CN106100721B - Method, server, remote controler and the system that unmanned plane and remote controler are matched - Google Patents

Method, server, remote controler and the system that unmanned plane and remote controler are matched Download PDF

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Publication number
CN106100721B
CN106100721B CN201610486132.9A CN201610486132A CN106100721B CN 106100721 B CN106100721 B CN 106100721B CN 201610486132 A CN201610486132 A CN 201610486132A CN 106100721 B CN106100721 B CN 106100721B
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China
Prior art keywords
unmanned plane
remote controler
pairing
server
match
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CN201610486132.9A
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Chinese (zh)
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CN106100721A (en
Inventor
刘波
李文超
萧延强
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Guangzhou Xaircraft Technology Co Ltd
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Guangzhou Xaircraft Technology Co Ltd
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Priority to CN201610486132.9A priority Critical patent/CN106100721B/en
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18502—Airborne stations
    • H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/1851—Systems using a satellite or space-based relay
    • H04B7/18519—Operations control, administration or maintenance

Abstract

The embodiment of the invention provides method, server, remote controler and systems that a kind of pair of unmanned plane and remote controler match, wherein the system includes at least: server, remote controler and unmanned plane, wherein, the server is used to determine the remote controler and the unmanned plane for needing to match binding, pairing parameter corresponding with pairing request is then obtained, and returns to the pairing parameter to the remote controler；The pairing request is sent to server for generating pairing request by the remote controler, and, the communication configuration of device is remotely controlled according to pairing parameter；The unmanned plane, for obtaining pairing parameter from server or remote controler, and according to the communication configuration matched parameter and carry out the unmanned plane.The pairing accuracy rate of unmanned plane and remote controler can be improved in the embodiment of the present invention, and reduces the environmental requirement of pairing process.

Description

Method, server, remote controler and the system that unmanned plane and remote controler are matched
Technical field
The present invention relates to air vehicle technique field, the pair systems matched more particularly to a kind of pair of unmanned plane, one Remote controler, a kind of unmanned plane and one kind that server, a kind of pair of unmanned plane that kind matches unmanned plane are controlled are right The method that unmanned plane and remote controler are matched.
Background technique
UAV abbreviation unmanned plane (Unmanned Aerial Vehicle, abbreviation UAV) is a kind of using nothing The not manned aircraft of line electrical remote control equipment and the presetting apparatus provided for oneself manipulation.Unmanned plane it is widely used, often applied In industries such as city management, agricultural, geology, meteorology, electric power, rescue and relief work, video captures.For example, unmanned plane can be applied to In agricultural, (or fertilizer) is sprayed insecticide for agricultural product.
Currently, unmanned plane can be controlled using remote controler.If but remote controler will control unmanned plane, must complete first The pairing of unmanned plane and remote controler.In the prior art, the pairing that following manner completes unmanned plane and remote controler is generallyd use:
User usually requires to be adjusted to remote controler on one dedicated paired communication channel of pairing, after unmanned plane powers on, uses Unmanned plane is adjusted on paired communication identical with remote controler channel by family, so that remote controler and unmanned plane enter pairing shape simultaneously State.
User makes remote controler issue pairing request in the form of broadcasting operation button, which includes communication Parameter is matched in channel number, remote controler address, unmanned plane address etc..
After unmanned plane corresponding with unmanned plane address receives pairing request, record pairing parameter, and return to one and match To confirmation message to remote controler.
After remote controler receives confirmation message, pairing terminates, and both sides restore normal according to pairing parameter reset communications setting Communication.
However, inventor, when implementing the prior art, the discovery prior art has the following deficiencies:
When having more remote controlers or more unmanned planes in region while entering pairing state, in region multiple groups remote controler with The communication configuration of unmanned plane is easy to appear repetition, interferes with each other to form communication channel, causes pairing to malfunction, influences to be paired into Power.In addition, communication channel interfere with each other be also possible to cause unmanned plane can not operation, or even there is safety accident.
Further, in the prior art, the every secondary control unmanned plane of remote controler and the different unmanned plane of every secondary control all need The pairing process for carrying out above-mentioned pairing parameter is carried out for plant protection operation for using unmanned plane, due to the operation of unmanned plane The frequency is high, and the prior art will seriously affect the operating efficiency of unmanned plane entirety.
Summary of the invention
In view of the above problems, it proposes the embodiment of the present invention and overcomes the above problem or at least partly in order to provide one kind The pair system that a kind of pair of unmanned plane to solve the above problems is matched, and the clothes that corresponding a kind of pair of unmanned plane is matched Remote controler, a kind of unmanned plane and a kind of pair of unmanned plane and remote controler that business device, a kind of pair of unmanned plane are controlled match Method.
To solve the above-mentioned problems, the embodiment of the invention discloses the pair system that a kind of pair of unmanned plane is matched, institutes It states pair system to include at least: server, remote controler and unmanned plane, wherein
The server, for after receiving the pairing request that the remote controler is sent, if it is determined that the remote controler It is bound with the unmanned plane for needing to match, then obtains pairing parameter corresponding with the pairing request, and return to the remote controler The pairing parameter；
The remote controler is sent to server for generating pairing request, and by the pairing request, and, foundation connects The pairing parameter corresponding with the pairing request received carries out the communication configuration of the remote controler, and, it is complete in communication configuration After, confirmation message is sent to the unmanned plane for needing to match, is receiving what the unmanned plane for needing to match returned After confirming response message, determine and the unmanned plane successful matching for needing to match；
The unmanned plane, for obtaining pairing parameter from the server or the remote controler, and according to the pairing Parameter carries out the communication configuration of the unmanned plane, and, after communication configuration completion, if receiving the remote controler hair The confirmation message sent then returns to corresponding confirmation response message to the remote controler.
Preferably, the system also includes registered terminals；
The registered terminal, the unmanned plane for obtaining multiple unmanned planes identifies and/or the remote controler mark of multiple remote controlers Know, and the unmanned plane is identified and/or remote control identification is sent to the server；
The server is also used to receive the unmanned plane mark and/or the remote control identification, to the unmanned plane And/or the remote controler is registered.
Preferably, the server includes:
Registration relationship judgment module identifies in preset registration relational database with the presence or absence of the unmanned plane for judging And/or remote control identification, and if it exists, then call the first cue module；If it does not exist, then Registration Module is called；Wherein, described pre- If registration relational database in store at least one Jing Guo server registers unmanned plane mark and/or remote control identification；
Registration Module is used for by the unmanned plane identification record in the registration relational database, to carry out the nothing Man-machine registration, and/or, the remote control identification is recorded in the registration relational database, to carry out the remote controler Registration；
First cue module is stepped on for generating the first miscue information, and by the first miscue information return Remember terminal, the first miscue information is shown by the registered terminal, wherein the first miscue information is for mentioning Show that the unmanned plane and/or remote controler have been registered.
Preferably, the registered terminal and the remote controler are integrated in same equipment.
Preferably, the server is also used to distribute unique mailing address to the unmanned plane and/or remote controler.
Preferably, the server is also used to the unmanned plane mark for having distributed the unmanned plane of mailing address being organized into nobody Machine matches list, and unmanned plane pairing list is sent to the remote controler, comprising:
First boot-strap information receiving module, the boot-strap information sent for receiving the remote controler, the boot-strap information packet Include the remote control identification of the remote controler；
Download judgment module, for based on the remote control identification judge the remote controler whether have for it is described nobody Machine matches the Download History of list, confirmation module is updated if so, calling, if it is not, then invocation list sending module；
List sending module, for current time newest unmanned plane pairing list to be sent to the remote controler；
Confirmation module is updated, for obtaining the corresponding remote controler the last time downloading unmanned plane pairing of the remote control identification The download time of list, and judge in the download time to the time range of current time, the unmanned plane pairing list is It is no to have update, if so, calling the list sending module；If it is not, then generating determine instruction, and the determine instruction is sent To in the corresponding remote controler of the remote control identification.
Preferably, the remote controler includes:
List display module, for showing the unmanned plane pairing list to user；
Instruction detection module, the unmanned plane matched for detecting the needs that user selectes from unmanned plane pairing list Mark, and receive the matched order that user initiates according to the unmanned plane mark for needing to match；
Pairing request generation module for generating pairing request based on the matched order, and the pairing request is sent out It send to server, the pairing request includes the unmanned plane mark for needing to match, the remote control identification.
