CN107341952A - Unmanned vehicle is to the method for frequency, system, unmanned vehicle and remote control - Google Patents
Unmanned vehicle is to the method for frequency, system, unmanned vehicle and remote control Download PDFInfo
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- CN107341952A CN107341952A CN201610684313.2A CN201610684313A CN107341952A CN 107341952 A CN107341952 A CN 107341952A CN 201610684313 A CN201610684313 A CN 201610684313A CN 107341952 A CN107341952 A CN 107341952A
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Classifications
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
- G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C23/00—Non-electrical signal transmission systems, e.g. optical systems
- G08C23/02—Non-electrical signal transmission systems, e.g. optical systems using infrasonic, sonic or ultrasonic waves
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C23/00—Non-electrical signal transmission systems, e.g. optical systems
- G08C23/04—Non-electrical signal transmission systems, e.g. optical systems using light waves, e.g. infrared
Abstract
A kind of method of unmanned vehicle with remote control to frequency, this method comprise the following steps：Being instructed to frequency for user's input is received, described is the one or more in touching instruction, action command and contactless instruction to frequency instruction；Being instructed to frequency for user's input is identified, is started when recognizing the instruction of user's input with setting to frequency instructions match to frequency pattern；Sent under the pattern to frequency to frequency signal；Receive described to frequency signal, the remote control described is carried out to frequency according to what is received to frequency signal and the unmanned vehicle.Also provide a kind of to the system of frequency, unmanned vehicle and remote control.
Description
Technical field
The present invention relates to a kind of unmanned vehicle and method, system of the remote control to frequency, and unmanned vehicle and remote control
Device.
Background technology
At present, the application of unmanned vehicle is more and more extensive, is patrolled in Investigating and rescue, aerial monitoring, transmission line of electricity
Examine, take photo by plane, aerial survey and military field have a wide range of applications.Manipulation of the user for unmanned vehicle typically by
Remote control is come what is realized, and after unmanned vehicle and remote control successful to frequency, unmanned vehicle can just receive user and lead to
Cross the operational order that the remote control on ground is sent.
Because the mode that former unmanned vehicle is typically contact button enters to frequency pattern, therefore fly at nobody
Need to set pressing keys on the shell of row device.The traditional approach of this set button, it is dust-proof anti-to greatly limit unmanned vehicle
The growth requirement of water and aesthetic appeal.Meanwhile the mode of operation of traditional touch-tone so that user must be by the behaviour that pushes button
Work can enter not friendly enough and convenient to frequency pattern, this operation.
The content of the invention
The present invention provides a kind of unmanned vehicle with remote control to the method for frequency, system, unmanned vehicle and remote control, uses
Carried out in starting unmanned vehicle by way of non-physical button with remote control to frequency.The scheme to frequency, it is not necessary to
Physical button is set up on unmanned vehicle, so that the design of unmanned vehicle more simple and beautiful, and be not present
The gap of button, there is the shell of more preferable dustproof and waterproof.There is provided using the action and user that identify some unmanned vehicles
The realizations such as gesture start, and can increase convenience and friendly that user uses, while it is interesting also to increase some.
To solve the above problems, providing a kind of method of unmanned vehicle with remote control to frequency, methods described includes following
Step：Being instructed to frequency for user's input is received, described is in touching instruction, action command and contactless instruction to frequency instruction
It is one or more；Being instructed to frequency for user input is identified, when recognizing the instruction of user's input with setting to frequency
Start during instructions match to frequency pattern；Sent under the pattern to frequency to frequency signal；Receive described to frequency signal, the remote control
Device described is carried out to frequency according to what is received to frequency signal and the unmanned vehicle.
In certain embodiments, also include before the step of identification instructs to frequency：Receive user and ask to set and start
Frequency is instructed to frequency.Described set starts to frequency to instructing step also to include frequently：By the unmanned vehicle and computer expert
Cross USB interface or serial ports is attached to set and described frequency instructed.
In certain embodiments, the instruction that the touching instruction is triggered for touch non-physical button.The touching instruction
Triggered instruction is known to frequency marking on the touch-screen set on the unmanned vehicle to touch.The touching instruction is touch
Triggered instruction is known to frequency marking on the touch-screen to be communicated with the unmanned vehicle.The touching instruction flies to touch nobody
Triggered instruction is known to frequency marking on the touch panel set on row device.
In certain embodiments, the action command is action and/or the action group that user operates the unmanned vehicle
The instruction of conjunction.The action command is realized by the manually operated unmanned vehicle of user.The action command be by with
Family is performed by unmanned vehicle described in the remote controller operation.
In certain embodiments, the contactless instruction receives the gesture of user's offer for the unmanned vehicle, moved
One or more instructions in work, color, image and identification code.
In certain embodiments, the contactless instruction is the radio frequency signal received.
A kind of system of unmanned vehicle with remote control to frequency is additionally provided, the system includes：The unmanned vehicle,
It includes flight control modules and first communication module：The flight control modules, it includes：Input block, used for receiving
Family input instructs to frequency, and described is the one or more in touching instruction, action command and contactless instruction to frequency instruction；
Processing unit, for identifying the instruction of user input, when recognizing the instruction of user's input with setting to referring to frequently
Start during order matching to frequency pattern；First communication module, for being sent under the pattern to frequency to frequency signal；The remote control
Device, it includes：Second communication module, it is described to frequency signal for receiving；The remote control is according to the described to frequency signal of reception
Carried out with the unmanned vehicle to frequency.
In certain embodiments, the flight control modules also include：Setting unit, receive user and ask to set startup pair
Frequency instructs to frequency.The flight control modules are attached to set by USB interface and computer and described frequency instructed.
In certain embodiments, the input block, it is additionally operable to receive the touching instruction that touch non-physical button is triggered.
The input block is the touch-screen set on the unmanned vehicle, and the touching instruction is on the touch unmanned vehicle
Triggered instruction is known to frequency marking on the touch-screen of setting.The input block is the touch to be communicated with the unmanned vehicle
Screen, the touching instruction is for the instruction triggered to frequency marking knowledge on touch-screen that touch communicates with the unmanned vehicle.Institute
The touch panel for stating input block to set on the unmanned vehicle, the touching instruction are set to touch on unmanned vehicle
Touch panel on triggered instruction is known to frequency marking.
