CN106716871A

CN106716871A - Control method, remote control unit and drone

Info

Publication number: CN106716871A
Application number: CN201680002583.9A
Authority: CN
Inventors: 陈廷忠
Original assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Current assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Priority date: 2016-11-28
Filing date: 2016-11-28
Publication date: 2017-05-24
Also published as: WO2018094747A1

Abstract

The invention discloses a control method used for controlling an electronic device (100). The control method comprises steps of (S1) starting a remote control communication module to establish a remote control communication link between the remote control communication module and a remote terminal; (S2) detecting whether a signal feature in the remote control communication link satisfy a remote control communication condition; (S3) when detecting that the signal feature in the remote control communication link satisfies the remote control communication condition, controlling the remote control communication module to transmit data with the remote terminal by use of the remote control communication link; and (S4) when detecting that the signal feature in the remote control communication link does not satisfy the remote control communication condition, controlling a Beidou satellite report communication module to transmit data with the remote terminal by use of a Beidou satellite report communication link. The invention also discloses a remote control unit (100) and a drone (100).

Description

Control method, remote control and unmanned plane

Technical field

The present invention relates to consumer electronics technology, more particularly to a kind of control method, remote control and unmanned plane.

Background technology

With the development of unmanned air vehicle technique, unmanned plane is gradually applied to as taken photo by plane, exploring, rescue, patrol and examine, deliver, data The fields such as information gathering.Unmanned plane generally requires to know the positioning of unmanned plane, height, wind speed, electricity in each field operation process The data messages such as amount.Normally, these data messages are led to by one set up between unmanned plane and remote control or earth station Letter link returns to remote control or earth station.However, due to only establishing a underwater acoustic remote control link, unmanned plane once lose with The corresponding communication condition of the underwater acoustic remote control link, for example：Depart from remote control distance or be in the landform such as mountain area or wasteland When in complex environment, the signal of communication in underwater acoustic remote control link will be unstable, even leads to without signal, i.e. remote control completely Letter link is entirely ineffective, so as to influence the transmission of data.

The content of the invention

Embodiments of the present invention are intended at least solve one of technical problem present in prior art.Therefore, of the invention Implementation method need to provide a kind of control method, remote control and unmanned plane.

The present invention provides a kind of control method, for controlling electronic installation, the electronic installation to include underwater acoustic remote control module With big-dipper satellite message communication module, the underwater acoustic remote control module can set up underwater acoustic remote control link and in remote control with remote terminal By the underwater acoustic remote control link and the remote terminal transmission data, the big-dipper satellite message communication module under communication condition Can with remote terminal set up big-dipper satellite message communication link with the remote terminal transmission data；The control method bag Include following steps：

Start the underwater acoustic remote control module and led to setting up remote control between the underwater acoustic remote control module and the remote terminal Letter link；

Detect whether the signal characteristic in the underwater acoustic remote control link meets the underwater acoustic remote control condition；And

Controlled when signal characteristic in the underwater acoustic remote control link for detecting meets the underwater acoustic remote control condition described Underwater acoustic remote control module uses the underwater acoustic remote control link and the remote terminal transmission data；

Signal characteristic in the underwater acoustic remote control link for detecting controls institute when being unsatisfactory for the underwater acoustic remote control condition Big-dipper satellite message communication module is stated using big-dipper satellite message communication link and the remote terminal transmission data.

The present invention provides a kind of remote control, for controlling unmanned plane, the remote control to include：

Underwater acoustic remote control module, can set up underwater acoustic remote control link and under the conditions of underwater acoustic remote control by institute with the unmanned plane State underwater acoustic remote control link and transmit data with the unmanned plane；

Big-dipper satellite message communication module, can set up big-dipper satellite message communication link and in the Big Dipper with the unmanned plane Data are transmitted with the unmanned plane by the big-dipper satellite message communication link under the conditions of satellite message communication；

First starting module, for starting the underwater acoustic remote control module with the underwater acoustic remote control module and the unmanned plane Between set up underwater acoustic remote control link；

First detection module, for detecting whether the signal characteristic in the underwater acoustic remote control link meets the underwater acoustic remote control Condition；

First control module, meets the remote control and leads to for the signal characteristic in the underwater acoustic remote control link for detecting The underwater acoustic remote control module is controlled to transmit data with the unmanned plane using the underwater acoustic remote control link during creed part；And

Second control module, the remote control is unsatisfactory for for the signal characteristic in the underwater acoustic remote control link for detecting The big-dipper satellite message communication module is controlled to be passed with the unmanned plane using big-dipper satellite message communication link during communication condition Transmission of data.

The present invention provides a kind of unmanned plane, and for being controlled by remote terminal, the unmanned plane includes：

Underwater acoustic remote control module, with the remote terminal can set up underwater acoustic remote control link and pass through under the conditions of underwater acoustic remote control The underwater acoustic remote control link and the remote terminal transmission data；

Big-dipper satellite message communication module, can set up big-dipper satellite message communication link and in north with the remote terminal By the big-dipper satellite message communication link and the remote terminal transmission data under the conditions of bucket satellite message communication；

First starting module, for starting the underwater acoustic remote control module with the underwater acoustic remote control module and the long-range end Underwater acoustic remote control link is set up between end；

First control module, meets the remote control and leads to for the signal characteristic in the underwater acoustic remote control link for detecting The underwater acoustic remote control module is controlled to use the underwater acoustic remote control link and the remote terminal transmission data during creed part；And

Second control module, the remote control is unsatisfactory for for the signal characteristic in the underwater acoustic remote control link for detecting The big-dipper satellite message communication module is controlled to use big-dipper satellite message communication link and the remote terminal during communication condition Transmission data.

Control method, remote control and unmanned plane in embodiment of the present invention are provided with underwater acoustic remote control link and the Big Dipper is defended Star's text communication link, and signal characteristic in the underwater acoustic remote control link for detecting control north when being unsatisfactory for underwater acoustic remote control condition Bucket satellite message communication module uses big-dipper satellite message communication link and unmanned plane/remote controller data, in this way, in remote control In the case of communication link fails or unstability, it is possible to use big-dipper satellite message communication link carries out data transmission, it is ensured that The stability of data transfer.

The additional aspect and advantage of embodiments of the present invention will be set forth in part in the description, partly will be from following Description in become obvious, or recognized by the practice of embodiments of the present invention.

Brief description of the drawings

Of the invention above-mentioned and/or additional aspect and advantage will become from description of the accompanying drawings below to implementation method is combined Obtain substantially and be readily appreciated that, wherein：

Fig. 1 is the in kind schematic diagram of the electronic installation with remote terminal of some implementation methods of the invention.

Fig. 2 is the schematic flow sheet of the control method of some implementation methods of the invention.

Fig. 3 is the unmanned plane and the high-level schematic functional block diagram of remote terminal of some implementation methods of the invention.

Fig. 4 is the high-level schematic functional block diagram of the big-dipper satellite message communication module of some implementation methods of the invention.

Fig. 5 is the unmanned plane and the high-level schematic functional block diagram of remote control of some implementation methods of the invention.

Fig. 6 is the schematic flow sheet of the control method of some implementation methods of the invention.

Fig. 7 is the unmanned plane and the high-level schematic functional block diagram of remote terminal of some implementation methods of the invention.

Fig. 8 is the unmanned plane and the high-level schematic functional block diagram of remote control of some implementation methods of the invention.

Fig. 9 is the in kind schematic diagram of the electronic installation with remote terminal of some implementation methods of the invention.

Figure 10 is the schematic flow sheet of the control method of some implementation methods of the invention.

Figure 11 is the unmanned plane and the high-level schematic functional block diagram of remote terminal of some implementation methods of the invention.

Figure 12 is the high-level schematic functional block diagram of the cell phone network communication module of some implementation methods of the invention.

