send to described first remote control equipment, so that described first remote control equipment connects according to described permission control command
To described UAV targets.
In one embodiment, described method also includes:
Unmanned plane information to described first remote control sent in the controlled range of described first remote control equipment sets
Standby, so that described first remote control equipment is according to user instruction, determine UAV targets to be controlled, wherein,
Described unmanned plane information includes geographical location information and the current corresponding control device controlling described unmanned plane.
In one embodiment, described method also includes:
Receive the stopping control command that described second remote control equipment sends, and described stopping control command being turned
Send to described first remote control equipment, so that described first remote control equipment is according to described stopping control command, disconnected
Open and the connection of described UAV targets.
Those skilled in the art, after considering description and putting into practice disclosure disclosed herein, will readily occur to this
Other embodiment disclosed.The application is intended to any modification, purposes or the adaptability of the disclosure
Change, these modification, purposes or adaptations are followed the general principle of the disclosure and include these public affairs
Open undocumented common knowledge in the art or conventional techniques means.Description and embodiments only by
Being considered as exemplary, the true scope of the disclosure and spirit are pointed out by claim below.
It should be appreciated that the disclosure be not limited to described above and illustrated in the accompanying drawings accurately
Structure, and various modifications and changes can carried out without departing from the scope.The scope of the present disclosure is only by institute
Attached claim limits.
Claims (15)
1. a unmanned aerial vehicle (UAV) control method, for the first remote control equipment, it is characterised in that including:
Control request is sent to the second remote control equipment by server, described control request include target without
Man-machine information, described UAV targets is currently controlled by described second remote control equipment；
Receive the permission control command that described second remote control equipment is sent by server；
It is connected to described UAV targets, so that described UAV targets to be entered according to described permission control command
Row controls.
Method the most according to claim 1, it is characterised in that described method also includes:
Receiving the unmanned plane information in the controlled range that server sends, described unmanned plane information includes geography
Positional information, the current corresponding control device controlling described unmanned plane；
According to user instruction, determine UAV targets to be controlled.
Method the most according to claim 1, it is characterised in that described method also includes:
Receive the stopping control command that described second remote control equipment is sent by described server；
According to described stopping control command, disconnect the connection with described UAV targets, to stop described
UAV targets is controlled.
4. a unmanned aerial vehicle (UAV) control method, for the second remote control equipment, it is characterised in that including:
When described second remote control equipment is attached with unmanned plane, receive the first remote control equipment by service
The control request that device sends, the described information controlling to ask to include unmanned plane；
Send instruction according to the permission received, sent by described server and allow control command to described
First remote control equipment, and send the control command allowing to be connected with described first remote control equipment to described unmanned
Machine；
When after described first remote control equipment and described unmanned plane successful connection, disconnect described second remote control equipment
And the connection between described unmanned plane.
5. a unmanned aerial vehicle (UAV) control method, for server, it is characterised in that including:
Receive the control request that the first remote control equipment sends, the described letter controlling to ask to include UAV targets
Breath；
Asking to send to the second remote control equipment by described control, described second remote control equipment is currently to described mesh
Mark unmanned plane is controlled；
Receive the permission control command that described second remote control equipment sends, and described permission control command is turned
Send to described first remote control equipment, so that described first remote control equipment connects according to described permission control command
To described UAV targets.
Method the most according to claim 5, it is characterised in that described method also includes:
Unmanned plane information to described first remote control sent in the controlled range of described first remote control equipment sets
Standby, so that described first remote control equipment is according to user instruction, determine UAV targets to be controlled, wherein,
Described unmanned plane information includes geographical location information and the current corresponding control device controlling described unmanned plane.
7. a unmanned aerial vehicle (UAV) control device, for the first remote control equipment, it is characterised in that including:
Sending module, for sending control request to the second remote control equipment, described control by server
Request includes the information of UAV targets, and described UAV targets is currently carried out by described second remote control equipment
Control；
First receiver module, the permission sent by server for receiving described second remote control equipment is controlled
Order；
First processing module, for being connected to described UAV targets according to described permission control command, with
Described UAV targets is controlled.