In certain embodiments, the input block is built-in or carry acceleration sensing on the flight control modules
One or more in device, direction sensor, gyroscope, Inertial Measurement Unit and magnetometer, for receiving described in user's operation
The action of unmanned vehicle or the action command of combination of actions.The action command is real by the manually operated unmanned vehicle of user
Existing.The action command is to be performed by user by the remote controller operation unmanned vehicle.
In certain embodiments, the input block is built-in or carry vision sensor on the flight control modules
And/or action sensor, it is one or more non-in the gesture of user's offer, action, color, image and identification code for receiving
Contact instructs.
In certain embodiments, the remote control also includes less radio-frequency sending module, and it is used to send less radio-frequency letter
Number；The flight control modules also include less radio-frequency receiving unit, and it is used for the less radio-frequency for receiving the remote control transmitting
Signal, start when recognizing the radio frequency signal to frequency pattern, and sent under the pattern to frequency to frequency signal；Institute
State to frequency signal described in remote control, described according to reception is carried out to frequency to frequency signal and the unmanned vehicle.
A kind of unmanned vehicle is additionally provided, with remote control include frequency, the unmanned vehicle：Flight control mould
Block and first communication module, the flight control modules include：Input block, being instructed to frequency for user's input is received, it is described right
Frequency instruction is the one or more in touching instruction, action command and contactless instruction；Processing unit, for identifying the use
The instruction of family input, start when the instruction of user's input is with setting to frequency instructions match to frequency pattern；First communication module,
For under the pattern to frequency send to frequency signal to the remote control with carry out to frequency.
In certain embodiments, the flight control modules also include：Setting unit, receive user and ask to set startup pair
Frequency instructs to frequency.The flight control modules are attached to set with computer by USB interface or serial ports and described frequency instructed.
In certain embodiments, the input block, for receiving the touching instruction for touching non-physical button and being triggered.Institute
The touch-screen for stating input block to set on the unmanned vehicle, the touching instruction set to touch on the unmanned vehicle
Triggered instruction is known to frequency marking on the touch-screen put.The input block is the touch to be communicated with the unmanned vehicle
Screen, the touching instruction is for the instruction triggered to frequency marking knowledge on touch-screen that touch communicates with the unmanned vehicle.Institute
The touch panel for stating input block to set on the unmanned vehicle, the touching instruction are set to touch on unmanned vehicle
Touch panel on triggered instruction is known to frequency marking.
In certain embodiments, the input block is built-in or carry acceleration sensing on the flight control modules
One or more in device, direction sensor, gyroscope, Inertial Measurement Unit and magnetometer, for receiving described in user's operation
The action of unmanned vehicle and/or the action command of combination of actions.The action command be by user it is manually operated it is described nobody
What aircraft was realized.The action command is to be performed by user by the remote controller operation unmanned vehicle.
In certain embodiments, the input block is built-in or carry vision sensor on the flight control modules
And/or action sensor, the one or more in the gesture, action, color, image and the identification code that are provided for receiving user
Contactless instruction.
In certain embodiments, the flight control modules also include less radio-frequency receiving unit, and it is used to receiving described
The radio frequency signal of remote control transmitting, starts to frequency pattern when recognizing the radio frequency signal；Described to frequency mould
Under formula send to frequency signal to the remote control with carry out to frequency.
Present invention also offers a kind of remote control, the remote control is carried out to frequency with above-mentioned unmanned vehicle.
In certain embodiments, the remote control also includes less radio-frequency sending module, for sending radio frequency signal.
In summary, there is provided, using knowledge to the method for frequency, system, unmanned vehicle and remote control in certain embodiments
The realizations such as the gesture that the action of some other unmanned vehicles and user provide start to frequency, realize and are not needing physical button
In the case of, start unmanned vehicle and remote control and carry out to frequency, so as to add the convenience and friendly that user uses, simultaneously
Also it is interesting that some can be increased.Due to starting using non-contacting mode to frequency, therefore physical button need not be set, so that
Unmanned vehicle shell design is more attractive in appearance, succinct, dust-proof and waterproof.
Brief description of the drawings
Fig. 1 is the method flow diagram of the unmanned vehicle that one embodiment of the invention provides and remote control to frequency；
Fig. 2 is the method flow diagram of the unmanned vehicle that another embodiment of the present invention provides and remote control to frequency；
Fig. 3 is the system module figure of the unmanned vehicle that one embodiment of the invention provides and remote control to frequency；
Fig. 4 is the schematic diagram to frequency instruction for the unmanned vehicle that one embodiment of the invention provides；
Fig. 5 is the schematic diagram to frequency instruction that the user that one embodiment of the invention provides operates unmanned vehicle；
Fig. 6 is the schematic diagram to frequency instruction that the user that one embodiment of the invention provides is provided；
Fig. 7 is the system module figure of the unmanned vehicle that another embodiment of the present invention provides and remote control to frequency；
Fig. 8 is the system module figure of the unmanned vehicle that further embodiment of this invention provides and remote control radiofrequency signal to frequency.
Embodiment
Below in conjunction with the accompanying drawing in some embodiments, the technical scheme in some embodiments is carried out clearly and completely
Description, it is clear that described embodiment is only the part of the embodiment of the present invention, rather than whole embodiments.Based on this hair
Embodiment in bright, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, belongs to the scope of protection of the invention.
There is provided it is a kind of to the method for frequency, system, unmanned vehicle and remote control, for being opened by way of non-physical button
Dynamic unmanned vehicle is carried out to frequency with remote control.Referring to Fig. 1, Fig. 1 is the unmanned vehicle and remote control that some embodiments provide
Method flow diagram of the device to frequency.The unmanned vehicle goes for any kind of loose impediment, for example, aircraft.