Figure 13 is the unmanned plane and the high-level schematic functional block diagram of remote control of some implementation methods of the invention.

Figure 14 is the schematic flow sheet of the control method of some implementation methods of the invention.

Figure 15 is the unmanned plane and the high-level schematic functional block diagram of remote terminal of some implementation methods of the invention.

Figure 16 is the unmanned plane and the high-level schematic functional block diagram of remote control of some implementation methods of the invention.

Figure 17 is the schematic flow sheet of the control method of some implementation methods of the invention.

Specific embodiment

Embodiments of the present invention are described below in detail, the example of the implementation method is shown in the drawings, wherein ad initio Same or similar element or element with same or like function are represented to same or similar label eventually.Below by ginseng The implementation method for examining Description of Drawings is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.

In the description of the invention, it is to be understood that term " first ", " second " are only used for describing purpose, and can not It is interpreted as indicating or implying relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, define " the One ", one or more feature can be expressed or be implicitly included to the feature of " second ".In description of the invention In, " multiple " is meant that two or more, unless otherwise expressly limited specifically.

In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase Company ", " connection " should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or be integrally connected；Can Being to mechanically connect, or electrically connect or can be in communication with each other；Can be joined directly together, it is also possible to by between intermediary Connect connected, can be two element internals connection or two interaction relationships of element.For the ordinary skill of this area For personnel, above-mentioned term concrete meaning in the present invention can be as the case may be understood.

Following disclosure provides many different implementation methods or example is used for realizing different structure of the invention.In order to Simplify disclosure of the invention, hereinafter the part and setting to specific examples are described.Certainly, they are only merely illustrative, and And purpose does not lie in the limitation present invention.Additionally, the present invention can in different examples repeat reference numerals and/or reference letter, This repetition is for purposes of simplicity and clarity, between discussed various implementation methods itself not being indicated and/or being set Relation.Additionally, the invention provides various specific technique and material example, but those of ordinary skill in the art can be with Recognize the application of other techniques and/or the use of other materials.

Also referring to Fig. 1, the control method of an embodiment of the present invention, for controlling electronic installation 100, electronic installation 100 include underwater acoustic remote control module 104 and big-dipper satellite message communication module 108, and remote terminal 200 includes and underwater acoustic remote control module 104 corresponding underwater acoustic remote control modules 204 and with the corresponding big-dipper satellite message communication module of big-dipper satellite message communication module 108 208.The underwater acoustic remote control module 104 of electronic installation 100 can set up remote control and lead to the underwater acoustic remote control module 204 of remote terminal 200 Believe link 140 and under the conditions of underwater acoustic remote control by underwater acoustic remote control link 140 and the underwater acoustic remote control module 204 of remote terminal 200 Transmission data.The big-dipper satellite message communication module 108 of electronic installation 100 can be with the big-dipper satellite message of remote terminal 200 Communication module 208 sets up big-dipper satellite message communication link 180 and passes through big-dipper satellite under the conditions of big-dipper satellite message communication Message communication link 180 transmits data with the big-dipper satellite message communication module 208 of remote terminal 200.

Fig. 2 is referred to, the control method includes：

S1, starts underwater acoustic remote control module 104 and is led to setting up remote control between underwater acoustic remote control module 104 and remote terminal 200 Letter link 140；

Whether S2, the signal characteristic in detection underwater acoustic remote control link 140 meets underwater acoustic remote control condition；And

S3, controls remote control to lead to when the signal characteristic in the underwater acoustic remote control link 140 for detecting meets underwater acoustic remote control condition Letter module 104 transmits data using underwater acoustic remote control link 140 with remote terminal 200；

S4, the signal characteristic in the underwater acoustic remote control link 140 for detecting controls the Big Dipper when being unsatisfactory for underwater acoustic remote control condition Satellite message communication module 108 transmits data using big-dipper satellite message communication link 180 with remote terminal 200.

Wherein, underwater acoustic remote control condition includes remote control distance (the distance between electronic installation 100 and remote terminal 200) scope And/or signal (signal in underwater acoustic remote control link 140) strength range, electronic installation 100 would generally set one before dispatching from the factory Remote control distance scope and/or signal strength range, for example, setting is remote control distance scope less than or equal to 1500 meters, more than or equal to X It is signal strength range.Meeting underwater acoustic remote control condition includes following several situations：First, electronic installation 100 is in remote control distance model In enclosing, for example, electronic installation 100 meets underwater acoustic remote control condition apart from remote terminal 200 less than or equal to 1500 meters；Second, electricity Signal intensity of the sub-device 100 in underwater acoustic remote control link 140 in signal strength range, such as in underwater acoustic remote control link 140 Signal intensity be to meet underwater acoustic remote control condition more than or equal to X；3rd, electronic installation 100 in the range of remote control distance, while distant Signal intensity in control communication link 140 must be in signal strength range, and for example electronic installation 100 is small apart from remote terminal 200 Just meet underwater acoustic remote control condition more than or equal to X in the signal intensity equal to 1500 meters, and in underwater acoustic remote control link 140.Using The underwater acoustic remote control condition of above-mentioned which kind of situation can be set according to the Default Value of electronic installation 100 by remote terminal 200. The content that underwater acoustic remote control condition includes is not limited to cited by embodiment of the present invention, meets the situation setting of underwater acoustic remote control condition Means are also not limited to cited by embodiment of the present invention, can be set using other means.

Fig. 3 is referred to, electronic installation 100 can be unmanned plane 100, and remote terminal 200 can be a remote controllers, for example For：Earth station, mobile phone, panel computer, remote control, intelligent watch, intelligent glasses, intelligent helmet, other virtual realities wearing set Any one in standby, other augmented reality wearable devices etc..Remote terminal 200 is used to monitor and/or control unmanned plane 100 Flight progress, including flight attitude, flying speed etc..Remote terminal 200 may include that one is flown for watching unmanned plane 100 The display unit of information.For example, remote terminal 200 can show unmanned plane 100 including orientation, point-to-point speed, translational acceleration The information of degree, direction, angular speed, angular acceleration and combinations thereof.In certain embodiments, remote terminal 200 can show nobody The information of the collection of machine 100, the video camera acquired image data that for example unmanned plane 100 is carried.

Now, underwater acoustic remote control condition includes remote control distance (the distance between unmanned plane 100 and remote terminal 200) scope And/or signal (signal in underwater acoustic remote control link 140) strength range, unmanned plane 100 would generally be set before dispatching from the factory one it is distant Control distance range and/or signal strength range, for example, setting is remote control distance scope less than or equal to 1500 meters, be more than or equal to X Signal strength range.Meeting underwater acoustic remote control condition includes following several situations：First, unmanned plane 100 in the range of remote control distance, For example, unmanned plane 100 meets underwater acoustic remote control condition apart from remote terminal 200 less than or equal to 1500 meters；Second, unmanned plane 100 Signal intensity in underwater acoustic remote control link 140 in signal strength range, such as the signal intensity in underwater acoustic remote control link 140 It is to meet underwater acoustic remote control condition more than or equal to X；3rd, unmanned plane 100 is in the range of remote control distance, while underwater acoustic remote control link Signal intensity in 140 must be in signal strength range, and such as unmanned plane 100 is less than or equal to 1500 meters apart from remote terminal 200, And the signal intensity in underwater acoustic remote control link 140 just meets underwater acoustic remote control condition more than or equal to X.Using above-mentioned which kind of situation Underwater acoustic remote control condition can be set according to the Default Value of unmanned plane 100 by remote terminal 200.Underwater acoustic remote control condition includes Content be not limited to cited by embodiment of the present invention, the situation setting means for meeting underwater acoustic remote control condition are also not limited to this Cited by invention embodiment, can be set using other means.

