CN107770166A - A kind of control right transfer control method, system and unmanned plane - Google Patents
A kind of control right transfer control method, system and unmanned plane Download PDFInfo
- Publication number
- CN107770166A CN107770166A CN201710952402.5A CN201710952402A CN107770166A CN 107770166 A CN107770166 A CN 107770166A CN 201710952402 A CN201710952402 A CN 201710952402A CN 107770166 A CN107770166 A CN 107770166A
- Authority
- CN
- China
- Prior art keywords
- control
- terminal
- control terminal
- right transfer
- authorization
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/10—Network architectures or network communication protocols for network security for controlling access to devices or network resources
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
- G06F21/30—Authentication, i.e. establishing the identity or authorisation of security principals
- G06F21/44—Program or device authentication
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/10—Network architectures or network communication protocols for network security for controlling access to devices or network resources
- H04L63/108—Network architectures or network communication protocols for network security for controlling access to devices or network resources when the policy decisions are valid for a limited amount of time
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/12—Applying verification of the received information
Landscapes
- Engineering & Computer Science (AREA)
- Computer Security & Cryptography (AREA)
- Computer Hardware Design (AREA)
- General Engineering & Computer Science (AREA)
- Computing Systems (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Theoretical Computer Science (AREA)
- Software Systems (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application is related to a kind of control right transfer control method, system and unmanned plane, including the first control terminal, and the first control terminal is used to manipulate unmanned plane, and methods described includes：Other control terminals of the first control terminal are alternatively coupled to, by other control terminals of the control right transfer of the described first control terminal to the selection.The application is switched by the control of active, and bigger Consumer's Experience is brought to user, meanwhile, in control handoff procedure, in the absence of the time blank spot of switching, ensure conscientiously and the whole process of unmanned plane has been precisely controlled.
Description
Technical field
The application is related to a kind of unmanned aerial vehicle (UAV) control field, more particularly to a kind of control right transfer control method, system and nothing
It is man-machine.
Background technology
In the prior art, it is highly developed by way of remote control is to unmanned aerial vehicle (UAV) control, with the development of science and technology, mobile
Control of the terminal for unmanned plane is developing rapidly, still, rarely has technology to realize that control turns to the control of unmanned plane
Move, mainly the multiple fingers of single both hands carry out unmanned aerial vehicle (UAV) control to remote control, and the mode of control is extremely complex, is using mobile terminal
Carry out unmanned aerial vehicle (UAV) control when, equally exist control parameter it is more the problem of, sometimes, user is when operating unmanned plane, it may appear that
There is the problem of emergency or error in operation, and now unmanned plane is in high-altitude flight, once the control at end out of hand
There is a possibility that unmanned plane is thoroughly out of hand, therefore, it is necessary to set multiple control terminals to be controlled, such as patent application
CN105334863A discloses a kind of unmanned plane of more control terminals and its corresponding console, and it discloses the connection of multiple control terminals
Unmanned plane is controlled, and when one of control terminal disconnects the connection with unmanned plane, other control terminals access unmanned plane is carried out
Control, this mode, which exists in control terminal handoff procedure, has control blank time section, can not ensure in blank time section to nothing
Man-machine correct control, meanwhile, control switching is passively to switch, and can not accomplish actively to switch, by control right transfer to user
Desired control terminal.
Apply for content
To solve above-mentioned technical problem：The application proposes a kind of control right transfer control method, including the first control terminal,
The first control terminal is used to manipulate unmanned plane, wherein, methods described includes：It is alternatively coupled to first control
Other control terminals of terminal, by other control terminals of the control right transfer of the described first control terminal to the selection.
Described control right transfer control method, wherein, described other controls for being alternatively coupled to the first control terminal
Also include before terminal processed：First control terminal is searched by wireless communication module, sends connection request, first control is eventually
After termination receives the connection request, the first authorization code is generated, it is determined that request connection equipment successful connection.
Described control right transfer control method, wherein, it is described to determine that request connection equipment successful connection includes：Pass through number
Determine whether request connection equipment inputs correct first authorization code according to contrast, if the first authorization code of checking is correct, prompt
Successful connection, if the first authorization code does not input or authentication error, very first time threshold value is waited, more than the very first time threshold
After value, then the first authorization code failure.