The description as described in unmanned vehicle, it can be applicable to any kind of unpiloted loose impediment（Such as, Ke Yi
In the air, land, object waterborne or too aerial mobile）.The unmanned vehicle can respond the finger that a remote control is sent
Order.The remote control may not necessarily be connected on the unmanned vehicle.In certain embodiments, the unmanned vehicle can be with
Entirely autonomous operation or semi-autonomous operation.The unmanned vehicle can follow a default programmed instruction operation.At some
In embodiment, the unmanned vehicle can respond the one or more from remote control and instruct semi-autonomous operation, and at other
In the case of entirely autonomous operation.In certain embodiments, the remote control can be the remote control of traditional unmanned vehicle,
Can be other electronic installations such as smart mobile phone and tablet personal computer.The startup unmanned vehicle is carried out to frequency method with remote control
Comprise the following steps：
S101, receive user and ask to set startup to instruct frequency frequency；
In certain embodiments, the unmanned vehicle is attached by USB interface or serial ports with computer set it is described right
Frequency instructs.The installation tune ginseng software supporting with the unmanned vehicle 100 on computer, when the unmanned vehicle is connect by USB
Mouthful or serial ports and computer be attached set it is described when being instructed to frequency, on the tune ginseng software of computer display can be set for user
Option parameter, these option parameters include：Action or the action group that unmanned vehicle is operated to frequency marking knowledge, user of user interface
Gesture, action, color, image and identification code that conjunction, user are provided etc..These parameters are that User Defined is set, comprising
And the example above is not limited to, and can independent or multiple alternatively parameters.
S102, receives being instructed to frequency for user's input, it is described be touching instruction to frequency instruction, action command and contactless
One or more in instruction；
In certain embodiments, the touching instruction triggered to frequency instruction for reception touch non-physical button.The touch
Instruction can know triggered instruction to frequency marking to touch on the touch-screen set on the unmanned vehicle；The touching instruction
Triggered instruction can be known to frequency marking on the touch-screen to be communicated with the unmanned vehicle to touch；The touching instruction can be
Touch and triggered instruction is known to frequency marking on the touch panel set on unmanned vehicle.
In certain embodiments, the action command operates the action of the unmanned vehicle for reception user and/or moved
Make the instruction combined.The action command is realized by the manually operated unmanned vehicle of user.For example, user can hold
Unmanned vehicle, by unmanned vehicle horizontal 90-degree rotation clockwise, clockwise 90 degree of horizontal rotations counterclockwise, vertical 90 degree of rotations
Turn, the action such as upward vertical movement and vertical downward movement, or the combination of above-mentioned action.The action and/or action
The instruction of combination is that the unmanned vehicle as described in user by the remote controller operation performs.For example, user passes through remote control
Manipulation performs some flare maneuvers, and unmanned vehicle horizontal 90-degree spiraling clockwise, 90 degree counterclockwise are rotated horizontally and flown
Row, clockwise vertical 90 degree of spiralings, vertically upward flight, the vertically downward action such as flight and hovering flight, or
The combination of above-mentioned action.Above-mentioned is citing, and the action and/or combination of actions include and be not limited to the example above.
In certain embodiments, gesture, action, color, image and the identification that the contactless instruction provides the user
One or more instructions in code；The gesture that user provides can be fist and triumph gesture；The action that the user provides can
Think and rock arm etc.；The color that the user provides can include the combination of solid color or multiple color；Can also be to use
The image and Quick Response Code that family provides.Above-mentioned is that User Defined is set to frequency instruction, comprising and be not limited to the example above.
In certain embodiments, the contactless instruction can also be the radio frequency signal that unmanned vehicle receives.
S103, being instructed to frequency for user's input is identified, when the instruction and pair set that recognize user's input
Start during frequency instructions match to frequency pattern；
In certain embodiments, it is described that frequency marking knowledge may be displayed on the unmanned vehicle on the touch-screen set；It is described
Frequency marking is known and may be displayed on the touch-screen of the unmanned vehicle communication；It is described that unmanned flight may be displayed on to frequency marking knowledge
On the touch panel set on device.It is described to frequency marking know can be a virtual button or display interface some
Specific region is touched.When touch is described, and frequency marking is known, it is pair with setting to recognize and touch triggered touching instruction
During the effective instruction of frequency instructions match, start to frequency pattern.
In certain embodiments, the action command is that user holds unmanned vehicle, manually operated by unmanned vehicle
Clockwise horizontal 90-degree rotation, 90 degree counterclockwise rotate horizontally, clockwise vertical 90 degree rotate, upward vertical movement and vertically to
It is lower motion etc. action in one kind, or the combination of above-mentioned action, when the action command that unmanned vehicle receives be with
Set to that will start to frequency pattern during the effective instruction of frequency instructions match.The action command is that user passes through the remote control
Device operates the flight of unmanned vehicle, the horizontal 90-degree spiraling clockwise of manipulation unmanned vehicle, 90 degree counterclockwise horizontal rotations
Turn one in flight, clockwise vertical 90 degree of spiralings, vertically upward flight, the action such as flight and hovering flight vertically downward
Kind, or the combination of above-mentioned action, when the action command that unmanned vehicle 100 receives is to frequency instruction with setting
During the effective instruction matched somebody with somebody, start to frequency pattern.
In certain embodiments, the contactless instruction is recognizes the gesture, action, color, figure that user provided
One or more instructions in picture and identification code.For example, when identifying the Quick Response Code that user is provided, when unmanned vehicle is known
Be clipped to two bit codes be with setting to the effective instruction of frequency instructions match when, start to frequency pattern.
In certain embodiments, the contactless instruction can also be the radio frequency signal that unmanned vehicle receives.
For example, when the radio frequency signal that unmanned vehicle receives be with setting to the effective instruction of frequency instructions match when,
Start to frequency pattern.
In certain embodiments, the identification can be touching instruction, action command and contactless instruction to frequency instruction
In one or more；Therefore in the embodiment of the example above, described can be wherein one or more embodiments to frequency
Combination, for example, described can be the combination of touching instruction and action command to frequency instruction；It can also be action command and non-connect
The combination of touch instruction；It can also be the combination of touching instruction, action command and contactless instruction.
S104, sent under the pattern to frequency to frequency signal；
S105, receive described to frequency signal；
In certain embodiments, in the signal to frequency containing being communicated under identity information, communication frequency information and mode of operation
Data protocol information etc..Unmanned vehicle and the remote control only could correctly communicate in corresponding frequency.
S106, the remote control are carried out to frequency according to described to frequency signal and the unmanned vehicle.
In certain embodiments, when the remote control to unmanned vehicle is to frequency signal, the remote control meeting
Carried out according to the information to frequency signal to frequency.After the completion of to frequency, the flight control between unmanned vehicle and remote control
Communication link, which is established, to be completed, and user's can directly by remote control control unmanned vehicle fly.