The unmanned plane 100 that an embodiment of the present invention is provided includes underwater acoustic remote control module 104, big-dipper satellite message communication mould Block 108, the first starting module 111, first detection module 112, the first control module 113 and the second control module 114.Wherein, First starting module 111, first detection module 112, the first control module 113 and the second control module 114 can be respectively used to hold Row S1, S2, S3 and S4.Specifically, underwater acoustic remote control module 104 be used for remote terminal 200 set up underwater acoustic remote control link 140 and Data are transmitted with remote terminal 200 by underwater acoustic remote control link 140 under the conditions of underwater acoustic remote control.Big-dipper satellite message communication module 108 are used to set up big-dipper satellite message communication link 180 with remote terminal 200 and pass through under the conditions of big-dipper satellite message communication Big-dipper satellite message communication link transmits data with remote terminal 200.First starting module 111 is used to start underwater acoustic remote control module 104 between underwater acoustic remote control module 104 and remote terminal 200 setting up underwater acoustic remote control link 140.First detection module 112 is used Whether the signal characteristic in detection underwater acoustic remote control link 140 meets underwater acoustic remote control condition.First control module 113 is used in inspection Control underwater acoustic remote control module 104 is using distant when signal characteristic in the underwater acoustic remote control link 140 for measuring meets underwater acoustic remote control condition Control communication link 140 transmits data with remote terminal 200.Second control module 114 is used in the underwater acoustic remote control link for detecting Control big-dipper satellite message communication module 108 uses big-dipper satellite report when signal characteristic in 140 is unsatisfactory for underwater acoustic remote control condition Literary communication link 180 transmits data with remote terminal 200.Because remote terminal 200 can be earth station or remote control, then remote control is led to Letter link 140 can be the link of remote control or the link of earth station, wherein, the link of remote control be by 2.4Ghz or The radio of 5.8Ghz transmits data with unmanned plane 100, and the link of earth station is then wireless by 900Mhz or 433Mhz Electric frequency transmits data with unmanned plane 100.

Wherein, incorporated by reference to Fig. 4, big-dipper satellite message communication module 108 include antenna element 1082, radio frequency unit 1084, Base Band Unit 1086 and information output unit 1088.Antenna element 1082 is used to receive Big Dipper radiofrequency signal.Radio frequency unit 1084 For radiofrequency signal to be converted into data signal.Base Band Unit 1086 is used to receive data signal to complete to capture, track, solve Tune, frame synchronization and positioning calculation.Information output unit 1088 is used for capture, tracking, the solution completed according to Base Band Unit 1086 Adjust, frame synchronization and positioning calculation provide the user positioning result and temporal information.Information output unit 1088 includes multiple people Use SIM.Big-dipper satellite message communication module 108 often sends out a message to be needed to be spaced 60 second time, if being set using double SIM card Meter, can be such that message gap periods are reduced to 30 seconds, if necessary to communication frequency higher, can by that analogy increase SIM Quantity.Because big-dipper satellite message communication module 108 will not generally be limited by factors such as landform, physical features, remote control distances, north Signal intensity in bucket satellite message communication link 180 all can be very strong, and dropout frequency is extremely low, therefore, using big-dipper satellite Message communication link 140 can realize data transfer.

Control method and unmanned plane 100 in embodiment of the present invention are provided with underwater acoustic remote control link 140 and big-dipper satellite Message communication link 180, and signal characteristic in the underwater acoustic remote control link 140 for detecting is unsatisfactory for underwater acoustic remote control condition time control Big-dipper satellite message communication module 108 processed transmits data using big-dipper satellite message communication link 180 with remote terminal 200, such as This, underwater acoustic remote control link 140 fail or unstability in the case of, it is possible to use big-dipper satellite message communication link 180 is carried out Data transfer, it is ensured that the stability of data transfer.

Fig. 5 is referred to, electronic installation 100 can be remote control 100.Remote terminal 200 can be aerial apparatus of transport, example Such as：Unmanned plane, manned vehicle etc.；Apparatus of transport in water, for example：Steamer, submarine etc.；Apparatus of transport on ground, for example： Car, truck, bus, van, motorcycle, light rail etc.；The apparatus of transport of subsurface, for example：Subway etc.；In space Apparatus of transport, for example：Space shuttle etc..Certainly, remote terminal 200 is not limited to various types of apparatuss of transport, as long as The device of any required data transfer, for example：Satellite, detector etc..Present embodiment is with remote terminal 200 as unmanned plane Illustrated as a example by 200.Remote control 100 is used to monitor and/or control the flight progress of unmanned plane 200, including monitoring and/or control Flight attitude, flying speed of unmanned plane 200 etc..Remote control 100 may include one for watching the flight information of unmanned plane 200 Display unit.For example, remote control 100 can show unmanned plane 200 including orientation, point-to-point speed, translational acceleration, side To, the information of angular speed, angular acceleration and combinations thereof.In certain embodiments, remote control 100 can show that unmanned plane 200 is adopted The video camera acquired image data that the information of collection, such as unmanned plane 200 are carried.

Now, underwater acoustic remote control condition include remote control distance the distance between (remote control 100 with unmanned plane 200) scope and/ Or signal (signal in underwater acoustic remote control link 140) strength range, remote control 100 would generally be set before dispatching from the factory a remote control away from From scope and/or signal strength range, for example, setting is remote control distance scope less than or equal to 1500 meters, it is signal more than or equal to X Strength range.Meeting underwater acoustic remote control condition includes following several situations：First, unmanned plane 100 in the range of remote control distance, example Such as, unmanned plane 200 meets underwater acoustic remote control condition apart from remote control 100 less than or equal to 1500 meters；Second, unmanned plane 200 is distant In signal strength range, such as the signal intensity in underwater acoustic remote control link 140 is more than signal intensity in control communication link 140 It is to meet underwater acoustic remote control condition equal to X；3rd, unmanned plane 200 in the range of remote control distance, while in underwater acoustic remote control link 140 Signal intensity must be in signal strength range, such as unmanned plane 200 is less than or equal to 1500 meters apart from remote control 100, and distant Signal intensity in control communication link 140 just meets underwater acoustic remote control condition more than or equal to X.Remote control using above-mentioned which kind of situation is led to Creed part can be set according to the Default Value of remote control 100 by remote control 100.The content that underwater acoustic remote control condition includes is not It is confined to cited by embodiment of the present invention, the situation setting means for meeting underwater acoustic remote control condition are also not limited to implementation of the present invention Cited by mode, can be set using other means.

The remote control 100 that an embodiment of the present invention is provided includes underwater acoustic remote control module 104, big-dipper satellite message communication mould Block 108, the first starting module 111, first detection module 112, the first control module 113 and the second control module 114.Wherein, First starting module 111, first detection module 112, the first control module 113 and the second control module 114 can be respectively used to hold Row S1, S2, S3 and S4.Specifically, underwater acoustic remote control module 104 is used to set up underwater acoustic remote control link 140 and distant with unmanned plane 200 Data are transmitted with unmanned plane 200 by underwater acoustic remote control link 140 under control communication condition.Big-dipper satellite message communication module 108 is used In setting up big-dipper satellite message communication link 180 with unmanned plane 200 and defended by the Big Dipper under the conditions of big-dipper satellite message communication Star's text communication link transmits data with unmanned plane 200.First starting module 111 be used to starting underwater acoustic remote control module 104 with Underwater acoustic remote control link 140 is set up between underwater acoustic remote control module 104 and unmanned plane 200.First detection module 112 is used to detect remote control Whether the signal characteristic in communication link 140 meets underwater acoustic remote control condition.First control module 113 is used in the remote control for detecting Control underwater acoustic remote control module 104 uses underwater acoustic remote control link when signal characteristic in communication link 140 meets underwater acoustic remote control condition 140 transmit data with unmanned plane 200.The signal that second control module 114 is used in the underwater acoustic remote control link 140 for detecting is special Levy and controlled when being unsatisfactory for underwater acoustic remote control condition big-dipper satellite message communication module 108 using big-dipper satellite message communication link 180 Data are transmitted with unmanned plane 200.Underwater acoustic remote control link 140 in present embodiment is the link of remote control, by 2.4Ghz or The radio of person 5.8Ghz transmits data with unmanned plane 200.