Preferably, the pairing request further includes the current location information of the remote controler, and the pairing parameter includes needing The mailing address for the unmanned plane to be matched, the remote controler mailing address and it is described need the unmanned plane that matches with it is described distant The communication channel number that control device is communicated；
The server further include:
Match determination module, for being based on the pairing request, determine it is described need the unmanned plane that matches identify whether with There are binding relationships for other remote control identifications；If so, the second cue module is called, if it is not, then calling binding module；
Second cue module returns to institute for generating the second miscue information, and by the second miscue information State remote controler；
Binding module, for generating the binding relationship of the unmanned plane mark and the remote control identification for needing to match, To bind the remote controler and the unmanned plane for needing to match, and the location information current according to the remote controler determines institute It states and the unmanned plane matched is needed to identify the communication channel number that corresponding unmanned plane is communicated with the remote controler；And by institute State that need the mailing address of unmanned plane, the mailing address of the remote controler and the communication channel number matched to be sent to described Remote controler.
Preferably, the server further include:
Second boot-strap information receiving module, the boot-strap information sent for receiving the unmanned plane for needing to match are described Boot-strap information includes the unmanned plane mark for needing to match；
Parameter acquisition module is matched, for obtaining pairing parameter corresponding with the unmanned plane mark for needing to match, and The pairing parameter is sent in the unmanned plane for needing to match.
The embodiment of the invention also discloses the server that a kind of pair of unmanned plane is matched, the server is above-mentioned pairing Server in system.
The embodiment of the invention also discloses the remote controler that a kind of pair of unmanned plane is controlled, the remote controler is above-mentioned pairing Remote controler in system.
The embodiment of the invention also discloses a kind of unmanned plane, the unmanned plane is the unmanned plane in above-mentioned pair system.
The embodiment of the invention also discloses the methods that a kind of pair of unmanned plane and remote controler are matched, and the unmanned plane is by institute Remote control control is stated, the unmanned plane and the remote controler are connected with server, which comprises
Server receives the pairing request that the remote controler is sent；
If it is determined that the remote controler and the unmanned plane for needing to match are bound, then pairing corresponding with the pairing request is obtained Parameter；
The pairing parameter is returned to the remote controler, the remote controler is used to carry out according to the pairing parameter described distant Control the communication configuration of device.
Preferably, the method also includes:
The unmanned plane mark and/or the remote control identification that registered terminal is sent are received, to the unmanned plane and/or described Remote controler is registered.
Preferably, it is described to the unmanned plane and/or the remote controler carry out registration include:
Judge in preset registration relational database with the presence or absence of unmanned plane mark and/or remote control identification, wherein At least one unmanned plane mark and/or remote controler mark Jing Guo server registers is stored in the preset registration relational database Know；
If it does not exist, then by the unmanned plane identification record in the registration relational database, with carry out it is described nobody The registration of machine, and/or, the remote control identification is recorded in the registration relational database, to carry out the remote controler Registration；
If it exists, then the first miscue information is generated, and the first miscue information is returned into registered terminal, by The registered terminal shows the first miscue information, wherein the first miscue information is for prompting the nothing Man-machine and/or remote controler has been registered.
Preferably, the method also includes:
Unique mailing address is distributed to the unmanned plane and/or remote controler.
Preferably, the method also includes:
The unmanned plane for having distributed the unmanned plane of mailing address mark is organized into unmanned plane pairing list, by the unmanned plane Pairing list is sent to the remote controler.
It is preferably, described that the unmanned plane for having distributed the unmanned plane of mailing address mark is organized into unmanned plane pairing list, The unmanned plane, which is matched the step of list is sent to the remote controler, includes:
The boot-strap information that the remote controler is sent is received, the boot-strap information includes the remote control identification of the remote controler；
Judge whether the remote controler has the downloading for unmanned plane pairing list based on the remote control identification Record；
If it is not, current time newest unmanned plane pairing list is then sent to the remote controler；
If so, obtaining the downloading of the corresponding remote controler the last time downloading unmanned plane pairing list of the remote control identification Time, and judge in the download time to the time range of current time, whether the unmanned plane pairing list has update, if It is that current time newest unmanned plane pairing list is then sent to the remote controler；If it is not, then generating determine instruction, and will The determine instruction is sent in the corresponding remote controler of the remote control identification.
Preferably, the pairing request includes the current location information of the remote controler, and the pairing parameter includes needing The mailing address of the unmanned plane of pairing, the mailing address of the remote controler and the unmanned plane for needing to match and the remote control The communication channel number that device is communicated；
The method also includes:
Based on the pairing request, the unmanned plane that the judgement needs match identifies whether and other remote control identifications exist Binding relationship；
If so, generating the second miscue information, and the second miscue information is returned into the remote controler；
If it is not, the binding relationship of the unmanned plane mark and the remote control identification for needing to match then is generated, by institute It states remote controler and the unmanned plane for needing to match is bound, and the location information current according to the remote controler determines the needs The unmanned plane of pairing identifies the communication channel number that corresponding unmanned plane is communicated with the remote controler；And by the needs The mailing address of the unmanned plane of pairing, the mailing address of the remote controler and the communication channel number are sent to the remote control Device.
Preferably, the method also includes:
The boot-strap information that the unmanned plane for needing to match is sent is received, the boot-strap information includes that the needs match Unmanned plane mark；
Pairing parameter corresponding with the unmanned plane mark for needing to match is obtained, and the pairing parameter is sent to institute It states in the unmanned plane for needing to match, the unmanned plane is used to carry out the communication configuration of the unmanned plane according to the pairing parameter.
The embodiment of the invention also discloses the methods that a kind of pair of unmanned plane and remote controler are matched, and the unmanned plane is by institute Remote control control is stated, the unmanned plane and the remote controler are connected with server, which comprises
Remote controler generates pairing request, and the pairing request is sent to server；
The pairing parameter corresponding with the pairing request that server returns is received, the pairing parameter is the server After receiving the pairing request that the remote controler is sent, obtained after determining the remote controler and needing the unmanned plane matched binding The pairing parameter corresponding with the pairing request taken；
The communication configuration of the remote controler is carried out according to the pairing parameter, and, after communication configuration completion, to institute It states the unmanned plane for needing to match and sends confirmation message, in the confirmation response message for receiving the unmanned plane return for needing to match After, determine and the unmanned plane successful matching for needing to match.
Preferably, the remote controler generate pairing request, and the step of pairing request is sent to server it Before, further includes:
It obtains unmanned plane and matches list, wherein it is unmanned plane and/or distant that unmanned plane pairing list, which is the server, After controlling device distribution unique communication address, the unmanned plane for having distributed the unmanned plane of mailing address is identified to the list being organized into.
Preferably, the step of acquisition unmanned plane pairing list includes:
When remote controler electrifying startup, boot-strap information is sent to server, the boot-strap information includes the remote controler Remote control identification；
Receive the current time newest unmanned plane pairing list that the server is sent；Alternatively, receiving the server The determine instruction of return, according to the determine instruction, the unmanned plane for obtaining the last downloading matches list.
Preferably, the method also includes:
The unmanned plane mark for needing to match is selected from unmanned plane pairing list.
Preferably, the described the step of unmanned plane mark that needs match is selected from unmanned plane pairing list, includes:
Show the unmanned plane pairing list to user；
The unmanned plane mark that the needs that detection user selectes from unmanned plane pairing list match, and receive user's root The matched order initiated according to the unmanned plane mark for needing to match；
Pairing request is generated based on the matched order, and the pairing request is sent to server, the pairing is asked It asks including the unmanned plane mark for needing to match, the remote control identification.
Preferably, the pairing parameter include the mailing address of unmanned plane for needing to match, the remote controler communicatedly Location and the communication channel number for needing the unmanned plane matched to be communicated with the remote controler.
The embodiment of the present invention includes following advantages:
In embodiments of the present invention, unmanned plane and/or remote controler are registered using server, to prevent nothing The man-machine possibility by unknown remote control control has also prevented the possibility that remote controler mistakenly controls unknown unmanned plane, greatly Ground has ensured the safety of unmanned plane during flying.
Further, server is that unmanned plane and/or remote controler distribute mailing address, according to the pairing request of remote controler to Remote controler returns to pairing parameter, so that remote controler carries out communication configuration, and, unmanned plane can be obtained from server or remote controler Parameter must be matched, and carries out the communication configuration of unmanned plane according to the pairing parameter, directly broadcasts pairing request without remote controler, when When more unmanned planes carry out operation simultaneously with more remote controlers in region, avoids communication channel interference problem and match error Problem similarly also reduces the environmental requirement of pairing process.
Detailed description of the invention
Fig. 1 is the structural block diagram for the pair system embodiment one that a kind of pair of unmanned plane of the invention is matched；
Fig. 2 is the structural block diagram for the pair system embodiment two that a kind of pair of unmanned plane of the invention is matched；
Fig. 3 is the server architecture signal in the pair system embodiment two that a kind of pair of unmanned plane of the invention is matched Figure；
Fig. 4 is the remote controller structure signal in the pair system embodiment two that a kind of pair of unmanned plane of the invention is matched Figure；
Fig. 5 is the step flow chart for the embodiment of the method one that a kind of pair of unmanned plane and remote controler of the invention are matched；
Fig. 6 is the step flow chart for the embodiment of the method two that a kind of pair of unmanned plane and remote controler of the invention are matched.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real Applying mode, the present invention is described in further detail.