In certain embodiments, the communication mode of the unmanned vehicle and the remote control can be wireless network, institute
Stating wireless network includes at least one of Wi-Fi network, infrared, bluetooth, ultrasonic wave.Certainly, carried out also by other networks
Communication, such as 3G, 4G and the 5G in future, as long as unmanned vehicle and remote control all support these communication protocols to be led to
Letter.
As shown in Fig. 2 flow of the startup unmanned vehicle that Fig. 2, which is another embodiment, to be provided with remote control to frequency method
Figure；The S101 only can just perform in the case where user asks, and generally after startup is set to frequency to frequency instruction, hold
S102 to S106 in row Fig. 2 can be carried out the unmanned vehicle and the remote control to frequency.
As shown in figure 3, system mould of the startup unmanned vehicle 100 that Fig. 3, which is an embodiment, to be provided with remote control 200 to frequency
Block figure.Described start includes to the system 10 of frequency：The unmanned vehicle 100, it is logical that it includes flight control modules 101 and first
Believe module 102.
In certain embodiments, the flight control modules 101 can be arranged on the shell of the unmanned vehicle 100
And/or on or within main body.The flight control modules 101 can be used for independently, semi-autonomously, in one or more users
Control under or with its suitable combination operation.
The flight control modules 101 include：Input block 1014, it is described for receiving being instructed to frequency for user's input
It is the one or more in touching instruction, action command and contactless instruction to frequency instruction.
In certain embodiments, the input block 1014, refer to for receiving the touch that touch non-physical button is triggered
Order.The input block 1014 is the touch-screen set on the unmanned vehicle 100.The input block 1014 be with it is described
The touch-screen that unmanned vehicle 100 communicates.The input block 1014 is the touch surface set on the unmanned vehicle 100
Plate.
In certain embodiments, the input block 1014 can be the touch-screen with display function, Ke Yiwei：Vector pressure
Power sensing technology touch-screen, resistive technologies touch-screen, capacitance technology touch-screen, infrared technology touch-screen, surface acoustic wave technique
One kind in touch-screen.After touch-screen detects the touch operation on or near it, processing unit 1015 is sent to true
Determine the type of touch event, being followed by subsequent processing unit 1015, according to the type of touch event to provide corresponding vision on the touchscreen defeated
Go out and start corresponding operation.
In certain embodiments, the input block 1014 is that built-in and/or carry adds on the flight control modules 101
One or more in velocity sensor, direction sensor, gyroscope, Inertial Measurement Unit and magnetometer, for receiving user
Operate the action of the unmanned vehicle and/or the action command of combination of actions.
In certain embodiments, the input block 1014 is built-in or carry visual sensing on flight control modules 101
Device and/or action sensor, one kind or more in the gesture, action, color, image and the identification code that are provided for receiving user
The contactless instruction of kind.
In certain embodiments, the sensor is connected by interface with the unmanned vehicle, the interface include but
It is not limited to USB data interface, HDMI HDMI data-interfaces, serial peripheral equipment interface SPI, controller LAN
Any of network CAN data-interfaces, universal asynchronous receiving-transmitting transmitter UART data-interfaces, I2C data-interfaces are a variety of.
In certain embodiments, the sensor is used to collect related data, such as the state of unmanned vehicle.It is suitable for
The sensor that embodiment disclosed by the invention uses includes Inertial Measurement Unit（For example, accelerometer, gyroscope, inertia are surveyed
Measure unit（IMU））, direction sensor, field sensor（For example, magnetometer, electromagnetic sensor）, vision sensor（For example, can
Identify the imaging device of visible ray, infrared light or ultraviolet light, such as camera）, distance or range sensor（For example, ultrasonic sensing
Device, laser radar, flight time or depth camera）Or height sensor, attitude transducer（For example, compass）.It can use and appoint
What suitable number and the sensor of combination, such as one, two, three, four, five or more sensors.Alternatively, may be used
With from different type（For example, two kinds, three kinds, four kinds, five kinds or more types）Sensor receive data.It is different types of
Sensor can measure different types of signal or information（For example, position, orientation, speed, acceleration, distance etc.）And/or
Person obtains data using different types of e measurement technology.For example, sensor can include active sensor（For example, generation
With the sensor of energy of the measurement from its respective energy source）And passive sensor（For example, the sensing of identification utilisable energy
Device）Any suitable combination.In another example some sensors can generate the absolute measurement data provided according to global coordinate system
（For example, the position data provided by GPS sensor, the attitude data provided by compass or magnetometer）, and other sensors can
To generate the relative measurement data provided according to local coordinate system（For example, the relative angular speed provided by gyroscope；By acceleration
The relative translation acceleration provided is provided；The relative attitude information provided by vision sensor；By sonac, laser radar or
The relative distance information that time-of-flight camera provides）.
Processing unit 1015, for identifying being instructed to frequency for user's input, when the finger for recognizing user's input
Start when order is with setting to frequency instructions match to frequency pattern；
In certain embodiments, the flight control modules 101 include one or more processing units 1015, the processing unit
1015 can be processor, for example, programmable processor（CPU（CPU））.When the processing unit 1015 identifies
To it is described to frequency instruction with the setting unit 1011 in set it is described to frequency pattern to starting during frequency instructions match.
Also referring to Fig. 4, Fig. 4 is the signal to frequency instruction for the unmanned vehicle for being one embodiment of the invention offer
Figure, described is touching instruction to frequency instruction.For example, on display interface on input block 1014, it is described that frequency marking is known
It can have any shape for the region A of a certain fixation, region A, the arbitrary region in user interface can also be in.Work as user
When touching region A more than a fixed threshold, the threshold value can be 10 seconds, and triggering touch-screen produces touching instruction, the processing
When unit 1015 identifies the instruction of user's input with setting to frequency instructions match, then start to frequency pattern.For example, defeated
Enter on the display interface on unit 1014, it is described to being identified as a virtual push button B frequently, virtual push button B is clicked on or touches, triggering is touched
Touch to shield and produce touching instruction, when the processing unit 1015 identifies touching instruction with setting to frequency instructions match, then startup pair
Frequency pattern.For example, on display interface on input block 1014, it is described to being identified as a virtual knob C frequently, lead to
90 degree clockwise are crossed, triggering touch-screen produces touching instruction, and the processing unit 1015 identifies the instruction and setting of user's input
To frequency instructions match when, then start to frequency pattern.It is described to being identified as a virtual slip frequently on display interface on touch-screen
Button D, by sliding virtual push button to the right, triggering touch-screen produces touching instruction, and the processing unit 1015 identifies that user is defeated
When the instruction entered is with setting to frequency instructions match, then start to frequency pattern.Above-mentioned touching instruction and its recognition methods include and
It is not limited to the example above.