Control method and remote control 100 in embodiment of the present invention are provided with underwater acoustic remote control link 140 and big-dipper satellite Message communication link 180, and signal characteristic in the underwater acoustic remote control link 140 for detecting is unsatisfactory for underwater acoustic remote control condition time control Big-dipper satellite message communication module 108 processed transmits data using big-dipper satellite message communication link 180 with unmanned plane 200, in this way, Underwater acoustic remote control link 140 fail or unstability in the case of, it is possible to use big-dipper satellite message communication link 180 carries out data Transmission, it is ensured that the stability of data transfer.

Fig. 6 is referred to, in some embodiments, control method also includes：

S5, the signal of communication in scanning circumstance；

S6, judges whether the signal characteristic of the signal of communication for scanning meets underwater acoustic remote control condition；And

S7, if the signal characteristic of the signal of communication for scanning meets underwater acoustic remote control condition, by big-dipper satellite message communication Module 108 switches to underwater acoustic remote control module 104 to transmit data with remote terminal 200 with using underwater acoustic remote control link 140.

Fig. 7 is referred to, the unmanned plane 100 that an embodiment of the present invention is provided also includes scan module 115, judge module 116 and handover module 117, it is respectively used to perform S5, S6 and S7.That is, scan module 115 is for logical in scanning circumstance Letter signal.Judge module 116 is used to judge whether the signal characteristic of the signal of communication for scanning meets underwater acoustic remote control condition.Switching If the signal characteristic that module 117 is used for the signal of communication for scanning meets underwater acoustic remote control condition, by big-dipper satellite message communication Module 108 switches to underwater acoustic remote control module 104 to transmit data with remote terminal 200 with using underwater acoustic remote control link 140.

Control method and unmanned plane 100 in embodiment of the present invention are provided with underwater acoustic remote control link 140 and big-dipper satellite Message communication link 180, and signal characteristic in the underwater acoustic remote control link 140 for detecting is unsatisfactory for underwater acoustic remote control condition time control Big-dipper satellite message communication module 108 processed transmits data using big-dipper satellite message communication link 180 with remote terminal 200, such as This, underwater acoustic remote control link 140 fail or unstability in the case of, it is possible to use big-dipper satellite message communication link 180 is carried out Data transfer, it is ensured that the stability of data transfer.And can be again when unmanned plane 100 meets underwater acoustic remote control condition again It is new that data are transmitted with remote terminal 200 using underwater acoustic remote control link 140, save cost.

Fig. 8 is referred to, the remote control 100 that an embodiment of the present invention is provided also includes scan module 115, judge module 116 and handover module 117, it is respectively used to perform S5, S6 and S7.That is, scan module 115 is for logical in scanning circumstance Letter signal.Judge module 116 is used to judge whether the signal characteristic of the signal of communication for scanning meets underwater acoustic remote control condition.Switching If the signal characteristic that module 117 is used for the signal of communication for scanning meets underwater acoustic remote control condition, by big-dipper satellite message communication Module 108 switches to underwater acoustic remote control module 104 to transmit data with remote terminal 200 with using underwater acoustic remote control link 140.

Control method and remote control 100 in embodiment of the present invention are provided with underwater acoustic remote control link 140 and big-dipper satellite Message communication link 180, and signal characteristic in the underwater acoustic remote control link 140 for detecting is unsatisfactory for underwater acoustic remote control condition time control Big-dipper satellite message communication module 108 processed transmits data using big-dipper satellite message communication link 180 with unmanned plane 200, in this way, Underwater acoustic remote control link 140 fail or unstability in the case of, it is possible to use big-dipper satellite message communication link 180 carries out data Transmission, it is ensured that the stability of data transfer.And can be adopted again when remote control 100 meets underwater acoustic remote control condition again Data are transmitted with underwater acoustic remote control link 140 and unmanned plane 200, cost is saved.

Refer to Fig. 9, the control method of an embodiment of the present invention, for controlling electronic installation 100.Electronic installation 100 Including underwater acoustic remote control module 104, cell phone network communication module 106 and big-dipper satellite message communication module 108.Remote terminal 200 Including underwater acoustic remote control module 204 corresponding with underwater acoustic remote control module 104 and the corresponding cellular network of cell phone network communication module 106 Network communication module 206 and big-dipper satellite message communication module 208 corresponding with big-dipper satellite message communication module 108.Electronics is filled The underwater acoustic remote control module 104 for putting 100 can set up underwater acoustic remote control link 140 simultaneously with the underwater acoustic remote control module 204 of remote terminal 200 Data are transmitted with the underwater acoustic remote control module 204 of remote terminal 200 by underwater acoustic remote control link 140 under the conditions of underwater acoustic remote control.Electricity The cell phone network communication module 106 of sub-device 100 can set up mobile phone with the cell phone network communication module 206 of remote terminal 200 Network communication link 160 and under cell phone network communication condition by the hand of cell phone network communication link 160 and remote terminal 200 Machine network communication module 206 transmits data.The big-dipper satellite message communication module 108 of electronic installation 100 can be with remote terminal 200 big-dipper satellite message communication module 208 sets up big-dipper satellite message communication link 180 and in big-dipper satellite message communication bar Number is transmitted with the big-dipper satellite message communication module 208 of remote terminal 200 by big-dipper satellite message communication link 180 under part According to.

Figure 10 is referred to, the control method includes：

Whether S2, the signal characteristic in detection underwater acoustic remote control link 140 meets underwater acoustic remote control condition；

S8, the signal characteristic in the underwater acoustic remote control link 140 for detecting starts mobile phone when being unsatisfactory for underwater acoustic remote control condition Network communication module 106 between cell phone network communication module 106 and remote terminal 200 setting up cell phone network communication link 160；

Whether S9, the signal characteristic in detection cell phone network communication link 160 meets cell phone network communication condition；And

S10, the signal characteristic in the cell phone network communication link 160 for detecting meets cell phone network communication condition time control Cell phone network communication module 106 processed transmits data using cell phone network communication link 160 with remote terminal 200；

S4, when the signal characteristic in the cell phone network communication link 160 for detecting is unsatisfactory for cell phone network communication condition Control big-dipper satellite message communication module 108 transmits data using big-dipper satellite message communication link 180 with remote terminal 200.

Cell phone network communication condition includes signal (signal in cell phone network communication link 160) strength range and/or letter Number (signal in cell phone network communication link 160) loses frequency range (number of times of dropout in special time).Electronics is filled Put 100 dispatch from the factory before would generally setting signal strength range and/or dropout frequency range, for example, set more than or equal to X as Signal strength range, it is dropout frequency range to set less than or equal to Y.Cell phone network communication condition is met including following several Situation：First, signal intensity of the electronic installation 100 in cell phone network communication link 160 in signal strength range, such as hand Signal intensity in machine network communication link 160 is to meet cell phone network communication condition more than or equal to X；Second, electronic installation 100 Dropout frequency in cell phone network communication link in dropout frequency range, such as cell phone network communication link Dropout frequency in 160 is to meet cell phone network communication condition less than or equal to Y；3rd, electronic installation 100 is in cell phone network In signal strength range, synchronous signal loses frequency must be in dropout frequency range for signal intensity in communication link 160 Interior, such as the signal intensity in cell phone network communication link 160 is more than or equal to the signal in X, and cell phone network communication link 160 Lose frequency and just meet cell phone network communication condition less than or equal to Y.Which kind of similarly, communicated using the cell phone network of above-mentioned situation Condition can be set according to the Default Value of electronic installation 100 by remote terminal 200.Cell phone network communication condition includes Content is not limited to cited by embodiment of the present invention, and the situation setting means for meeting cell phone network communication condition are also not limited to Cited by embodiment of the present invention, can be set using other means.