One of the core concepts of the embodiments of the present invention is, uses server for unmanned plane and remote controler distribution communication Pairing request is directly broadcasted without remote controler in address, communication channel number, when more unmanned planes in region and more remote controlers progress The problem of operation simultaneously, the then interference problem and pairing for avoiding original pairing malfunction, similarly, also reduce pairing process Environmental requirement.
Referring to Fig.1, the structural frames for the pair system embodiment one that a kind of pair of unmanned plane of the invention is matched are shown Figure.In embodiments of the present invention, the pair system at least may include: server 10, remote controler 20 and unmanned plane 30, In,
The server 10, for after receiving the pairing request that the remote controler 20 is sent, if it is determined that described distant Control device 20 and the unmanned plane 30 that matches is needed to bind, then obtain pairing parameter corresponding with the pairing request, and to described distant Control device 20 returns to the pairing parameter；
The remote controler 20 is sent to server 10 for generating pairing request, and by the pairing request, and, according to The communication configuration of the remote controler 20 is carried out according to the pairing parameter corresponding with the pairing request received, and, it is communicating After configuration is completed, need the unmanned plane 30 that matches to send confirmation message to described, receive it is described need to match nobody After the confirmation response message that machine 30 returns, determine and 30 successful matching of unmanned plane for needing to match；
The unmanned plane 30, for obtaining pairing parameter from the server 10 or the remote controler 20, and according to institute The communication configuration that pairing parameter carries out the unmanned plane 30 is stated, and, after communication configuration completion, if receiving described The confirmation message that remote controler 20 is sent, then return to corresponding confirmation response message to the remote controler 20.
In embodiments of the present invention, the pairing of unmanned plane and remote controler is completed using server, so that when more in region When platform unmanned plane carries out operation simultaneously with more remote controlers, the problem of avoiding communication channel interference problem and match error, together When prevented unmanned plane by the possibility of unknown remote control control, also prevented remote controler and mistakenly controlled unknown unmanned plane May, greatly ensure the safety of unmanned plane during flying.
Referring to Fig. 2, the structural frames for the pair system embodiment two that a kind of pair of unmanned plane of the invention is matched are shown Figure.In embodiments of the present invention, the pair system at least may include: server 10, remote controler 20, unmanned plane 30 and step on Remember terminal 40.
In the concrete realization, phase intercommunication can be carried out between server 10, registered terminal 40, remote controler 20 and unmanned plane 30 Letter, communication mode can include but is not limited to: wireless communication protocol (for example, WIFI, GPRS, 3G/4G), bluetooth, wireless wave Deng.
The registered terminal 40, for obtain multiple unmanned planes 30 unmanned plane identify and/or multiple remote controlers 20 it is distant Device mark is controlled, and the unmanned plane is identified and/or remote control identification is sent to the server 10；
The server 10 is used to distribute mailing address for unmanned plane 30 and/or remote controler 20, and, receive the nothing Man-machine mark and/or the remote control identification register the unmanned plane 30 and/or the remote controler 20, and, it will The unmanned plane mark for distributing the unmanned plane 30 of mailing address is organized into unmanned plane pairing list, by unmanned plane pairing list hair It send to remote controler 20, and, after the pairing request for receiving the transmission of remote controler 20, if it is determined that the remote controler 20 and needs The unmanned plane 30 of pairing is bound, then obtains pairing parameter corresponding with the pairing request, and return to institute to the remote controler 20 State pairing parameter；
The remote controler 20, for selecting the unmanned plane for needing to match mark from unmanned plane pairing list, according to The unmanned plane mark for needing to match generates pairing request, and the pairing request is sent to server 10, and, foundation connects The pairing parameter corresponding with the pairing request received carries out the communication configuration of the remote controler 20, and, in communication configuration After completion, confirmation message is sent to the unmanned plane 30 for needing to match, is receiving the unmanned plane 30 for needing to match After the confirmation response message of return, determine and 30 successful matching of unmanned plane for needing to match；
The unmanned plane 30, for obtaining pairing parameter from the server 10 or the remote controler 20, and according to institute The communication configuration that pairing parameter carries out the unmanned plane 30 is stated, and, after communication configuration completion, if receiving described The confirmation message that remote controler 20 is sent, then return to corresponding confirmation response message to the remote controler 20.
Applied to the embodiment of the present invention, registered terminal 40 may include in pair system, can be incited somebody to action using registered terminal 40 Unmanned plane 30 and remote controler 20 are registered to server 10.
In practice, when carrying out operation using unmanned plane 30, which may include multiple operation groups, the registered terminal 40 is corresponding with using the progress of the unmanned plane 30 operation group of operation, i.e. the corresponding one or more registered terminals 40 of an operation group, Alternatively, the corresponding one or more operation groups of a registered terminal 40.In pair system, the operation group of the operation group can be saved The corresponding relationship of mark and the mark of registered terminal 40.
There is the operator (for example, group leader of operation group) of specified permission registered terminal 40 can be used in operation group, The unmanned plane mark and/or the remote control of remote controler 20 of the unmanned plane 30 currently matched are obtained using the registered terminal 40 Device mark, then, registered terminal 40 can identify the unmanned plane of acquisition and/or remote control identification is sent to server 10.
It should be noted that above-mentioned unmanned plane is identified as the unique identification of the identity of label unmanned plane 30, above-mentioned remote controler It is identified as the unique identification of the identity of label remote controler 20.
In the concrete realization, registered terminal 40 can obtain in several ways unmanned plane 30 unmanned plane mark and/or The remote control identification of remote controler 20, for example, by taking unmanned plane 30 as an example current unmanned plane 30 can be obtained using following several modes Unmanned plane mark:
Mode one: being arranged nameplate on unmanned plane 30, which describes the unmanned plane mark of the unmanned plane 30.Registration is eventually End 40 has mark input interface, and user (i.e. with the operator of operating right) can input in the mark of registered terminal 40 The unmanned plane mark recorded on the nameplate of the unmanned plane 30 is inputted in interface.
Mode two: setting describes the image of unmanned plane mark on unmanned plane 30, and registered terminal 40 has camera, behaviour Making personnel can be using in the image for reading the unmanned plane 30 by the way of the camera in registered terminal 40 is by image recognition Unmanned plane mark.
Mode three: NFC is arranged on unmanned plane 30, and (Near Field Communication, near-field communication are a kind of short Radio technology away from high frequency is run in a distance of 20 centimeters in 13.56MHz frequency) label, nobody is stored in NFC label The unmanned plane of machine 30 identifies, and NFC reader is arranged in registered terminal 40, and operator is read by the NFC in registered terminal 40 Card device reads the NFC label on unmanned plane 30, obtains the unmanned plane mark of the unmanned plane 30.
Mode four: being arranged one-dimension code or two-dimension code label on unmanned plane 30, and the one-dimension code or two-dimension code label carry The unmanned plane of unmanned plane 30 identifies, and one-dimension code and two dimensional code reading device is arranged in registered terminal 40, operator is by being somebody's turn to do Reading device reads one-dimension code or two-dimension code label in unmanned plane 30, obtains unmanned plane mark.
It should be noted that aforesaid way is only a kind of exemplary illustration of the embodiment of the present invention, those skilled in the art Member can also obtain the unmanned plane mark of unmanned plane 30 using other modes by registered terminal 40, for example, registered terminal 40 can The unmanned plane mark of unmanned plane 30 is read in a manner of through bluetooth, sound wave etc., the embodiment of the present invention is not construed as limiting this.
In addition, it is necessary to which explanation, above-mentioned to illustrate that registered terminal 40 obtains nobody of unmanned plane 30 merely illustratively The mode of machine mark, obtains registered terminal 40 mode of the remote control identification of remote controler 20, with above-mentioned acquisition unmanned plane 30 Unmanned plane mark mode it is similar, be specifically referred to above-mentioned acquisition unmanned plane 30 unmanned plane mark mode.
Applied to the embodiment of the present invention, in order to simplify equipment, which be can integrate with remote controler 20 in same In equipment, i.e., the function of existing registered terminal 40 has a function of remote controler 20 again in an equipment, but the registered terminal 40 Function only has the operator of specified permission just to can be used.
When registered terminal 40 get unmanned plane mark and/or remote control identification after, can by the unmanned plane identify and/ Or remote control identification is sent in server 10, in server 10 to the unmanned plane identify corresponding unmanned plane 30 and/or The corresponding remote controler of remote control identification 20 is registered.