Device the most according to claim 7, it is characterised in that described device also includes:
Second receiver module, the unmanned plane information in receiving the controlled range that server sends, described
Unmanned plane information includes geographical location information, the current corresponding control device controlling described unmanned plane；
Determine module, for according to user instruction, determine UAV targets to be controlled.
Device the most according to claim 7, it is characterised in that described device also includes:
3rd receiver module, for receiving the stopping that described second remote control equipment is sent by described server
Control command；
Second processing module, for according to described stopping control command, disconnects with described UAV targets's
Connect, to stop described UAV targets is controlled.
10. a unmanned aerial vehicle (UAV) control device, for the second remote control equipment, it is characterised in that including:
Receiver module, for when described second remote control equipment is attached with unmanned plane, receiving first distant
The control that control equipment is sent by server is asked, the described information controlling to ask to include unmanned plane；
Sending module, for sending instruction according to the permission received, is sent by described server and allows
Control command is to described first remote control equipment, and sends the control allowing to be connected with described first remote control equipment
Order is to described unmanned plane；
Processing module, for when, after described first remote control equipment and described unmanned plane successful connection, disconnecting institute
State the connection between the second remote control equipment and described unmanned plane.
11. 1 kinds of unmanned aerial vehicle (UAV) control devices, for server, it is characterised in that including:
Request receiver module, is used for receiving the control request that the first remote control equipment sends, and described control is asked
Information including UAV targets；
First sending module, for controlling request send described to the second remote control equipment, described second distant
Described UAV targets is currently controlled by control equipment；
Order receiver module, for receiving the permission control command that described second remote control equipment sends, and will
Described permission control command is forwarded to described first remote control equipment, so that described first remote control equipment is according to institute
State permission control command and be connected to described UAV targets.
12. devices according to claim 11, it is characterised in that described device also includes:
Second sending module, the unmanned plane information in the controlled range sending described first remote control equipment
To described first remote control equipment, so that described first remote control equipment is according to user instruction, determine to be controlled
UAV targets, wherein, described unmanned plane information includes that geographical location information and current control are described unmanned
The corresponding of machine controls device.
13. 1 kinds of unmanned aerial vehicle (UAV) control devices, for the first remote control equipment, it is characterised in that including:
Processor；
For storing the memorizer of processor executable；
Wherein, described processor is configured to:
Control request is sent to the second remote control equipment by server, described control request include target without
Man-machine information, described UAV targets is currently controlled by described second remote control equipment；
Receive the permission control command that described second remote control equipment is sent by server；
It is connected to described UAV targets, so that described UAV targets to be entered according to described permission control command
Row controls.
14. 1 kinds of unmanned aerial vehicle (UAV) control devices, for the second remote control equipment, it is characterised in that including:
Processor；
For storing the memorizer of processor executable；
Wherein, described processor is configured to:
When described second remote control equipment is attached with unmanned plane, receive the first remote control equipment by service
The control request that device sends, the described information controlling to ask to include unmanned plane；
Send instruction according to the permission received, sent by described server and allow control command to described
First remote control equipment, and send the control command allowing to be connected with described first remote control equipment to described unmanned
Machine；
When after described first remote control equipment and described unmanned plane successful connection, disconnect described second remote control equipment
And the connection between described unmanned plane.
15. 1 kinds of unmanned aerial vehicle (UAV) control devices, for server, it is characterised in that including:
Processor；
For storing the memorizer of processor executable；
Wherein, described processor is configured to:
Receive the control request that the first remote control equipment sends, the described letter controlling to ask to include UAV targets
Breath；
Asking to send to the second remote control equipment by described control, described second remote control equipment is currently to described mesh
Mark unmanned plane is controlled；
Receive the permission control command that described second remote control equipment sends, and described permission control command is turned
Send to described first remote control equipment, so that described first remote control equipment connects according to described permission control command
To described UAV targets.
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