Figure 11 is referred to, electronic installation 100 can be unmanned plane 100, and remote terminal 200 can be a remote controllers, for example For：Earth station, mobile phone, panel computer, remote control, intelligent watch, intelligent glasses, intelligent helmet, other virtual realities wearing set Any one in standby, other augmented reality wearable devices etc..Remote terminal 200 is used to monitor and/or control unmanned plane 100 Flight progress, including flight attitude, flying speed etc..Remote terminal 200 may include that one is flown for watching unmanned plane 100 The display unit of information.For example, remote terminal 200 can show unmanned plane 100 including orientation, point-to-point speed, translational acceleration The information of degree, direction, angular speed, angular acceleration and combinations thereof.In certain embodiments, remote terminal 200 can show nobody The information of the collection of machine 100, the video camera acquired image data that for example unmanned plane 100 is carried.

The unmanned plane 100 that an embodiment of the present invention is provided includes underwater acoustic remote control module 104, cell phone network communication module 106th, big-dipper satellite message communication module 108, the first starting module 111, first detection module 112, the first control module 113, Second control module 114, the second starting module 118, the second detection module 119 and the 3rd control module 120.Wherein, first open Dynamic model block 111, first detection module 112, the first control module 113, the second control module 114, the second starting module 118, Two detection modules 119 and the 3rd control module 120 can be respectively used to perform S1, S2, S3, S4, S8, S9 and S10.Specifically, it is distant Control communication module 104 is used to set up underwater acoustic remote control link 140 with remote terminal 200 and lead to by remote control under the conditions of underwater acoustic remote control Letter link 140 transmits data with remote terminal 200.Cell phone network communication module 106 is used to set up cellular network with remote terminal 200 Network communication link 160 simultaneously transmits number by cell phone network communication link 160 under cell phone network communication condition with remote terminal 200 According to.Big-dipper satellite message communication module 108 is used to set up big-dipper satellite message communication link 180 and in north with remote terminal 200 Data are transmitted with remote terminal 200 by big-dipper satellite message communication link under the conditions of bucket satellite message communication.First starts mould Block 111 sets up underwater acoustic remote control for starting underwater acoustic remote control module 104 between underwater acoustic remote control module 104 and remote terminal 200 Link 140.First detection module 112 is used to detect whether the signal characteristic in underwater acoustic remote control link 140 meets underwater acoustic remote control bar Part.When the signal characteristic that first control module 113 is used in the underwater acoustic remote control link 140 for detecting meets underwater acoustic remote control condition Control underwater acoustic remote control module 104 transmits data using underwater acoustic remote control link 140 with remote terminal 200.Second starting module 118 is used Start cell phone network communication mould when the signal characteristic in the underwater acoustic remote control link 140 for detecting is unsatisfactory for underwater acoustic remote control condition Block 106 between cell phone network communication module 106 and remote terminal 200 setting up cell phone network communication link 160.Second detection Module 119 is used to detect whether the signal characteristic in cell phone network communication link 160 meets cell phone network communication condition.3rd control When the signal characteristic that molding block 120 is used in the cell phone network communication link 160 for detecting meets cell phone network communication condition Control cell phone network communication module 106 transmits data using cell phone network communication link 160 with remote terminal 200.Second control What module 114 was unsatisfactory for underwater acoustic remote control condition and detected for the signal characteristic in the underwater acoustic remote control link 140 for detecting Signal characteristic in cell phone network communication link 160 is unsatisfactory for controlling big-dipper satellite message communication mould during cell phone network communication condition Block 108 transmits data using big-dipper satellite message communication link 180 with remote terminal 200.

Due to remote terminal 200 can be earth station or remote control, then underwater acoustic remote control link 140 can be remote control link or The link of person earth station, wherein, the link of remote control is transmitted with unmanned plane 100 by the radio of 2.4Ghz or 5.8Ghz Data, and the link of earth station is then to transmit data by 900Mhz or 433Mhz radio frequencies and unmanned plane 100.

Incorporated by reference to Figure 12, cell phone network communication module 106 can include cell phone network communication unit 1062, positioning unit 1064 and bluetooth-communication unit 1066.Cell phone network communication unit 1062 leads to for setting up cell phone network with remote terminal 200 Letter link 160 simultaneously transmits data by cell phone network communication link 160 under cell phone network communication condition with remote terminal 200. Positioning unit 1064 can be used for position unmanned plane 100, positioning unit 1064 can for GPS positioning unit, Big Dipper positioning unit, Any one or more combination in GLONASS positioning units and GNS positioning units.Bluetooth-communication unit 1066 is used in bluetooth Data are transmitted with remote terminal 200 using bluetooth communications link under communication condition.

Control method and unmanned plane 100 in embodiment of the present invention are provided with underwater acoustic remote control link 140, cell phone network and lead to Letter link 160 and big-dipper satellite message communication link 180, and signal characteristic in the underwater acoustic remote control link 140 for detecting is not The preferential cell phone network communication module 106 that enables is using cell phone network communication link 160 and long-range end when meeting underwater acoustic remote control condition The transmission of end 200 data, the only signal characteristic in the cell phone network communication link 160 for detecting also are unsatisfactory for cell phone network and lead to Just control big-dipper satellite message communication module 108 uses big-dipper satellite message communication link 180 and remote terminal 200 during creed part Transmission data, so, it is possible to be tried one's best while the stability for being always ensured that data transfer and accomplish cost-effective.

Figure 13 is referred to, electronic installation 100 can be remote control 100.Remote terminal 200 can be aerial apparatus of transport, example Such as：Unmanned plane, manned vehicle etc.；Apparatus of transport in water, for example：Steamer, submarine etc.；Apparatus of transport on ground, for example： Car, truck, bus, van, motorcycle, light rail etc.；The apparatus of transport of subsurface, for example：Subway etc.；In space Apparatus of transport, for example：Space shuttle etc..Certainly, remote terminal 200 is not limited to various types of apparatuss of transport, as long as The device of any required data transfer, for example：Satellite, detector etc..Present embodiment is with remote terminal 200 as unmanned plane Illustrated as a example by 200.Remote control 100 is used to monitor and/or control the flight progress of unmanned plane 200, including monitoring and/or control Flight attitude, flying speed of unmanned plane 200 etc..Remote control 100 may include one for watching the flight information of unmanned plane 200 Display unit.For example, remote control 100 can show unmanned plane 200 including orientation, point-to-point speed, translational acceleration, side To, the information of angular speed, angular acceleration and combinations thereof.In certain embodiments, remote control 100 can show that unmanned plane 200 is adopted The video camera acquired image data that the information of collection, such as unmanned plane 200 are carried.