In a preferred embodiment of an embodiment of the present invention, with reference to server architecture schematic diagram shown in Fig. 3, server 10 can call registration relationship judgment module 101, Registration Module 102 or the first cue module 103 to unmanned plane and/or remote controler It is registered:
Registration relationship judgment module 101, for judging in preset registration relational database with the presence or absence of the unmanned plane Mark and/or remote control identification, and if it exists, then call the first cue module 103；If it does not exist, then Registration Module 102 is called；
In the concrete realization, a registration relational database can be preset in server 10, it can in the registration relational database To store at least one unmanned plane mark and/or remote control identification Jing Guo server registers.
In practical applications, registration relational database in, this Jing Guo server registers unmanned plane mark and/or be remotely controlled Device mark exists in the form of registering relationship, and in a kind of mode, the registration relationship of unmanned plane can be nobody by registering The unmanned plane of machine identifies the incidence relation identified with corresponding operation group, and the registration relationship of remote controler can be for by the distant of registration The incidence relation that the remote control identification of control device is identified with corresponding operation group.
Registration Module 102 is used for by the unmanned plane identification record in the registration relational database, described in carrying out The registration of unmanned plane, and/or, the remote control identification is recorded in the registration relational database, to carry out the remote control The registration of device；
First cue module 103 is returned for generating the first miscue information, and by the first miscue information Registered terminal shows the first miscue information by the registered terminal, wherein the first miscue information is used for The unmanned plane and/or remote controler is prompted to be registered.
Specifically, it after server 10 receives unmanned plane mark and/or remote control identification, can be closed by registration It is judgment module 101 lookup and unmanned plane mark and/or consistent mark of remote control identification in registration relational database, if It searches successfully, then illustrates that the unmanned plane identifies corresponding unmanned plane 30 and registers in the server, and/or, the remote controler mark Know corresponding remote controler 20 to register in the server, i.e., there are unmanned plane mark and/or the remote controler marks in server The registration relationship of knowledge can generate the first miscue information by the first cue module 103 at this time, and first mistake is mentioned Show that information returns to registered terminal 40, the first miscue information is presented to the operation with specified permission by registered terminal 40 Personnel, to remind the operator unmanned plane to identify corresponding unmanned plane 30 and/or the corresponding remote control of institute's remote control identification Device 20 has been registered, and the operator can be prompted the unmanned plane 30 or the original registration relation broken of remote controler 20 Next step operation can be just carried out afterwards.
If lookup is unsuccessful, illustrate that the unmanned plane identifies corresponding unmanned plane 30 and do not register in the server, and/ Or, the corresponding remote controler 20 of the remote control identification is not registered in the server, at this point it is possible to call Registration Module 102 should Unmanned plane mark and/or remote control identification are recorded in registration relational database.
In one embodiment, Registration Module 102 can be called to generate unmanned plane mark and current registered terminal 40 The incidence relation of corresponding operation group mark, to carry out the registration of current unmanned plane 30, and/or, generate the remote control identification with The incidence relation of the current corresponding operation group of registered terminal 40 mark, to carry out the registration of current remote controler 20, and by the association (unmanned plane identifies the incidence relation that operation group corresponding with current registered terminal 40 identifies and/or remote control identification and works as relationship The incidence relation of preceding registered terminal 40 corresponding operation group mark) it is stored in preset registration relational database.
In embodiments of the present invention, unmanned plane 30 and remote controler 20 are registered in the server first before pairing, from And prevented the possibility that unmanned plane 30 is controlled by unknown remote controler 20, also prevent remote controler 20 and mistakenly controls unknown nothing Man-machine 30 possibility has greatly ensured the safety of unmanned plane during flying.
In embodiments of the present invention, server 10 can be also used for distributing uniquely unmanned plane 30 and/or remote controler 20 Mailing address.
In one embodiment, server 10 can distribute again for it after for unmanned plane 30 or the registration of remote controler 20 Mailing address.Specifically, can further be unmanned plane after server is completed to the registration of unmanned plane 30 and remote controler 20 30 and remote controler 20 distribute corresponding mailing address, wherein mailing address is the ground of each node of unique identification on communication network Location.Sending and receiving data between node needs to know mutual mailing address.Communication network in the embodiment of the present invention includes following section Point: unmanned plane 30, remote controler 20.
In another embodiment, server 10 can also be logical for its distribution when unmanned plane 30 or remote controler 20 dispatch from the factory Believe address, i.e., is automatically that unmanned plane 30 or remote controler 20 distribute the whole network and uniquely communicate when unmanned plane 30 or remote controler 20 produce Address.
It should be noted that the unmanned plane of the mailing address of the unmanned plane 30 of the embodiment of the present invention and the unmanned plane 30 identifies It corresponds, the remote control identification of the mailing address of the remote controler 20 and the remote controler 20 corresponds.
The embodiment of the present invention is not construed as limiting the generating mode of mailing address, if guarantee its be the whole network uniquely communicatedly Location.The generating mode of the mailing address of unmanned plane 30 or remote controler 20 is shown below by way of a specific embodiment Example property explanation, but it is to be understood that, the embodiment of the present invention is not limited to this.
In one embodiment, a unappropriated equipment can be selected to compile from the device numbering of multiple predistribution Number as the registered unmanned plane and/or the device numbering of remote controler；And by the unmanned plane and/or the remote controler Device numbering and preset characteristic attribute information, are organized into the mailing address of the unmanned plane and/or the remote controler.
In the concrete realization, server can also distribute multiple equipment number for each operation group, can be according to the operation Group mark inquires the operation group corresponding multiple equipment number, and selects from multiple device numbering one unappropriated to set Standby number is as current unmanned plane 30 and/or the device numbering of remote controler 20, to guarantee all nobody in current work region The device numbering of machine and remote controler is unique in current work region.
As a kind of preferable example of the embodiment of the present invention, which can be current work group Attribute information can identify the attribute information for inquiring the operation group, wherein the operation group according to the operation group of current work group Attribute information can include but is not limited to: the operation group code of current work group, (each operation group has the work being subordinate to operation team code Industry team, each operation team have operation team code), (each operation group has the scene of operations being subordinate to, each scene of operations to area code With area code).
After obtaining device numbering and the characteristic attribute information of unmanned plane and/or the remote controler, it can be organized into At unmanned plane and/or the mailing address of remote controler.In one embodiment, the mailing address of unmanned plane 30 and remote controler 20 It may each comprise four bytes.For unmanned plane 30, four bytes that the mailing address of unmanned plane is included are successively: should The device numbering of the corresponding area code of operation group, operation team code, operation group code and the unmanned plane 30 that unmanned plane 30 is registered. For remote controler 20, four bytes that the mailing address of remote controler is included are successively: the work that the remote controler 20 is registered The corresponding area code of industry group, operation team code, operation group code and the remote controler 20 device numbering.
After server 10 distributes mailing address to unmanned plane 30 and remote controler 20, it can also will have been allocated for communicating The unmanned plane mark of the unmanned plane 30 of address is written in the pairing list of unmanned plane, and after remote controler 20 powers on by this nobody Machine pairing list is sent to remote controler 20.
In a preferred embodiment of an embodiment of the present invention, as shown in figure 3, server 10 can also include such as lower die Block:
First boot-strap information receiving module 104, the boot-strap information sent for receiving the remote controler, the boot-strap information Remote control identification including the remote controler；
Judgment module 105 is downloaded, for judging whether the remote controler has for described based on the remote control identification Unmanned plane matches the Download History of list, confirmation module 107 is updated if so, calling, if it is not, then invocation list sending module 106；
List sending module 106, for current time newest man-machine pairing list to be sent to the remote controler；
Confirmation module 107 is updated, for obtaining the corresponding remote controler the last time downloading unmanned plane of the remote control identification The download time of list is matched, and is judged in the download time to the time range of current time, the unmanned plane paired row Whether table has update, if so, calling the list sending module 106；If it is not, then generate determine instruction, and by the determination Instruction is sent in the corresponding remote controler of the remote control identification.
Specifically, can send boot-strap information to server 10 after 20 electrifying startup of remote controler, be wrapped in the boot-strap information Include the remote control identification of the remote controler 20.Server 10 calls the first boot-strap information receiving module 104 to receive remote controler 20 and sends Boot-strap information, the first boot-strap information receiving module 104 is after obtaining remote control identification in boot-strap information, by the remote controler mark Knowledge is sent to downloading judgment module 105.
Downloading judgment module 105 inquires the remote control identification from the download log record being previously generated, if searching successfully, It then can be determined that the remote controler 20 once downloaded unmanned plane pairing list, downloading judgment module 105 at this time can be generated affirmative Determine as a result, and affirmative judgement result is sent to update confirmation module 107；If searching failure, the remote control can be determined that Device 20 did not download unmanned plane pairing list, and downloading judgment module 105 at this time can be generated negative judgement as a result, and this is no Surely determine that result is sent to list sending module 106.