Please refer to fig. 5, the user that Fig. 5, which is an embodiment respectively, to be provided operates showing frequency instruction for unmanned vehicle
It is intended to.Described is action command to frequency instruction, and illustrating can be with the action of the manually operated unmanned vehicle 100 for user
Or combination of actions.First, the initial position that the unmanned vehicle 100 can be set is rotor in upper horizontal positioned, Yong Huke
Moved with the manually operated unmanned vehicle 100 along described X, Y and Z axis one or more direction.When user is manually operated
When the unmanned vehicle 100 turns left along Z axis and the right side is turn 90 degrees, the unmanned vehicle 100 is identified as turning clockwise 90
90 degree of degree and rotate counterclockwise.When the unmanned vehicle 100 is along Z axis vertically upward or when moving downward, the unmanned flight
Device 100 is identified as moving vertically upward or vertically downward, or the combination of above-mentioned action.When the processing unit 1015
When the action command of identification is with setting to frequency instructions match, then start to frequency pattern.Above-mentioned action command is that user makes by oneself
What justice was set.The action command includes with its recognition methods and is not limited to the example above.
In certain embodiments, described is action command to frequency instruction, illustrates and operates the remote control behaviour for user
Control action or the combination of actions that the unmanned vehicle 100 performs.First, the initial bit of the unmanned vehicle 100 can be set
Rotor is set in upper horizontal flight, user can be by unmanned vehicle 100 described in the remote controller operation along described X, Y
And Z axis one or more direction flight.When user, which manipulates the unmanned vehicle 100, turn 90 degrees flight along Z axis left-hand rotation and the right side,
The unmanned vehicle 100 is identified as dextrorotation and turn 90 degrees 90 degree of flights of flight and rotate counterclockwise.When user manipulates institute
Unmanned vehicle 100 is stated along Z axis vertically upward or during downward flight, the unmanned vehicle 100 be identified as vertically upward or
Fly vertically downward, or the combination of above-mentioned action.Action command and setting when the processing unit 1015 identification
During to frequency instructions match, then start to frequency pattern.Above-mentioned action command is that User Defined is set.The action command with
Its recognition methods includes and is not limited to the example above.
Also referring to Fig. 6, Fig. 6 is the signal to frequency instruction that the user that one embodiment of the invention provides is provided respectively
Figure.Described is contactless instruction to frequency instruction, illustrates the gesture provided by user, starts the visual sensing first
It device, can be camera in this embodiment, shoot images of gestures video flowing；Image/video stream is handled, in this processing
In can include Hand Gesture Segmentation and gesture tracking；By carrying out Hand Gesture Segmentation to gesture image/video stream, by images of gestures video
Corresponding picture frame is converted into, gesture template is established further according to corresponding picture frame, recycles algorithm to obtain the motion rail of gesture
Mark and prediction direction, the algorithm can be：The particle filter calculation of HSV histograms, Kalman's tracking prediction, complexion model（Color
Color cluster feature）, edge contour extraction method, background wipe out method etc.；The picture frame drawn from image/video stream, according to corresponding
Algorithm software extract the shape, feature and positional information of gesture, by pre-establishing corresponding gesture template to gesture
It is identified, the algorithm can be：Template matching method (Template Matching), neutral net（Artificial
Neural Networks, ANNs）, Euclidean range conversions（EDT）, HMM（Hidden Markov
Model, HMM）, dynamic time programming method (Dynamic Time Warping, DTW）；Pre-defined gesture mapping model, root
The corresponding relation of gesture interaction is established according to the result of gesture identification, when the gesture of user's input of the processing unit 1015 identification
During with setting to frequency instructions match, then start to frequency pattern.Gesture mapping model can be to clench fist, win, and above-mentioned is non-
Contact instruction is that User Defined is set.The contactless instruction includes with its recognition methods and is not limited to above-mentioned act
Example.
In certain embodiments, described is contactless instruction to frequency instruction, illustrates the action provided by user,
First, the generation of action is detected according to action sensor, the action in the current video frame that then vision sensor collects；
Action sensor is used to detect whether have action in motion detection region, for example, hand channel is crossed above screen, the cunning of hand
Dynamic, hand grasping movement, hand-held object it is mobile etc., the action sensor detects action in sometime point
When, ability starting operation identification, so as to provide accurate background and prospect, improve action recognition precision.Wherein, the action passes
Sensor can be the one or more in following sensor：Infrared induction sensor, ultrasonic distance sensor, electromagnetic field inducing pass
Sensor, acceleration transducer and light sensor etc., the vision sensor can be common camera, infrared camera or depth
Degree shooting is first-class.Affiliated sensor includes and not limited to this.Then the action video frame for including the current video frame according to obtaining
Sequence；Identify the target action in the action video frame sequence；Pre-defined action mapping model, according to the target action of identification
The corresponding relation of foundation action interaction, when the action of user's input of the processing unit 1015 identification instructs with setting to frequency
During matching, then start to frequency pattern.It can be to wave arm, draw a circle and pump to act mapping model, above-mentioned non-to connect
Touch instruction is that User Defined is set.The contactless instruction includes with its recognition methods and is not limited to the example above.
In certain embodiments, described is contactless instruction to frequency instruction, illustrates the color provided by user
Or image, start the vision sensor first, obtain color and image that user provides；Extraction provide image in shape,
Color, pattern and the entirety of combination and the characteristic point for wanting portion to set；Pre-defined color or iconic model, the color in model
Coloured silk, color scheme, shape, pattern and the entirety of combination judge key element with wanting portion to set reference point to be used as；Respectively according to shape, figure
The different characteristic values for requiring, a pictures being converted into extraction image such as case, color and combination, analysis determination characteristic value value model
Corresponding display similarity degree is enclosed, if image or color that user provides reach with pre-defined color or iconic model similarity degree
If user-defined threshold value, the color or image for user's input that the processing unit 1015 identifies are with setting to referring to frequently
Order matching, then start to frequency pattern.Above-mentioned is that User Defined is set to frequency instruction.It is described to frequency instruction and recognition methods
Comprising and be not limited to the example above.