The remote control 100 that an embodiment of the present invention is provided includes underwater acoustic remote control module 104, cell phone network communication module 106th, big-dipper satellite message communication module 108, the first starting module 111, first detection module 112, the first control module 113, Second control module 114, the second starting module 118, the second detection module 119 and the 3rd control module 120.Wherein, first open Dynamic model block 111, first detection module 112, the first control module 113, the second control module 114, the second starting module 118, Two detection modules 119 and the 3rd control module 120 can be respectively used to perform S1, S2, S3, S4, S8, S9 and S10.Specifically, it is distant Control communication module 104 is used to set up underwater acoustic remote control link 140 and under the conditions of underwater acoustic remote control by underwater acoustic remote control with unmanned plane 200 Link 140 transmits data with unmanned plane 200.Cell phone network communication module 106 communicates for setting up cell phone network with unmanned plane 200 Link 160 simultaneously transmits data by cell phone network communication link 160 under cell phone network communication condition with unmanned plane 200.The Big Dipper Satellite message communication module 108 is used to set up big-dipper satellite message communication link 180 and in big-dipper satellite message with unmanned plane 200 Data are transmitted with unmanned plane 200 by big-dipper satellite message communication link under communication condition.First starting module 111 is used to start Underwater acoustic remote control module 104 between underwater acoustic remote control module 104 and unmanned plane 200 setting up underwater acoustic remote control link 140.First detection Module 112 is used to detect whether the signal characteristic in underwater acoustic remote control link 140 meets underwater acoustic remote control condition.First control module 113 signal characteristics being used in the underwater acoustic remote control link 140 for detecting control underwater acoustic remote control mould when meeting underwater acoustic remote control condition Block 104 transmits data using underwater acoustic remote control link 140 with unmanned plane 200.Second starting module 118 is used in the remote control for detecting Signal characteristic in communication link 140 is unsatisfactory for starting cell phone network communication module 106 with cellular network during underwater acoustic remote control condition Cell phone network communication link 160 is set up between network communication module 106 and unmanned plane 200.Second detection module 119 is used to detect hand Whether the signal characteristic in machine network communication link 160 meets cell phone network communication condition.3rd control module 120 is used in inspection Control cell phone network communication mould when signal characteristic in the cell phone network communication link 160 for measuring meets cell phone network communication condition Block 106 transmits data using cell phone network communication link 160 with unmanned plane 200.Second control module 114 is used to detect Signal characteristic in underwater acoustic remote control link 140 is unsatisfactory in underwater acoustic remote control condition and the cell phone network communication link 160 that detects Signal characteristic when being unsatisfactory for cell phone network communication condition control big-dipper satellite message communication module 108 use big-dipper satellite message Communication link 180 transmits data with unmanned plane 200.Underwater acoustic remote control link 140 in present embodiment is the link of remote control, is led to The radio and unmanned plane 200 for crossing 2.4Ghz or 5.8Ghz transmit data.

Incorporated by reference to Figure 12, cell phone network communication module 106 can include cell phone network communication unit 1062, positioning unit 1064 and bluetooth-communication unit 1066.Cell phone network communication unit 1062 communicates for setting up cell phone network with unmanned plane 200 Link 160 simultaneously transmits data by cell phone network communication link 160 under cell phone network communication condition with unmanned plane 200.Positioning Unit 1064 can be used for remote position controlled device 100, positioning unit 1064 can for GPS positioning unit, Big Dipper positioning unit, Any one or more combination in GLONASS positioning units and GNS positioning units.Bluetooth-communication unit 1066 is used in bluetooth Data are transmitted with unmanned plane 200 using bluetooth communications link under communication condition.

Control method and remote control 100 in embodiment of the present invention are provided with underwater acoustic remote control link 140, cell phone network and lead to Letter link 160 and big-dipper satellite message communication link 180, and signal characteristic in the underwater acoustic remote control link 140 for detecting is not The preferential cell phone network communication module 106 that enables is using cell phone network communication link 160 and unmanned plane when meeting underwater acoustic remote control condition 200 transmission data, the only signal characteristic in the cell phone network communication link 160 for detecting also are unsatisfactory for cell phone network communication Just control big-dipper satellite message communication module 108 is transmitted using big-dipper satellite message communication link 180 and unmanned plane 200 during condition Data, so, it is possible to be tried one's best while the stability for being always ensured that data transfer and accomplish cost-effective.

Figure 14 is referred to, in some embodiments, control method also includes：

S5, the signal of communication in scanning circumstance；

Figure 15 is referred to, the unmanned plane 100 that an embodiment of the present invention is provided also includes scan module 115, judge module 116 and handover module 117, it is respectively used to perform S5, S6 and S7.That is, scan module 115 is for logical in scanning circumstance Letter signal.Judge module 116 is used to judge whether the signal characteristic of the signal of communication for scanning meets underwater acoustic remote control condition.Switching If the signal characteristic that module 117 is used for the signal of communication for scanning meets underwater acoustic remote control condition, by big-dipper satellite message communication Module 108 switches to underwater acoustic remote control module 104 to transmit data with remote terminal 200 with using underwater acoustic remote control link 140.

Control method and unmanned plane 100 in embodiment of the present invention are provided with underwater acoustic remote control link 140, cell phone network and lead to Letter link 160 and big-dipper satellite message communication link 180, and signal characteristic in the underwater acoustic remote control link 140 for detecting is not The preferential cell phone network communication module 106 that enables is using cell phone network communication link 160 and long-range end when meeting underwater acoustic remote control condition The transmission of end 200 data, the only signal characteristic in the cell phone network communication link 160 for detecting also are unsatisfactory for cell phone network and lead to Just control big-dipper satellite message communication module 108 uses big-dipper satellite message communication link 180 and remote terminal 200 during creed part Transmission data, so, it is possible to be tried one's best while the stability for being always ensured that data transfer and accomplish cost-effective.And in unmanned plane 100 can transmit data using underwater acoustic remote control link 140 with remote terminal 200 again when meeting underwater acoustic remote control condition again, Further save cost.

Figure 16 is referred to, the remote control 100 that an embodiment of the present invention is provided also includes scan module 115, judge module 116 and handover module 117, it is respectively used to perform S5, S6 and S7.That is, scan module 115 is for logical in scanning circumstance Letter signal.Judge module 116 is used to judge whether the signal characteristic of the signal of communication for scanning meets underwater acoustic remote control condition.Switching If the signal characteristic that module 117 is used for the signal of communication for scanning meets underwater acoustic remote control condition, by big-dipper satellite message communication Module 108 switches to underwater acoustic remote control module 104 to transmit data with remote terminal 200 with using underwater acoustic remote control link 140.

Control method and remote control 100 in embodiment of the present invention are provided with underwater acoustic remote control link 140, cell phone network and lead to Letter link 160 and big-dipper satellite message communication link 180, and signal characteristic in the underwater acoustic remote control link 140 for detecting is not The preferential cell phone network communication module 106 that enables is using cell phone network communication link 160 and unmanned plane when meeting underwater acoustic remote control condition 200 transmission data, the only signal characteristic in the cell phone network communication link 160 for detecting also are unsatisfactory for cell phone network communication Just control big-dipper satellite message communication module 108 is transmitted using big-dipper satellite message communication link 180 and unmanned plane 200 during condition Data, so, it is possible to be tried one's best while the stability for being always ensured that data transfer and accomplish cost-effective.And in remote control 100 Data can be transmitted with unmanned plane 200 using underwater acoustic remote control link 140 again when meeting underwater acoustic remote control condition again, further Save cost.

Figure 17 is referred to, in some embodiments, control method also includes：

S11, if the signal characteristic of the signal of communication for scanning is unsatisfactory for underwater acoustic remote control condition, the communication that judgement is scanned Whether the signal characteristic of signal meets cell phone network communication condition；And

S12, if the signal characteristic of the signal of communication for scanning meets cell phone network communication condition, by big-dipper satellite message Communication module 108 switches to cell phone network communication module 106 to be transmitted with remote terminal 200 using cell phone network communication link 160 Data.

Step S11 and S12 can be performed by judge module 116 and handover module 117 respectively.

In the description of this specification, reference term " some implementation methods ", " implementation method ", " some embodiment party The description of formula ", " exemplary embodiment ", " example ", " specific example " or " some examples " etc. means to combine the embodiment party Formula or the specific features of example description, structure, material or feature are contained at least one implementation method of the invention or example In.In this manual, the schematic representation to above-mentioned term is not necessarily referring to identical implementation method or example.And, The specific features of description, structure, material or feature can be in one or more any implementation methods or example with suitable Mode combine.

Any process described otherwise above or method description in flow chart or herein is construed as, and expression includes It is one or more for realizing specific logical function or process the step of the module of code of executable instruction, fragment or portion Point, and the scope of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussion suitable Sequence, including function involved by basis by it is basic simultaneously in the way of or in the opposite order, carry out perform function, this should be of the invention Embodiment person of ordinary skill in the field understood.