Described control right transfer control method, wherein, described other controls for being alternatively coupled to the first control terminal
Terminal processed includes：The state of other control terminals of connection is checked, pre-authorization, generation second are carried out to wherein one control terminal
Authorization code, determine whether the control terminal of pre-authorization inputs correct second authorization code by data comparison, if described in checking
Second authorization code is correct, then keeps the first control terminal to be still within controlling visual angle state, the control until detecting pre-authorization
After terminal is operated or reached the second time threshold to unmanned plane visual angle, the first control terminal stops controlling nobody
Machine visual angle state, the control terminal of control right transfer to the pre-authorization；If the second authorization code does not input or authentication error,
The 3rd time threshold is waited, after the 3rd time threshold, then the second authorization code failure.
Described control right transfer control method, wherein, after the control terminal-pair unmanned plane of the pre-authorization is controlled,
Can part transfer control to the 3rd control terminal, and by the authority of the partial control of transfer return to the first control end
End, flight control described in the control terminal locking of the pre-authorization, the 3rd control terminal can flight controls non-to unmanned plane
System is controlled.
Described control right transfer control method, wherein, the first control terminal stops control unmanned aerial vehicle vision horn shape state
Afterwards, control retracted state is kept, when the first control terminal needs to check the visual angle state of unmanned plane, releases the pre-authorization
Control terminal-pair described in unmanned plane control.
Described control right transfer control method, wherein, when the described first control terminal releases the control of the pre-authorization
During the control of terminal, the control terminal of the pre-authorization is kept still to control a period, after the period, described
One control terminal withdraws the control to unmanned plane completely, and the period releases the pre-authorization according to the first control terminal
Set during the control for controlling terminal.
Described control right transfer control method, wherein, the control includes part transfer, all transfer, works as control
When power part is shifted, wherein one is selected to control terminal as master control equipment, the master control equipment matches flight control；Work as control
When system power all shifts, the equipment for receiving control right transfer is locked as master control equipment.
A kind of control right transfer control system, wherein, including：
First control terminal, the first control terminal are used to manipulate unmanned plane；
Authorization code generation module, for generating the authorization code of connection and control right transfer；
Selecting module, for being alternatively coupled to other control terminals of the first control terminal；
Control right transfer module, by other controls of the control right transfer of the described first control terminal to the selection eventually
End；
Control recycling module, the control to unmanned plane is withdrawn for the described first control terminal；
Time setting unit, for setting time threshold value.
A kind of unmanned plane, wherein, including the control right transfer control method as described in above-mentioned any one.
The application can be turned the viewing angle control etc. of the flight control of unmanned plane, camera by controlling the mandate of terminal
Other control terminals are moved on to, and control can be withdrawn at any time, when shifting control, there is the transfer time of the scheduled time
Regulation and control, can effectively prevent that control right transfer is failed, cause unmanned plane out of hand, the control end for receiving control
End carries out authority checking twice, ensure that the security of the control terminal of mandate, prevents occurring mistake in licensing process, make control
The normal operation of unmanned plane is remained in power transfer process.The application is switched by the control of active, is brought more to user
Big Consumer's Experience, meanwhile, in control handoff procedure, in the absence of the time blank spot of switching, ensure conscientiously to nobody
The whole-process control of machine.
Brief description of the drawings
Fig. 1 is the schematic diagram of the application control right transfer control method.
Embodiment
The application is described in further detail below in conjunction with the accompanying drawings, it is necessary to it is pointed out here that, implement in detail below
Mode is served only for that the application is further detailed, it is impossible to the limitation to the application protection domain is interpreted as, the field
Technical staff can make some nonessential modifications and adaptations to the application according to above-mentioned application content.
As shown in figure 1, a kind of schematic diagram of control right transfer control method is proposed for the application, including the first control is eventually
End, the first control terminal are used to manipulate unmanned plane, wherein, methods described includes：It is alternatively coupled to described first
Other control terminals of terminal are controlled, by other controls of the control right transfer of the described first control terminal to the selection eventually
End.
Described control right transfer control method, wherein, described other controls for being alternatively coupled to the first control terminal
Also include before terminal processed：First control terminal is searched by wireless communication module, sends connection request, first control is eventually
After termination receives the connection request, the first authorization code is generated, it is determined that request connection equipment successful connection.
Described control right transfer control method, wherein, it is described to determine that request connection equipment successful connection includes：Pass through number
Determine whether request connection equipment inputs correct first authorization code according to contrast, if the first authorization code of checking is correct, prompt
Successful connection, if the first authorization code does not input or authentication error, very first time threshold value is waited, more than the very first time threshold
After value, then the first authorization code failure.