After update confirmation module 107 receives judgement result certainly, inquired from the download log record being previously generated The download time of the last remote controler 20 downloading unmanned plane pairing list, and inquire the download time to current time when Between in range, whether unmanned plane matches list updated, if unmanned plane pairing list is updated within this time range, Updating confirmation module 107 can be generated update message, and update message is sent to list sending module 106；If this nobody Machine match list within this time range without updated, then update confirmation module 107 determine instruction can be generated (can also be assorted Do not generate), and the determine instruction is sent in remote controler 20.
It, can be newest by current time when list sending module 106, which receives negative, determines result or update message Unmanned plane pairing list is sent in remote controler 20.
In a preferred embodiment of an embodiment of the present invention, remote controller structure schematic diagram as shown in Figure 4, remote controler 20 May include following module:
List display module 201, for showing the unmanned plane pairing list to user；
When the unmanned plane that remote controler 20 receives the transmission of list sending module 107 matches list, list exhibition can be passed through The unmanned plane received pairing list is presented to user (i.e. operator) by existing module 201.
Alternatively,
When remote controler receives the confirmation instruction for updating confirmation module 107 and sending, alternatively, not connecing within a preset period of time When receiving any message of server return, then the available the last unmanned plane obtained matches list, and passes through list The unmanned plane pairing list that the last time obtains is presented to operator by display module 201.
Instruction detection module 202, the nothing matched for detecting the needs that user selectes from unmanned plane pairing list Man-machine mark, and receive the matched order that user initiates according to the unmanned plane mark for needing to match；
Operator can select the unmanned plane for needing to match from the unmanned plane pairing list showed in remote control screen Mark.In the concrete realization, operator can select the nothing for needing to match from unmanned plane pairing list in several ways Man-machine mark, for example, the unmanned plane mark for needing to match can be selected in the following way, but the embodiment of the present invention is not limited to This: can match the unmanned plane selected in list and need to match from unmanned plane by a touching operation and identify, when remote controler detects It is when operator touches operation for the point of a certain unmanned plane mark in unmanned plane pairing list, then point touching operation is corresponding Unmanned plane mark is as the unmanned plane mark for needing to match；Alternatively, NFC or scanning one-dimension code or two dimensional code etc. can also be passed through Read unmanned plane mark, and unmanned plane pairing list in match the unmanned plane read mark, if successful match, will With successful unmanned plane mark as the unmanned plane mark for needing to match.
When remote controler 20 detect operator from unmanned plane pairing list in select need match unmanned plane mark with Afterwards, then it can show " pairing " dialog box to operator, may include " pairing " button in the pairing dialog box and " be unworthy of It is right " button.If detecting that operator clicks is somebody's turn to do " pairing " button, it can be determined that operator is directed to the nothing of needs pairing Man-machine mark initiates matched order, at this point, the matched order can be sent to pairing request by instruction detection module 202 generates mould Block 203.If detecting that operator clicks is somebody's turn to do " unpaired " button, terminate to match process.
Pairing request generation module 203, for generating pairing request based on the matched order, and by the pairing request It is sent to server, the pairing request includes the unmanned plane mark for needing to match, the remote control identification.
After pairing request generation module 203 receives matched order, pairing request can be generated based on the matched order, and The pairing request is sent to server 10, wherein the pairing request may include the needs pairing unmanned plane mark and Remote control identification.
After server 10 receives pairing request, the unmanned plane 30 of the remote controler 20 and needs pairing can be completed Pairing.
In a preferred embodiment of an embodiment of the present invention, as shown in figure 3, server 10 can also include such as lower die Block:
Determination module 108 is matched, for being based on the pairing request, the unmanned plane that judgement needs match identifies whether and it There are binding relationships for his remote control identification；If so, the second cue module 109 is called, if it is not, then calling binding module 110；
Second cue module 109 is returned for generating the second miscue information, and by the second miscue information The remote controler；
Binding module 110, the binding for generating the unmanned plane mark for needing to match and the remote control identification are closed The remote controler and the unmanned plane for needing to match are bound by system, and the location information current according to the remote controler is true The unmanned plane that the fixed needs match identifies the communication channel number that corresponding unmanned plane is communicated with the remote controler；And The mailing address of unmanned plane, the mailing address of the remote controler and the communication channel number matched is needed to be sent to by described The remote controler.
After server 10 receives pairing request, it can judge to wrap in the pairing request by matching determination module 108 The unmanned plane that the needs contained match identifies whether that there are binding relationships with other remote control identifications, in the concrete realization, server In can preset a pairing relationship database, can be saved in the pairing relationship database completed pairing unmanned plane mark With the binding relationship of corresponding remote control identification.Pairing determination module 108 can search the needs in pairing relationship database The unmanned plane of pairing identifies, if searches successfully can be determined that unmanned plane that the needs match identify with other remote controlers Pairing and binding is identified, lookup successful information can be generated at this time, and the lookup successful information is sent to the second cue module 109；If lookup is unsuccessful, it can be determined that the unmanned plane mark of needs pairing is not tied up with the pairing of other remote control identifications It is fixed, lookup failure information can be generated at this time, and the lookup failure information is sent to and calls binding module 110.
After second cue module 109 receives lookup successful information, the second miscue information can be generated, and should Second miscue information returns to the remote controler 20, identifies corresponding nothing with the unmanned plane for prompting the needs of remote controler 20 to match The unmanned plane of the man-machine binding relationship having existed with other remote controlers, the i.e. needs pairing identify corresponding unmanned plane by The pairing of other remote controlers.
After binding module 110 receives lookup failure information, the nothing for needing to match is generated based on the lookup failure information The binding relationship of man-machine mark and remote control identification binds the unmanned plane of remote controler and needs pairing.
After generating binding relationship, binding module 110 can also be worked as according further to the remote controler carried in pairing request Preceding location information determines the communication channel number that the unmanned plane 30 of needs pairing is communicated with corresponding remote controler 20.? In the specific implementation, server is that each operating area is assigned a certain number of communication channels, can be identified according to the operation group The corresponding multiple communication channels number of the operation group are inquired, and the location information current according to remote controler obtains in its preset range Whether (for example, within the scope of radius 2km) has other remote controlers and unmanned plane matching, if so, from multiple communication channel number The middle unmanned plane 30 for selecting unappropriated multiple communication channels number in a current work region as the needs and matching with it is right The communication channel number that the remote controler 20 answered is communicated, to avoid the interference between communication channel.
Then, binding module 110 obtains the mailing address of the unmanned plane 30 of needs pairing and the unmanned plane 30 corresponds to Remote controler 20 mailing address, and the mailing address for the unmanned plane that the needs are matched, the mailing address of the remote controler and The communication channel number of the two is sent to remote controler 20.
In 20 side of remote controler, when the mailing address of the unmanned plane for receiving needs pairing, the mailing address of the remote controler And after the pairing parameter such as communication channel number of the two, the pairing parameter can store, and join according to the pairing received Number is remotely controlled the communication configuration of device.
Since then, remote controler 20 just obtains the communication channel for needing the mailing address of the unmanned plane matched and both sides to use Number, complete the pairing work at remote controler end.
Followed by be unmanned generator terminal pairing work.
In a preferred embodiment of an embodiment of the present invention, as shown in figure 3, server 10 can also include such as lower die Block:
Second boot-strap information receiving module 111, the boot-strap information sent for receiving the unmanned plane for needing to match, institute Stating boot-strap information includes the unmanned plane mark；
Parameter acquisition module 112 is matched, for obtaining pairing parameter corresponding with the unmanned plane mark for needing to match, And the pairing parameter is sent in the unmanned plane for needing to match.
Specifically, after 30 electrifying startup of unmanned plane, boot-strap information can be sent to server 10, is wrapped in the boot-strap information Include the unmanned plane mark of the unmanned plane 30.Server 10 calls the second boot-strap information receiving module 111 to receive unmanned plane 30 and sends Boot-strap information, the second boot-strap information receiving module 111 from obtained in boot-strap information unmanned plane mark after, by the unmanned plane mark Knowledge is sent to pairing parameter acquisition module 112, after pairing parameter acquisition module 112 obtains unmanned plane mark, all Pairing parameter in search the unmanned plane mark, if search successfully, by the unmanned plane identify corresponding unmanned plane mailing address, The mailing address of corresponding remote controler and the communication channel number of the two etc. match parameter and are sent in unmanned plane 30；It is lost if searching It loses, then returns to miscue information to unmanned plane 30.
It should be noted that aforesaid way is only a kind of embodiment that unmanned plane 30 obtains pairing parameter, this field Technical staff can also be made using other modes unmanned plane 30 obtain pairing parameter, for example, remote controler 20 by NFC, bluetooth, The communication channel number of the mailing address of remote controler 20, the mailing address of unmanned plane and the two is passed to nobody by the modes such as sound wave Machine 30.
In 30 side of unmanned plane, when receiving the mailing address of the unmanned plane, the mailing address and two of corresponding remote controler After the equal pairing parameter of the communication channel number of person, the pairing parameter can store, and carry out according to the pairing parameter received The communication configuration of unmanned plane.