Represent in flow charts or logic and/or step described otherwise above herein, for example, being considered use In the order list of the executable instruction for realizing logic function, in may be embodied in any computer-readable medium, for Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction The system of row system, device or equipment instruction fetch and execute instruction) use, or with reference to these instruction execution systems, device or set It is standby and use.For the purpose of this specification, " computer-readable medium " can any can be included, store, communicate, propagate or pass The dress that defeated program is used for instruction execution system, device or equipment or with reference to these instruction execution systems, device or equipment Put.The more specifically example (non-exhaustive list) of computer-readable medium includes following：With the electricity that one or more are connected up Connecting portion (electronic installation), portable computer diskette box (magnetic device), random access memory (RAM), read-only storage (ROM), erasable edit read-only storage (EPROM or flash memory), fiber device, and portable optic disk is read-only deposits Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can thereon print described program or other are suitable Medium, because optical scanner for example can be carried out by paper or other media, then enters edlin, interpretation or if necessary with it His suitable method is processed electronically to obtain described program, is then stored in computer storage.

It should be appreciated that each several part of the invention can be realized with hardware, software, firmware or combinations thereof.Above-mentioned In implementation method, the software that multiple steps or method can in memory and by suitable instruction execution system be performed with storage Or firmware is realized.If for example, realized with hardware, and in another embodiment, can be with well known in the art Any one of row technology or their combination are realized：With the logic gates for realizing logic function to data-signal Discrete logic, the application specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene Programmable gate array (FPGA) etc..

Those skilled in the art are appreciated that to realize all or part of step that above-mentioned implementation is carried The hardware that program be can be by instruct correlation is completed, and described program can be stored in a kind of computer-readable recording medium In, the program upon execution, including one or a combination set of the step of embodiment of the method.

Additionally, during each functional unit in each embodiment of the invention can be integrated in a processing module, it is also possible to It is that unit is individually physically present, it is also possible to which two or more units are integrated in a module.Above-mentioned integrated mould Block can both be realized in the form of hardware, it would however also be possible to employ the form of software function module is realized.The integrated module is such as Fruit is to realize in the form of software function module and as independent production marketing or when using, it is also possible to which storage is in a computer In read/write memory medium.

Storage medium mentioned above can be read-only storage, disk or CD etc..Although having been shown above and retouching Embodiments of the invention are stated, it is to be understood that above-described embodiment is exemplary, it is impossible to be interpreted as to limit of the invention System, one of ordinary skill in the art can be changed to above-described embodiment, change, replace and become within the scope of the invention Type.

Claims

1. a kind of control method, for controlling electronic installation, the electronic installation to include underwater acoustic remote control module and big-dipper satellite report Literary communication module, the underwater acoustic remote control module can with remote terminal set up underwater acoustic remote control link and under the conditions of underwater acoustic remote control lead to The underwater acoustic remote control link and the remote terminal transmission data are crossed, the big-dipper satellite message communication module can be with long-range end End set up big-dipper satellite message communication link with the remote terminal transmission data；Characterized in that, the control method bag Include following steps：

Start the underwater acoustic remote control module and set up underwater acoustic remote control chain between the underwater acoustic remote control module and the remote terminal Road；

Signal characteristic in the underwater acoustic remote control link for detecting controls the remote control when meeting the underwater acoustic remote control condition Communication module uses the underwater acoustic remote control link and the remote terminal transmission data；

Signal characteristic in the underwater acoustic remote control link for detecting controls the north when being unsatisfactory for the underwater acoustic remote control condition Bucket satellite message communication module uses big-dipper satellite message communication link and the remote terminal transmission data.

2. control method as claimed in claim 1, it is characterised in that the control method also includes：

Signal of communication in scanning circumstance；

Judge whether the signal characteristic of the signal of communication for scanning meets the underwater acoustic remote control condition；And

If the signal characteristic of the signal of communication for scanning meets the underwater acoustic remote control condition, by the big-dipper satellite Message communication module switches to the underwater acoustic remote control module to use the underwater acoustic remote control link and the remote terminal transmission number According to.

3. control method as claimed in claim 1, it is characterised in that the electronic installation also includes that cell phone network communicates mould Block, the cell phone network communication module with the remote terminal can set up cell phone network communication link and be communicated in cell phone network Under the conditions of by the cell phone network communication link and the remote terminal transmission data；In the underwater acoustic remote control chain for detecting Signal characteristic in road is unsatisfactory for the underwater acoustic remote control condition and also includes before starting the big-dipper satellite message communication module Following steps：

Start the cell phone network communication module and set up institute between the cell phone network communication module and the remote terminal State cell phone network communication link；

Detect whether the signal characteristic in the cell phone network communication link meets the cell phone network communication condition；And

Controlled when signal characteristic in the cell phone network communication link for detecting meets the cell phone network communication condition The cell phone network communication module uses the cell phone network communication link and the remote terminal transmission data；

The signal characteristic in the underwater acoustic remote control link for detecting starts institute when being unsatisfactory for the underwater acoustic remote control condition State big-dipper satellite message communication module using big-dipper satellite message communication link with the remote terminal transmission data the step of be Signal characteristic in the underwater acoustic remote control link for detecting is unsatisfactory for the underwater acoustic remote control condition and is unsatisfactory for the mobile phone Performed during network traffic conditions.

4. control method as claimed in claim 3, it is characterised in that the control method also includes：

Signal of communication in scanning circumstance；

Judge whether the signal characteristic of the signal of communication for scanning meets the underwater acoustic remote control condition；

If the signal characteristic of the signal of communication for scanning meets the underwater acoustic remote control condition, by the big-dipper satellite Message communication module or the cell phone network communication module switch to the underwater acoustic remote control module to use the underwater acoustic remote control link With the remote terminal transmission data.

5. control method as claimed in claim 4, it is characterised in that the control method also includes：

If the signal characteristic of the signal of communication for scanning is unsatisfactory for the underwater acoustic remote control condition, what judgement was scanned Whether the signal characteristic of the signal of communication meets the cell phone network communication condition；And

If the signal characteristic of the signal of communication for scanning meets the cell phone network communication condition, by the big-dipper satellite Message communication module switches to the cell phone network communication module to use the cell phone network communication link and the remote terminal Transmission data.

6. a kind of remote control, for controlling unmanned plane, it is characterised in that the remote control includes：

Underwater acoustic remote control module, can set up underwater acoustic remote control link and under the conditions of underwater acoustic remote control by described distant with the unmanned plane Control communication link transmits data with the unmanned plane；

Big-dipper satellite message communication module, can set up big-dipper satellite message communication link and in big-dipper satellite with the unmanned plane Data are transmitted with the unmanned plane by the big-dipper satellite message communication link under the conditions of message communication；

First starting module, for starting the underwater acoustic remote control module between the underwater acoustic remote control module and the unmanned plane Set up underwater acoustic remote control link；

First detection module, for detecting whether the signal characteristic in the underwater acoustic remote control link meets the underwater acoustic remote control bar Part；

First control module, the underwater acoustic remote control bar is met for the signal characteristic in the underwater acoustic remote control link for detecting The underwater acoustic remote control module is controlled to transmit data with the unmanned plane using the underwater acoustic remote control link during part；And

Second control module, the underwater acoustic remote control is unsatisfactory for for the signal characteristic in the underwater acoustic remote control link for detecting The big-dipper satellite message communication module is controlled to transmit number with the unmanned plane using big-dipper satellite message communication link during condition According to.

7. remote control as claimed in claim 6, it is characterised in that the remote control also includes：

Scan module, for the signal of communication in scanning circumstance；

Whether judge module, the signal characteristic of the signal of communication for judging to scan meets the underwater acoustic remote control condition； And

Handover module, if meeting the underwater acoustic remote control condition for the signal characteristic of the signal of communication for scanning, By the big-dipper satellite message communication module switch to the underwater acoustic remote control module with using the underwater acoustic remote control link with it is described Unmanned plane transmits data.