In certain embodiments, described is contactless instruction to frequency instruction, illustrates the identification provided by user
Code, the identification code can be Quick Response Code in the present embodiment.First, vision sensor collection image in 2 D code；To what is gathered
Image in 2 D code positioned, is split and decoding operate；The segmentation can use region to increase and be calculated with convex hull to bar code symbol
Split；Finished in decoding operate, after obtaining code word data, Quick Response Code and pair of setting that the processing unit 1015 identifies
Frequency instructions match, then start to frequency pattern.The identification code can also be bar code, the digital code encrypted etc..The identification code
Included with its recognition methods and be not limited to the example above.
In certain embodiments, the identification can be touching instruction, action command and contactless instruction to frequency instruction
In one or more；Therefore in the embodiment of the example above, described can be wherein one or more embodiments to frequency
Combination, for example, described can be the combination of touching instruction and action command to frequency instruction；It can also be action command and non-connect
The combination of touch instruction；It can also be the combination of touching instruction, action command and contactless instruction.
First communication module 102, for being sent under the pattern to frequency to frequency signal；
The remote control 200, it includes：Second communication module 201, it is described to frequency signal for receiving；The remote control 200
Described according to reception is carried out to frequency to frequency signal and the unmanned vehicle 100.
In certain embodiments, the communication mode of the first communication module 102 and the second communication module 201 can be with
For wireless network, the wireless network includes at least one of Wi-Fi network, infrared, bluetooth, ultrasonic wave.Certainly, also by
Other networks are communicated, such as 3G, 4G and the 5G in future, as long as unmanned vehicle 100 and remote control 200 all support these
Communication protocol can be communicated.
Also referring to Fig. 7, the setting unit 1011 of flight control modules 101 is also included in Fig. 7, for receiving user
Request sets to start and frequency is instructed to frequency.
In certain embodiments, the setting unit 1011 only can be just configured in the case where user asks, and be led to
Often when start frequency is set to frequency instruction after, the i.e. achievable unmanned vehicle of system composition in Fig. 3 with it is described distant
Control device to frequency.
In certain embodiments, the installation tune ginseng software supporting with the unmanned vehicle 100 on the computer, when described
The setting unit 1011 of unmanned vehicle 100 be attached by USB interface or serial ports with computer set it is described when being instructed to frequency,
The option parameter that display can be set for user on the tune ginseng software of computer, according to shown option parameter, these options ginseng
Number includes：The option of user interface, user operate the action of unmanned vehicle 100 or combination of actions, user are provided gesture,
Action, color, image and identification code etc.；These parameters be User Defined set, comprising and be not limited to the example above, and
Can independent or multiple alternatively parameters.Referring to Fig. 8, Fig. 8 be another embodiment of the present invention provide startup nobody fly
System module figure of the row device with remote control to frequency.The remote control 200 also includes wireless radio-frequency emission unit 2001, and it is used to send out
Send radio frequency signal；The flight control modules 101 also include less radio-frequency receiving unit 1016, and it is used to receiving described distant
Control device 200 and launch radio frequency signal.Described is contactless instruction to frequency instruction, is illustrated as radio frequency signal, when
Remote control 200 and the unmanned vehicle 100 are after, the less radio-frequency receiving unit 1016 on the unmanned vehicle 100
Receive the radio frequency signal that the wireless radio-frequency emission unit 2001 on remote control 200 is sent, the flight control modules 101
Processing unit 1015 read information and decode after carry out relevant data processing to start to frequency pattern, first communication module 102
Send to frequency signal.The second communication module 201 of the remote control 200 is received to after frequency signal, the remote control 200 and institute
Unmanned vehicle 100 is stated to carry out to frequency.After the completion of to frequency, the flight control between unmanned vehicle 100 and remote control 200 is logical
Believe that link establishment is completed, the can of remote control 200 controls the unmanned vehicle 100 fly.
In certain embodiments, the setting unit 1011 only can be just configured in the case where user asks, and be led to
Often when start frequency is set to frequency instruction after, can also be realized without setting unit 1011 in Fig. 8 the unmanned vehicle and
The remote control to frequency.
In certain embodiments, used by the radio frequency signal RFID technique application form for mark (tag),
Card and label (label) equipment.Marking arrangement is made up of RFID chip and antenna, and type is divided into three kinds：Self-action, half quilt
Dynamic formula and passive type.The substantially passive type RFID marker developed currently on the market, because this kind of equipment manufacturing cost is relatively low, and easily
In configuration.Passive marker equipment is operated and communicated with radio wave, and signal must lead in the range of identifier permission
It is often about 3 meters.This kind of mark is suitable for the identification of short distance information.
A kind of remote control 200 being used for the unmanned vehicle 100 to frequency is also provided.In certain embodiments, it is described
Remote control 200 can be the remote control of unmanned vehicle specialty, or other electronics dress such as smart mobile phone and tablet personal computer
Put.
The remote control 200, it includes：Second communication module 201, it is described to frequency signal for receiving；The remote control
200 are carried out to frequency according to the described of reception to frequency signal and the unmanned vehicle 100.
In certain embodiments, contain in the signal to frequency under identity information, communication frequency information and mode of operation and lead to
Data protocol information of news etc..Unmanned vehicle 100 and the remote control 200 only could correctly lead in corresponding frequency
Letter.When the remote control 200 receive unmanned vehicle to frequency signal when, the remote control 200 can be believed frequency according to described
Number information and the unmanned vehicle 100 carry out to frequency.After the completion of to frequency, the unmanned vehicle 100 and the remote control
Flight control communication link between device 200, which is established, to be completed, and user's can directly controls the nothing by the remote control 200
People's aircraft 100 fly.