Since then, the communication channel number that unmanned plane 30 just obtains the mailing address of remote controler 20 and both sides use is completed The pairing work of unmanned generator terminal.
Then, remote controler 20 can to the needs match unmanned plane 30 send confirmation message, the needs pairing nobody After machine 30 receives confirmation message, confirmation response message can be returned to remote controler 20, remote controler 20 is receiving the need After the confirmation response message that the unmanned plane to be matched returns, the unmanned plane successful matching with needs pairing is determined, at this point, distant Control device 20 can be communicated with unmanned plane 30.
In embodiments of the present invention, due to pairing parameter (mailing address of unmanned plane 30, remote controler 20 mailing address with And communication channel number between the two) distributed by server 10, pairing request is directly broadcasted without remote controler 20, when in region When more unmanned planes 30 carry out operation simultaneously with more remote controlers 20, compared with the existing technology in expand in order to avoid channel disturbance The distance of big two groups of unmanned planes, the embodiment of the present invention can be reduced the environmental requirement of pairing process,
Also, mailing address and communication channel number are distributed by server 10, it can be to avoid the interference problem in channel The problem of with pairing error, and unmanned plane cluster can be managed collectively, reduce management cost.
In addition, needing to make remote controler 20 and unmanned plane 30 with clock synchronization, showing from remote controler 20 for operating personnel Unmanned plane pairing list in selection need match unmanned plane mark, the pairing of remote controler 20 Yu unmanned plane 30 can be realized. Without excessive operation, thus operation to be performed needed for significantly simplifying pairing, time needed for having saved pairing.
Referring to Fig. 5, the step for the embodiment of the method one that a kind of pair of unmanned plane and remote controler of the invention are matched is shown Rapid flow chart, wherein the unmanned plane is by the remote control control, the unmanned plane and the remote controler and server phase Even, the embodiment of the present invention is illustrated from the angle of server, may include steps of:
Step 501, the pairing request that the remote controler is sent is received；
Step 502, it if it is determined that the remote controler and the unmanned plane for needing to match are bound, then obtains and the pairing request pair The pairing parameter answered；
Step 503, Xiang Suoshu remote controler returns to the pairing parameter.
The remote controler is used to carry out the communication configuration of the remote controler according to the pairing parameter.
In a preferred embodiment of an embodiment of the present invention, it can also include the following steps: that receiving registered terminal sends Unmanned plane mark and/or the remote control identification, the unmanned plane and/or the remote controler are registered.
In a preferred embodiment of an embodiment of the present invention, described that the unmanned plane and/or the remote controler are carried out Registration may include following sub-step:
Sub-step S11 judges in preset registration relational database with the presence or absence of unmanned plane mark and/or remote controler Mark, and if it exists, then execute sub-step S13；If it does not exist, then sub-step S12 is executed；
Wherein, at least one unmanned plane mark Jing Guo server registers is stored in the preset registration relational database And/or remote control identification.
Sub-step S12, by the unmanned plane identification record in the registration relational database, to carry out the unmanned plane Registration, and/or, the remote control identification is recorded in the registration relational database, to carry out stepping on for the remote controler Note；
Sub-step S13 generates the first miscue information, and the first miscue information is returned to registered terminal, The first miscue information is shown by the registered terminal, wherein the first miscue information is described for prompting Unmanned plane and/or remote controler have been registered.
In a preferred embodiment of an embodiment of the present invention, can also include the following steps:
Server is that the unmanned plane and/or remote controler distribute unique mailing address.
In a preferred embodiment of an embodiment of the present invention, can also include the following steps:
The unmanned plane for having distributed the unmanned plane of mailing address mark is organized into unmanned plane pairing list, by the unmanned plane Pairing list is sent to the remote controler.
In a preferred embodiment of an embodiment of the present invention, the unmanned plane of the unmanned plane that mailing address will have been distributed Mark is organized into unmanned plane pairing list, and the unmanned plane is matched the step of list is sent to the remote controler and further comprises Following sub-step:
The boot-strap information that the remote controler is sent is received, the boot-strap information includes the remote control identification of the remote controler；
Judge whether the remote controler has the downloading for unmanned plane pairing list based on the remote control identification Record；
If it is not, current time newest unmanned plane pairing list is then sent to the remote controler；
If so, obtaining the downloading of the corresponding remote controler the last time downloading unmanned plane pairing list of the remote control identification Time, and judge in the download time to the time range of current time, whether the unmanned plane pairing list has update, if It is that current time newest unmanned plane pairing list is then sent to the remote controler；If it is not, then generating determine instruction, and will The determine instruction is sent in the corresponding remote controler of the remote control identification.
In a preferred embodiment of an embodiment of the present invention, the pairing request further includes the current position of the remote controler Confidence breath, the pairing parameter includes the mailing address of unmanned plane, the mailing address of the remote controler and the institute for needing to match State the communication channel number for needing the unmanned plane matched to be communicated with the remote controler；The step 503 may include following son Step:
Sub-step S31 is based on the pairing request, and the unmanned plane that the judgement needs match identifies whether and other are remotely controlled There are binding relationships for device mark；If so, executing sub-step S32；If it is not, then executing sub-step S33；
Sub-step S32 generates the second miscue information, and the second miscue information is returned to the remote control Device；
Sub-step S33 generates the binding relationship of the unmanned plane mark and the remote control identification for needing to match, will The remote controler and the unmanned plane for needing to match are bound, and the location information current according to the remote controler determines the need The unmanned plane to be matched identifies the communication channel number that corresponding unmanned plane is communicated with the remote controler；And by the need The mailing address for the unmanned plane to be matched, the mailing address of the remote controler and the communication channel number are sent to the remote control Device.
In a preferred embodiment of an embodiment of the present invention, the method can also include the following steps:
The boot-strap information that the unmanned plane for needing to match is sent is received, the boot-strap information includes that the needs match Unmanned plane mark；
Pairing parameter corresponding with the unmanned plane mark for needing to match is obtained, and the pairing parameter is sent to institute It states in the unmanned plane for needing to match.
The unmanned plane is used to carry out the communication configuration of the unmanned plane according to the pairing parameter.
Referring to Fig. 6, the step for the embodiment of the method two that a kind of pair of unmanned plane and remote controler of the invention are matched is shown Rapid flow chart, wherein the unmanned plane is by the remote control control, the unmanned plane and the remote controler and server phase Even, the embodiment of the present invention is illustrated from the angle of remote controler, may include steps of:
Step 601, pairing request is generated, the pairing request is sent to server；
Step 602, the pairing parameter corresponding with the pairing request that server returns is received；
Step 603, the communication configuration of the remote controler is carried out according to the pairing parameter.
In a preferred embodiment of an embodiment of the present invention, before step 601, can also include the following steps:
It obtains unmanned plane and matches list.
Wherein, unmanned plane pairing list be the server be unmanned plane and/or remote controler distribution mailing address with Afterwards, the unmanned plane for having distributed the unmanned plane of mailing address is identified to the list being organized into.
In a preferred embodiment of an embodiment of the present invention, the step of remote controler acquisition unmanned plane pairing list is wrapped It includes:
Boot-strap information is sent to server, the boot-strap information includes the remote control identification of the remote controler；
The current time newest unmanned plane pairing list that the server is sent is received, alternatively, receiving the server The determine instruction of return, according to the determine instruction, the unmanned plane for obtaining the last downloading matches list.
In a preferred embodiment of an embodiment of the present invention, the method also includes:
The unmanned plane mark for needing to match is selected from unmanned plane pairing list.
In a preferred embodiment of an embodiment of the present invention, the remote controler is selected from unmanned plane pairing list The step of unmanned plane mark for needing to match includes following sub-step:
Sub-step S41 shows the unmanned plane pairing list to user；
Sub-step S42, the unmanned plane mark that the needs that detection user selectes from unmanned plane pairing list match, and Receive the matched order that user initiates according to the unmanned plane mark for needing to match；
Sub-step S43 generates pairing request based on the matched order, and the pairing request is sent to server, The pairing request includes the unmanned plane mark for needing to match, the remote control identification.
In a preferred embodiment of an embodiment of the present invention, the pairing parameter includes the logical of the unmanned plane for needing to match Letter address, the mailing address of the remote controler and the communication for needing the unmanned plane matched to be communicated with the remote controler Channel number.