8. remote control as claimed in claim 6, it is characterised in that the remote control also includes：

Cell phone network communication module, for setting up cell phone network communication link and in cell phone network communication condition with the unmanned plane Data are transmitted with the unmanned plane by the cell phone network communication link down；

Second starting module, the underwater acoustic remote control is unsatisfactory for for the signal characteristic in the underwater acoustic remote control link for detecting Start the cell phone network communication module during condition and set up institute between the cell phone network communication module and the unmanned plane State cell phone network communication link；

Second detection module, for detecting whether the signal characteristic in the cell phone network communication link meets the cell phone network Communication condition；And

3rd control module, the cellular network is met for the signal characteristic in the cell phone network communication link for detecting The cell phone network communication module is controlled to be transmitted with the unmanned plane using the cell phone network communication link during network communication condition Data；

The signal characteristic that second control module is used in the underwater acoustic remote control link for detecting is unsatisfactory for the remote control Signal characteristic in communication condition and the cell phone network communication link for detecting is unsatisfactory for the cell phone network communication condition When control the big-dipper satellite message communication module using big-dipper satellite message communication link and the unmanned plane transmission data.

9. remote control as claimed in claim 8, it is characterised in that the remote control also includes：

Scan module, for the signal of communication in scanning circumstance；

Whether judge module, the signal characteristic of the signal of communication for judging to scan meets the underwater acoustic remote control condition；

Handover module, if meeting the underwater acoustic remote control condition for the signal characteristic of the signal of communication for scanning, The underwater acoustic remote control module is switched to use institute by the big-dipper satellite message communication module or the cell phone network communication module State underwater acoustic remote control link and transmit data with the unmanned plane.

10. remote control as claimed in claim 9, it is characterised in that

If the signal characteristic that the judge module is additionally operable to the signal of communication for scanning is unsatisfactory for the underwater acoustic remote control Condition, then judge whether the signal characteristic of the signal of communication for scanning meets the cell phone network communication condition；And

If the signal characteristic that the handover module is additionally operable to the signal of communication for scanning meets the cell phone network communication bar Part, then switch to the cell phone network communication module to be communicated using the cell phone network by the big-dipper satellite message communication module Link transmits data with the unmanned plane.

11. remote control as described in claim 8-10 any one, it is characterised in that the cell phone network communication link includes Any one or more in 2G network communication links, 3G network communication link, 4G network communication links.

12. remote control as described in claim 8-10 any one, it is characterised in that the cell phone network communication module bag Include：

Cell phone network communication unit, for setting up the cell phone network communication link and in the cell phone network with the unmanned plane Data are transmitted with the unmanned plane by the cell phone network communication link under communication condition；

Positioning unit, for positioning the unmanned plane；And/or

Bluetooth-communication unit, for transmitting data with the unmanned plane using bluetooth communications link under the conditions of Bluetooth communication.

13. remote controls as claimed in claim 12, it is characterised in that the positioning unit includes that GPS positioning unit, the Big Dipper are fixed In bit location, GLONASS positioning units and GNS positioning units any one or more.

14. remote control as described in claim 6-10 any one, it is characterised in that the big-dipper satellite message communication module Including：

Antenna element, for receiving Big Dipper radiofrequency signal；

Radio frequency unit, for the radiofrequency signal to be converted into data signal；

Base Band Unit, for receiving the data signal to complete to capture, track, demodulate, frame synchronization and positioning calculation；And

Information output unit, for providing the user positioning result and temporal information.

15. remote controls as claimed in claim 14, it is characterised in that described information output unit includes multiple civilian SIMs.

16. a kind of unmanned planes, for being controlled by remote terminal, it is characterised in that the unmanned plane includes：

Underwater acoustic remote control module, can set up underwater acoustic remote control link and under the conditions of underwater acoustic remote control by described with the remote terminal Underwater acoustic remote control link and the remote terminal transmission data；

Big-dipper satellite message communication module, with the remote terminal can set up big-dipper satellite message communication link and be defended in the Big Dipper By the big-dipper satellite message communication link and the remote terminal transmission data under Star's text communication condition；

First starting module, for start the underwater acoustic remote control module with the underwater acoustic remote control module and the remote terminal it Between set up underwater acoustic remote control link；

First control module, the underwater acoustic remote control bar is met for the signal characteristic in the underwater acoustic remote control link for detecting The underwater acoustic remote control module is controlled to use the underwater acoustic remote control link and the remote terminal transmission data during part；And

Second control module, the underwater acoustic remote control is unsatisfactory for for the signal characteristic in the underwater acoustic remote control link for detecting The big-dipper satellite message communication module is controlled to use big-dipper satellite message communication link and the remote terminal transmission during condition Data.

17. unmanned planes as claimed in claim 16, it is characterised in that the unmanned plane also includes：

Scan module, for the signal of communication in scanning circumstance；

Handover module, if meeting the underwater acoustic remote control condition for the signal characteristic of the signal of communication for scanning, By the big-dipper satellite message communication module switch to the underwater acoustic remote control module with using the underwater acoustic remote control link with it is described Remote terminal transmission data.

18. unmanned planes as claimed in claim 16, it is characterised in that the unmanned plane also includes：

Cell phone network communication module, for setting up cell phone network communication link with the remote terminal and being communicated bar in cell phone network By the cell phone network communication link and the remote terminal transmission data under part；

Second starting module, the underwater acoustic remote control is unsatisfactory for for the signal characteristic in the underwater acoustic remote control link for detecting Start the cell phone network communication module during condition to be set up between the cell phone network communication module and the remote terminal The cell phone network communication link；

3rd control module, the cellular network is met for the signal characteristic in the cell phone network communication link for detecting The cell phone network communication module is controlled to be passed with the remote terminal using the cell phone network communication link during network communication condition Transmission of data；

The signal characteristic that second control module is used in the underwater acoustic remote control link for detecting is unsatisfactory for the remote control Signal characteristic in communication condition and the cell phone network communication link for detecting is unsatisfactory for the cell phone network communication condition When control the big-dipper satellite message communication module use big-dipper satellite message communication link and the remote terminal transmission data.

19. unmanned planes as claimed in claim 18, it is characterised in that the unmanned plane also includes：

Scan module, for the signal of communication in scanning circumstance；

Handover module, if meeting the underwater acoustic remote control condition for the signal characteristic of the signal of communication for scanning, The underwater acoustic remote control module is switched to use institute by the big-dipper satellite message communication module or the cell phone network communication module Underwater acoustic remote control link is stated with the remote terminal transmission data.

20. unmanned planes as claimed in claim 19, it is characterised in that

If the signal characteristic that the handover module is additionally operable to the signal of communication for scanning meets the cell phone network communication bar Part, then switch to the cell phone network communication module to be communicated using the cell phone network by the big-dipper satellite message communication module Link and the remote terminal transmission data.

21. unmanned plane as described in claim 18-20 any one, it is characterised in that the cell phone network communication link bag Include any one or more in 2G network communication links, 3G network communication link, 4G network communication links.

22. unmanned plane as described in claim 18-20 any one, it is characterised in that the cell phone network communication module bag Include：

Positioning unit, for positioning the unmanned plane；And/or

23. unmanned planes as claimed in claim 22, it is characterised in that the positioning unit includes that GPS positioning unit, the Big Dipper are fixed In bit location, GLONASS positioning units and GNS positioning units any one or more.

24. unmanned plane as described in claim 16-20 any one, it is characterised in that the big-dipper satellite message communication mould Block includes：

Antenna element, for receiving Big Dipper radiofrequency signal；

25. unmanned planes as claimed in claim 24, it is characterised in that described information output unit includes multiple civilian SIMs.