In certain embodiments, the communication mode of the first communication module 102 and the second communication module 201 can be with
For wireless network, the wireless network includes at least one of Wi-Fi network, infrared, bluetooth, ultrasonic wave.Certainly, also by
Other networks are communicated, such as 3G, 4G and the 5G in future, as long as unmanned vehicle 100 and remote control 200 all support these
Communication protocol can be communicated.
Above-described embodiment has been broken by way of conventional entity button starts unmanned vehicle and remote control to frequency, passes through
The non-mode for connecing entity button such as the gesture of user's offer and the action of manually operated unmanned plane starts to frequency.Such scheme is not required to
Physical button is set up on unmanned vehicle, so that the design of unmanned vehicle more simple and beautiful, and not
The gap of button be present, the shell with more preferable dustproof and waterproof.The contactless action using some unmanned vehicles of identification
And the realization such as gesture of user's offer starts, and can increase convenience and friendly that user uses, while it can also increase some interests
Taste.
In above-mentioned provided several embodiments, it should be understood that disclosed relevant apparatus and method, can pass through
Other modes are realized.For example, device embodiment described above is only schematical, for example, the module or unit
Division, only a kind of division of logic function, can there is other dividing mode, such as multiple units or group when actually realizing
Part can combine or be desirably integrated into another system, or some features can be ignored, or not perform.It is another, it is shown
The mutual connection that discusses or be directly connected to or communicate to connect can be by some interfaces, device or unit it is indirect
Connection or communication connection, can be electrical, mechanical or other forms.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in above-mentioned each embodiment can be integrated in a processing unit or
Unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated unit
Both it can be realized, can also be realized in the form of SFU software functional unit in the form of hardware.
If the integrated unit is realized in the form of SFU software functional unit and is used as independent production marketing or use
When, it can be stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially
The part to be contributed in other words to prior art or all or part of the technical scheme can be in the form of software products
Embody, the computer software product is stored in a storage medium, including some instructions are causing computer disposal
Device (processor) performs all or part of step of each embodiment methods described of the present invention.And foregoing storage medium bag
Include：USB flash disk, mobile hard disk, read-only storage (ROM, Read-OnlyMemory), random access memory (RAM,
RandomAccessMemory), magnetic disc or CD etc. are various can be with the medium of store program codes.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although reference
The present invention is described in detail for preferred embodiment, it will be understood by those within the art that, can be to the present invention's
Technical scheme is modified or equivalent substitution, without departing from the spirit and scope of technical solution of the present invention.
Claims (38)
1. method of a kind of unmanned vehicle with remote control to frequency, it is characterised in that the described method comprises the following steps：
Being instructed to frequency for user's input is received, described is in touching instruction, action command and contactless instruction to frequency instruction
It is one or more；
Being instructed to frequency for user input is identified, when recognizing the instruction of user's input with setting to frequency instructions match
Shi Qidong is to frequency pattern；
Sent under the pattern to frequency to frequency signal；
Receive described to frequency signal, the remote control described is carried out pair according to what is received to frequency signal and the unmanned vehicle
Frequently.
2. according to the method for claim 1, it is characterised in that also wrapped before described identification described the step of being instructed to frequency
Include：
Receive user and ask to set and start to frequency to instructing frequently.
3. according to the method for claim 2, it is characterised in that described to set the step of starting to frequency to instructing frequently also to wrap
Include：The unmanned vehicle is attached by USB interface or serial ports with computer to set and described frequency instructed.
4. according to the method for claim 1, it is characterised in that the touching instruction touches non-physical button and triggered
Touching instruction.
5. according to the method for claim 4, it is characterised in that the touching instruction sets to touch on the unmanned vehicle
Triggered instruction is known to frequency marking on the touch-screen put.
6. according to the method for claim 4, it is characterised in that the touching instruction is led to touch with the unmanned vehicle
Triggered instruction is known to frequency marking on the touch-screen of letter.
7. according to the method for claim 4, it is characterised in that the touching instruction sets to touch on the unmanned vehicle
Triggered instruction is known to frequency marking on the touch panel put.
8. according to the method for claim 1, it is characterised in that the action command is that user operates the unmanned vehicle
Action or combination of actions instruction.
9. according to the method for claim 8, it is characterised in that the action command be by user it is manually operated it is described nobody
What aircraft was realized.
10. according to the method for claim 8, it is characterised in that the action command is to pass through the remote control by user
Operate what the unmanned vehicle performed.
11. according to the method for claim 1, it is characterised in that the contactless instruction connects for the unmanned vehicle
Receive one or more instructions in gesture, action, color, image and identification code that user provides.
12. according to the method for claim 1, it is characterised in that the contactless instruction is the less radio-frequency received
Signal.
13. system of a kind of unmanned vehicle with remote control to frequency, it is characterised in that the system includes：
The unmanned vehicle, it includes flight control modules and first communication module：
The flight control modules, it includes：
Input block, for receiving being instructed to frequency for user's input, it is described be touching instruction to frequency instruction, action command and non-connect
One or more in touch instruction；
Processing unit, for identifying the instruction of user's input, when the instruction and pair set that recognize user's input
Start during frequency instructions match to frequency pattern；
First communication module, for being sent under the pattern to frequency to frequency signal；
The remote control, it includes：
Second communication module, it is described to frequency signal for receiving；
The remote control is carried out to frequency according to the described of reception to frequency signal and the unmanned vehicle.
14. system according to claim 13, it is characterised in that the flight control modules also include：
Setting unit, start for receiving user and asking to set to frequency to frequency instruction.
15. system according to claim 14, it is characterised in that the flight control modules pass through USB interface or serial ports
It is described to frequency instruction that setting is attached with computer.
16. system according to claim 13, it is characterised in that the input block, be additionally operable to receive touch non-physical
The touching instruction that button is triggered.
17. system according to claim 16, it is characterised in that the input block is to be set on the unmanned vehicle
Touch-screen, the touching instruction to frequency marking on the touch-screen that is set on the touch unmanned vehicle by knowing the finger triggered
Order.
18. system according to claim 16, it is characterised in that the input block is to be communicated with the unmanned vehicle
Touch-screen, the touching instruction to frequency marking on touch-screen that touch communicates with the unmanned vehicle by knowing the finger triggered
Order.
19. system according to claim 16, it is characterised in that the input block is to be set on the unmanned vehicle
Touch panel, the touching instruction knows triggered finger to frequency marking on unmanned vehicle to touch on the touch panel that sets
Order.