In order to make those skilled in the art can better understand that the embodiment of the present invention, below by way of a specific example pair The embodiment of the present invention is subject to exemplary illustration, but it is to be understood that, the embodiment of the present invention is not limited to this:
1, remote controler A requests a certain unmanned plane UAV1 of pairing to server, and solicited message includes: remote controler A oneself Identify A, the mark UAV1 of unmanned plane UAV1, remote controler A current position (for example, GPS coordinate)；
2, server judges whether remote controler A binds with unmanned plane UAV1, refuses to match if not binding, service simultaneously Device judges whether unmanned plane UAV1 has been matched by other remote controlers, if so, can prompt unmanned plane UAV1 by other remote controlers Pairing；
If 3, remote controler A has the pairing qualification with unmanned plane UAV1, server is sentenced according to the position that remote controler A is reported Break in its radius 2KM (or other value ranges), if having other remote controlers and unmanned plane in, and if it exists, then to seek Look for a not used communication channel number；
4, server by the mailing address of remote controler A, unmanned plane UAV1 mailing address, this time pairing channel number three It is sent respectively to remote controler A, unmanned plane UAV1；
5, the mailing address for the remote controler A that unmanned plane UAV1 is sent according to server, unmanned plane UAV1 mailing address, this The communication module of oneself is arranged in the channel number of secondary pairing；
6, the mailing address for the remote controler A that remote controler A is sent according to server, unmanned plane UAV1 mailing address, this time The communication module of oneself is arranged in the channel number of pairing；
7, after remote controler A sets up communication module, confirmation message is sent to unmanned plane UAV1, unmanned plane UAV1 is waited to return Confirmation response message is returned, indicates successful matching if receiving the confirmation response message.
It should be noted that for simple description, therefore, it is stated as a series of action groups for embodiment of the method It closes, but those skilled in the art should understand that, embodiment of that present invention are not limited by the describe sequence of actions, because according to According to the embodiment of the present invention, some steps may be performed in other sequences or simultaneously.Secondly, those skilled in the art also should Know, the embodiments described in the specification are all preferred embodiments, and the related movement not necessarily present invention is implemented Necessary to example.
The embodiment of the invention also discloses the server that a kind of pair of unmanned plane is matched, the server is Fig. 1 or Fig. 2 Pair system in server.
The embodiment of the invention also discloses the remote controler that a kind of pair of unmanned plane is controlled, the remote controler is Fig. 1 or Fig. 2 Pair system in remote controler.
The embodiment of the invention also discloses a kind of unmanned plane, the unmanned plane is nobody in the pair system of Fig. 1 or Fig. 2 Machine.
All the embodiments in this specification are described in a progressive manner, the highlights of each of the examples are with The difference of other embodiments, the same or similar parts between the embodiments can be referred to each other.
It should be understood by those skilled in the art that, the embodiment of the embodiment of the present invention can provide as method, apparatus or calculate Machine program product.Therefore, the embodiment of the present invention can be used complete hardware embodiment, complete software embodiment or combine software and The form of the embodiment of hardware aspect.Moreover, the embodiment of the present invention can be used one or more wherein include computer can With in the computer-usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) of program code The form of the computer program product of implementation.
The embodiment of the present invention be referring to according to the method for the embodiment of the present invention, terminal device (system) and computer program The flowchart and/or the block diagram of product describes.It should be understood that flowchart and/or the block diagram can be realized by computer program instructions In each flow and/or block and flowchart and/or the block diagram in process and/or box combination.It can provide these Computer program instructions are set to general purpose computer, special purpose computer, Embedded Processor or other programmable data processing terminals Standby processor is to generate a machine, so that being held by the processor of computer or other programmable data processing terminal devices Capable instruction generates for realizing in one or more flows of the flowchart and/or one or more blocks of the block diagram The device of specified function.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing terminal devices In computer-readable memory operate in a specific manner, so that instruction stored in the computer readable memory generates packet The manufacture of command device is included, which realizes in one side of one or more flows of the flowchart and/or block diagram The function of being specified in frame or multiple boxes.
These computer program instructions can also be loaded into computer or other programmable data processing terminal devices, so that Series of operation steps are executed on computer or other programmable terminal equipments to generate computer implemented processing, thus The instruction executed on computer or other programmable terminal equipments is provided for realizing in one or more flows of the flowchart And/or in one or more blocks of the block diagram specify function the step of.
Although the preferred embodiment of the embodiment of the present invention has been described, once a person skilled in the art knows bases This creative concept, then additional changes and modifications can be made to these embodiments.So the following claims are intended to be interpreted as Including preferred embodiment and fall into all change and modification of range of embodiment of the invention.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning Covering non-exclusive inclusion, so that process, method, article or terminal device including a series of elements not only wrap Those elements are included, but also including other elements that are not explicitly listed, or further includes for this process, method, article Or the element that terminal device is intrinsic.In the absence of more restrictions, being wanted by what sentence "including a ..." limited Element, it is not excluded that there is also other identical elements in process, method, article or the terminal device for including the element.
A kind of pair of unmanned plane provided by the present invention and remote controler are matched above method, server, remote controler and it is System, is described in detail, and used herein a specific example illustrates the principle and implementation of the invention, above The explanation of embodiment is merely used to help understand method and its core concept of the invention；Meanwhile for the general skill of this field Art personnel, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion this Description should not be construed as limiting the invention.

Claims (23)

1. the pair system that a kind of pair of unmanned plane is matched, which is characterized in that the pair system includes at least: server, Remote controler and unmanned plane, wherein
The server, for after receiving the pairing request that the remote controler is sent, if it is determined that the remote controler and needing The unmanned plane to be matched binding then obtains pairing parameter corresponding with the pairing request, and to described in remote controler return Match parameter；
The remote controler is sent to server for generating pairing request, and by the pairing request, and, foundation receives Pairing parameter corresponding with the pairing request carry out the communication configuration of the remote controler, and, communication configuration complete with Afterwards, confirmation message is sent to the unmanned plane for needing to match, in the confirmation for receiving the unmanned plane return for needing to match After response message, determine and the unmanned plane successful matching for needing to match；
The unmanned plane, for obtaining pairing parameter from the server or the remote controler, and according to the pairing parameter The communication configuration of the unmanned plane is carried out, and, after communication configuration completion, if receiving what the remote controler was sent Confirmation message then returns to corresponding confirmation response message to the remote controler.
2. system according to claim 1, which is characterized in that the system also includes registered terminals；
The registered terminal, the unmanned plane for obtaining multiple unmanned planes identifies and/or the remote control identification of multiple remote controlers, and The unmanned plane is identified and/or remote control identification is sent to the server；
The server is also used to receive unmanned plane mark and/or the remote control identification, to the unmanned plane and/or The remote controler is registered.
3. system according to claim 2, which is characterized in that the server includes:
Registration relationship judgment module, for judge in preset registration relational database with the presence or absence of the unmanned plane mark and/ Or remote control identification, and if it exists, then call the first cue module；If it does not exist, then Registration Module is called；Wherein, described default Registration relational database in store at least one Jing Guo server registers unmanned plane mark and/or remote control identification；
Registration Module is used for by the unmanned plane identification record in the registration relational database, to carry out the unmanned plane Registration, and/or, the remote control identification is recorded in the registration relational database, to carry out stepping on for the remote controler Note；
First cue module returns to registration eventually for generating the first miscue information, and by the first miscue information End, shows the first miscue information by the registered terminal, wherein the first miscue information is for prompting institute It states unmanned plane and/or remote controler has been registered.
4. system according to claim 2 or 3, which is characterized in that the registered terminal and the remote controler are integrated in together In one equipment.
5. system according to claim 1 or 2 or 3, which is characterized in that the server is also used to the unmanned plane And/or remote controler distributes unique mailing address.
6. system according to claim 5, which is characterized in that the server is also used to that the nothing of mailing address will have been distributed Man-machine unmanned plane mark is organized into unmanned plane pairing list, and unmanned plane pairing list is sent to the remote controler, is wrapped It includes:
First boot-strap information receiving module, the boot-strap information sent for receiving the remote controler, the boot-strap information includes institute State the remote control identification of remote controler；
Judgment module is downloaded, is matched for judging whether the remote controler has based on the remote control identification for the unmanned plane To the Download History of list, confirmation module is updated if so, calling, if it is not, then invocation list sending module；
List sending module, for current time newest unmanned plane pairing list to be sent to the remote controler；
Confirmation module is updated, for obtaining the corresponding remote controler the last time downloading unmanned plane pairing list of the remote control identification Download time, and judge in the download time to the time range of current time, whether the unmanned plane pairing list has It updates, if so, calling the list sending module；If it is not, then generating determine instruction, and the determine instruction is sent to institute It states in the corresponding remote controler of remote control identification.
7. system according to claim 6, which is characterized in that the remote controler includes:
List display module, for showing the unmanned plane pairing list to user；
Instruction detection module, the unmanned plane mark matched for detecting the needs that user selectes from unmanned plane pairing list Know, and receives the matched order that user initiates according to the unmanned plane mark for needing to match；
Pairing request generation module for generating pairing request based on the matched order, and the pairing request is sent to Server, the pairing request include the unmanned plane mark for needing to match, the remote control identification.
8. system according to claim 7, which is characterized in that the pairing request further includes the current position of the remote controler Confidence breath, the pairing parameter includes the mailing address of unmanned plane, the mailing address of the remote controler and the institute for needing to match State the communication channel number for needing the unmanned plane matched to be communicated with the remote controler；
The server further include:
Determination module is matched, for being based on the pairing request, the unmanned plane that the judgement needs match identifies whether and other There are binding relationships for remote control identification；If so, the second cue module is called, if it is not, then calling binding module；
Second cue module, for generating the second miscue information, and the second miscue information return is described distant Control device；
Binding module will for generating the binding relationship of the unmanned plane mark and the remote control identification for needing to match The remote controler and the unmanned plane for needing to match are bound, and the location information current according to the remote controler determines the need The unmanned plane to be matched identifies the communication channel number that corresponding unmanned plane is communicated with the remote controler；And by the need The mailing address for the unmanned plane to be matched, the mailing address of the remote controler and the communication channel number are sent to the remote control Device.
9. system according to claim 8, which is characterized in that the server further include:
Second boot-strap information receiving module, the boot-strap information sent for receiving the unmanned plane for needing to match, the booting Information includes the unmanned plane mark for needing to match；
Parameter acquisition module is matched, for obtaining pairing parameter corresponding with the unmanned plane mark matched of needs, and by institute Pairing parameter is stated to be sent in the unmanned plane for needing to match.
10. the method that a kind of pair of unmanned plane and remote controler are matched, which is characterized in that the unmanned plane is by the remote controler control System, the unmanned plane and the remote controler are connected with server, which comprises
Receive the pairing request that the remote controler is sent；
If it is determined that the remote controler and the unmanned plane for needing to match are bound, then pairing ginseng corresponding with the pairing request is obtained Number；
The pairing parameter is returned to the remote controler, the remote controler is used to carry out the remote controler according to the pairing parameter Communication configuration；And the remote controler is also used to after communication configuration is completed, and is sent to the unmanned plane for needing to match Confirmation message determines to match with the needs after receiving the confirmation response message that the unmanned plane for needing to match returns Pair unmanned plane successful matching, the unmanned plane for obtaining pairing parameter from the server or the remote controler, and according to The communication configuration of the unmanned plane is carried out according to the pairing parameter, and, after communication configuration completion, if receiving institute The confirmation message of remote controler transmission is stated, then returns to corresponding confirmation response message to the remote controler.
11. according to the method described in claim 10, it is characterized by further comprising:
The unmanned plane mark and/or the remote control identification that registered terminal is sent are received, to the unmanned plane and/or the remote control Device is registered.
12. according to the method for claim 11, which is characterized in that it is described to the unmanned plane and/or the remote controler into Row is registered
Judge in preset registration relational database with the presence or absence of unmanned plane mark and/or remote control identification, wherein described At least one unmanned plane mark and/or remote control identification Jing Guo server registers is stored in preset registration relational database；
If it does not exist, then by the unmanned plane identification record in the registration relational database, to carry out the unmanned plane Registration, and/or, the remote control identification is recorded in the registration relational database, to carry out the registration of the remote controler；
If it exists, then the first miscue information is generated, and the first miscue information is returned into registered terminal, by described Registered terminal shows the first miscue information, wherein the first miscue information is for prompting the unmanned plane And/or remote controler has been registered.
13. method described in 0 or 11 or 12 according to claim 1, which is characterized in that further include:
Unique mailing address is distributed to the unmanned plane and/or remote controler.
14. according to the method for claim 13, which is characterized in that further include:
The unmanned plane for having distributed the unmanned plane of mailing address mark is organized into unmanned plane pairing list, the unmanned plane is matched List is sent to the remote controler.
15. according to the method for claim 14, which is characterized in that the unmanned plane that mailing address will have been distributed nobody Machine mark is organized into unmanned plane pairing list, and the unmanned plane is matched the step of list is sent to the remote controler and includes:
The boot-strap information that the remote controler is sent is received, the boot-strap information includes the remote control identification of the remote controler；
Judge whether the remote controler has the Download History for unmanned plane pairing list based on the remote control identification；
If it is not, current time newest unmanned plane pairing list is then sent to the remote controler；
If so, when obtaining the downloading of the corresponding remote controler the last time downloading unmanned plane pairing list of the remote control identification Between, and judge in the download time to the time range of current time, whether the unmanned plane pairing list has update, if It is that current time newest unmanned plane pairing list is then sent to the remote controler；If it is not, then generating determine instruction, and will The determine instruction is sent in the corresponding remote controler of the remote control identification.
16. method according to claim 14 or 15, which is characterized in that the pairing request includes that the remote controler is current Location information, the pairing parameter include the mailing address of unmanned plane for needing to match, the mailing address of the remote controler with And the communication channel number for needing the unmanned plane matched to be communicated with the remote controler；
The method also includes:
Based on the pairing request, determine that the unmanned plane that the needs match identifies whether there is binding with other remote control identifications Relationship；
If so, generating the second miscue information, and the second miscue information is returned into the remote controler；
If it is not, the binding relationship of the unmanned plane mark and the remote control identification for needing to match then is generated, it will be described distant Control device and it is described need the unmanned plane that matches to bind, and the location information current according to the remote controler determines and described needs to match Unmanned plane identify the communication channel number that corresponding unmanned plane is communicated with the remote controler；And it needs to match by described The mailing address of unmanned plane, the mailing address of the remote controler and the communication channel number be sent to the remote controler.
17. according to the method for claim 16, which is characterized in that further include:
Receive the boot-strap information for needing the unmanned plane that matches to send, the boot-strap information include it is described need to match nobody Machine mark；
Pairing parameter corresponding with the unmanned plane mark for needing to match is obtained, and the pairing parameter is sent to the need In the unmanned plane to be matched, the unmanned plane is used to carry out the communication configuration of the unmanned plane according to the pairing parameter.
18. the method that a kind of pair of unmanned plane and remote controler are matched, which is characterized in that the unmanned plane is by the remote controler control System, the unmanned plane and the remote controler are connected with server, which comprises
Pairing request is generated, and the pairing request is sent to server；The server is for receiving the remote control After the pairing request that device is sent, if it is determined that the remote controler and the unmanned plane for needing to match are bound, then obtain and the pairing Corresponding pairing parameter is requested, and returns to the pairing parameter to the remote controler；
The pairing parameter corresponding with the pairing request that server returns is received, the pairing parameter is that the server is connecing After receiving the pairing request that the remote controler is sent, determine that the remote controler obtains after binding with the unmanned plane matched is needed Pairing parameter corresponding with the pairing request；
The communication configuration of the remote controler is carried out according to the pairing parameter, and, after communication configuration completion, to the need The unmanned plane to be matched sends confirmation message, receive the confirmation response message that the unmanned plane for needing to match returns with Afterwards, determine and the unmanned plane successful matching for needing to match；The unmanned plane is used for from the server or the remote controler Parameter is matched in middle acquisition, and the communication configuration of the unmanned plane is carried out according to the pairing parameter, and, in the communication configuration After completion, if receiving the confirmation message that the remote controler is sent, corresponding confirmation response letter is returned to the remote controler Breath.
19. according to the method for claim 18, which is characterized in that generate pairing request in the remote controler, and will be described Pairing request was sent to before the step of server, further includes:
It obtains unmanned plane and matches list, wherein it is unmanned plane and/or remote controler that the unmanned plane pairing list, which is the server, It distributes after unique communication address, the unmanned plane for having distributed the unmanned plane of mailing address is identified to the list being organized into.
20. according to the method for claim 19, which is characterized in that the acquisitions unmanned plane matches the step of list and includes:
Boot-strap information is sent to server, the boot-strap information includes the remote control identification of the remote controler；
Receive the current time newest unmanned plane pairing list that the server is sent；It is returned alternatively, receiving the server Determine instruction, according to the determine instruction, the unmanned plane for obtaining the last downloading matches list.
21. method described in 9 or 20 according to claim 1, which is characterized in that further include:
The unmanned plane mark for needing to match is selected from unmanned plane pairing list.
22. according to the method for claim 21, which is characterized in that described select from unmanned plane pairing list needs Pairing unmanned plane mark the step of include:
Show the unmanned plane pairing list to user；
The unmanned plane mark that the needs that detection user selectes from unmanned plane pairing list match, and user is received according to institute State the matched order that the unmanned plane mark for needing to match is initiated；
Pairing request is generated based on the matched order, and the pairing request is sent to server, the pairing request packet Include the unmanned plane mark for needing to match, the remote control identification.
23. method described in 9 or 20 or 22 according to claim 1, which is characterized in that the pairing parameter includes needing to match The mailing address of unmanned plane, the mailing address of the remote controler and the unmanned plane for needing to match and the remote controler carry out The communication channel number of communication.
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