20. system according to claim 13, it is characterised in that the input block is interior on the flight control modules
Put or carry acceleration transducer, direction sensor, gyroscope, Inertial Measurement Unit and magnetometer in one or more, use
The action of the unmanned vehicle or the action command of combination of actions are operated in receiving user.
21. system according to claim 20, it is characterised in that the action command be by user it is manually operated nobody fly
What row device was realized.
22. system according to claim 20, it is characterised in that the action command is to pass through the remote control by user
Operate what unmanned vehicle performed.
23. system according to claim 13, it is characterised in that the input block is interior on the flight control modules
Put or carry vision sensor and/or action sensor, for receiving gesture, action, color, image and the identification of user's offer
One or more contactless instructions in code.
24. system according to claim 13, it is characterised in that the remote control also includes less radio-frequency sending module,
It is used to send radio frequency signal；
The flight control modules also include less radio-frequency receiving unit, and it is used for the less radio-frequency for receiving the remote control transmitting
Signal, start when recognizing the radio frequency signal to frequency pattern, and sent under the pattern to frequency to frequency signal；
To frequency signal described in the remote control, described according to reception is carried out pair to frequency signal and the unmanned vehicle
Frequently.
25. a kind of unmanned vehicle, carried out with remote control to frequency, it is characterised in that the unmanned vehicle includes：Flight control
Module and first communication module, the flight control modules include：
Input block, receive being instructed to frequency for user's input；It is described be touching instruction to frequency instruction, action command and contactless
One or more in instruction；
Processing unit, for identifying the instruction of user's input, when the instruction of user's input is with setting to frequency instructions match
Shi Qidong is to frequency pattern；
First communication module, under the pattern to frequency send to frequency signal to the remote control with carry out to frequency.
26. unmanned vehicle according to claim 25, it is characterised in that the flight control modules also include：
Setting unit, receive user and ask to set startup to instruct frequency frequency.
27. unmanned vehicle according to claim 26, it is characterised in that the flight control modules pass through USB interface
Or serial ports and computer are attached to set and described frequency instructed.
28. system according to claim 25, it is characterised in that the input block, pressed for receiving touch non-physical
The touching instruction that key is triggered.
29. system according to claim 28, it is characterised in that the input block is to be set on the unmanned vehicle
Touch-screen, the touching instruction to frequency marking on the touch-screen that is set on the touch unmanned vehicle by knowing the finger triggered
Order.
30. system according to claim 28, it is characterised in that the input block is to be communicated with the unmanned vehicle
Touch-screen, the touching instruction to frequency marking on touch-screen that touch communicates with the unmanned vehicle by knowing the finger triggered
Order.
31. system according to claim 28, it is characterised in that the input block is to be set on the unmanned vehicle
Touch panel, the touching instruction knows triggered finger to frequency marking on unmanned vehicle to touch on the touch panel that sets
Order.
32. unmanned vehicle according to claim 25, it is characterised in that the input block controls mould for the flight
Built-in or one kind in carry acceleration transducer, direction sensor, gyroscope, Inertial Measurement Unit and magnetometer or more on block
Kind, operate the action of the unmanned vehicle and/or the action command of combination of actions for receiving user.
33. unmanned vehicle according to claim 32, it is characterised in that the action command is manually operated by user
What the unmanned vehicle was realized.
34. unmanned vehicle according to claim 32, it is characterised in that the action command be passed through by user it is described
What remote controller operation unmanned vehicle performed.
35. unmanned vehicle according to claim 25, it is characterised in that the input block controls mould for the flight
Built-in or carry vision sensor and/or action sensor on block, for receiving the gesture, action, color, figure that user provided
One or more contactless instructions in picture and identification code.
36. unmanned vehicle according to claim 25, it is characterised in that the flight control modules also include wirelessly penetrating
Frequency receiving unit, it is used for the radio frequency signal for receiving the remote control transmitting, when recognizing the radio frequency signal
Start to frequency pattern；Under the pattern to frequency send to frequency signal to the remote control with carry out to frequency.
37. a kind of remote control, it is characterised in that nobody any one of the remote control and claim 25-36 items flies
Row device is carried out to frequency.
38. the remote control according to claim 37, the remote control also includes less radio-frequency sending module, for sending nothing
Line radiofrequency signal.
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| CN202010375900.XA CN111524339B (en) | 2016-08-18 | 2016-08-18 | Unmanned aerial vehicle frequency alignment method and system, unmanned aerial vehicle and remote controller |
| CN201610684313.2A CN107341952B (en) | 2016-08-18 | 2016-08-18 | Unmanned aerial vehicle frequency alignment method and system, unmanned aerial vehicle and remote controller |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108122397A (en) * | 2017-12-19 | 2018-06-05 | 广州亿航智能技术有限公司 | Aircraft, remote controler and aircraft are with remote controler to the method for frequency |
| CN108346274A (en) * | 2018-03-15 | 2018-07-31 | 深圳市道通智能航空技术有限公司 | Detect method, apparatus, remote controler, UAV system and the medium of unmanned plane |
| WO2019174255A1 (en) * | 2018-03-15 | 2019-09-19 | 深圳市道通智能航空技术有限公司 | Method and apparatus for detecting unmanned aerial vehicle, remote controller, unmanned aerial vehicle system and medium |
| WO2019200552A1 (en) * | 2018-04-18 | 2019-10-24 | 深圳市大疆创新科技有限公司 | Control method, device, aircraft, system, and storage medium |
| EP3845992A4 (en) * | 2018-08-31 | 2022-04-20 | SZ DJI Technology Co., Ltd. | Control method for movable platform, movable platform, terminal device and system |
| CN114286453A (en) * | 2022-01-27 | 2022-04-05 | 深圳市道通智能航空技术股份有限公司 | Communication method and device for unmanned aerial vehicle, electronic equipment and storage medium |
| WO2023143196A1 (en) * | 2022-01-27 | 2023-08-03 | 深圳市道通智能航空技术股份有限公司 | Communication method and apparatus for unmanned aerial vehicle, and electronic device and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111524339A (en) | 2020-08-11 |
| CN111524339B (en) | 2021-10-15 |
| CN107341952B (en) | 2020-06-05 |
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