Described control right transfer control method, wherein, described other controls for being alternatively coupled to the first control terminal
Terminal processed includes：The state of other control terminals of connection is checked, pre-authorization, generation second are carried out to wherein one control terminal
Authorization code, determine whether the control terminal of pre-authorization inputs correct second authorization code by data comparison, if described in checking
Second authorization code is correct, then keeps the first control terminal to be still within controlling visual angle state, the control until detecting pre-authorization
After terminal is operated or reached the second time threshold to unmanned plane visual angle, the first control terminal stops controlling nobody
Machine visual angle state, the control terminal of control right transfer to the pre-authorization；If the second authorization code does not input or authentication error,
The 3rd time threshold is waited, after the 3rd time threshold, then the second authorization code failure.
Described control right transfer control method, wherein, after the control terminal-pair unmanned plane of the pre-authorization is controlled,
Can part transfer control to the 3rd control terminal, and by the authority of the partial control of transfer return to the first control end
End, flight control described in the control terminal locking of the pre-authorization, the 3rd control terminal can flight controls non-to unmanned plane
System is controlled.
Described control right transfer control method, wherein, the first control terminal stops control unmanned aerial vehicle vision horn shape state
Afterwards, control retracted state is kept, when the first control terminal needs to check the visual angle state of unmanned plane, releases the pre-authorization
Control terminal-pair described in unmanned plane control.
Described control right transfer control method, wherein, when the described first control terminal releases the control of the pre-authorization
During the control of terminal, the control terminal of the pre-authorization is kept still to control a period, after the period, described
One control terminal withdraws the control to unmanned plane completely, and the period releases the pre-authorization according to the first control terminal
Set during the control for controlling terminal.
Described control right transfer control method, wherein, the control includes part transfer, all transfer, works as control
When power part is shifted, wherein one is selected to control terminal as master control equipment, the master control equipment matches flight control；Work as control
When system power all shifts, the equipment for receiving control right transfer is locked as master control equipment.
A kind of control right transfer control system, wherein, including：
First control terminal, the first control terminal are used to manipulate unmanned plane；
Authorization code generation module, for generating the authorization code of connection and control right transfer；
Selecting module, for being alternatively coupled to other control terminals of the first control terminal；
Control right transfer module, by other controls of the control right transfer of the described first control terminal to the selection eventually
End；
Control recycling module, the control to unmanned plane is withdrawn for the described first control terminal；
Time setting unit, for setting time threshold value.
A kind of unmanned plane, wherein, including the control right transfer control method as described in above-mentioned any one.
The application can be turned the viewing angle control etc. of the flight control of unmanned plane, camera by controlling the mandate of terminal
Other control terminals are moved on to, and control can be withdrawn at any time, when shifting control, there is the transfer time of the scheduled time
Regulation and control, can effectively prevent that control right transfer is failed, cause unmanned plane out of hand, the control end for receiving control
End carries out authority checking twice, ensure that the security of the control terminal of mandate, prevents occurring mistake in licensing process, make control
The normal operation of unmanned plane is remained in power transfer process.The application is switched by the control of active, is brought more to user
Big Consumer's Experience, meanwhile, in control handoff procedure, in the absence of the time blank spot of switching, ensure conscientiously to nobody
The whole-process control of machine.
Claims (10)
1. a kind of control right transfer control method, including the first control terminal, the first control terminal are used to enter unmanned plane
Row manipulation, it is characterised in that methods described includes：Other control terminals of the first control terminal are alternatively coupled to, by institute
The control right transfer of the first control terminal is stated to other control terminals of the selection.
2. control right transfer control method as claimed in claim 1, it is characterised in that：It is described to be alternatively coupled to first control
Also include before other control terminals of terminal processed：First control terminal is searched by wireless communication module, sends connection request,
After the first control terminal receives the connection request, the first authorization code is generated, it is determined that request connection equipment successful connection.
3. control right transfer control method as claimed in claim 2, it is characterised in that：It is described to determine request connection equipment connection
Successfully include：Determine whether request connection equipment inputs correct first authorization code by data comparison, if checking first is awarded
Weighted code is correct, then prompts successful connection, if the first authorization code does not input or authentication error, waits very first time threshold value, surpasses
After crossing the very first time threshold value, then the first authorization code failure.
4. control right transfer control method as claimed in claim 1, it is characterised in that：It is described to be alternatively coupled to first control
Other control terminals of terminal processed include：The state of other control terminals of connection is checked, wherein one control terminal is carried out
Pre-authorization, the second authorization code is generated, determine whether the control terminal of pre-authorization inputs correct second and authorize by data comparison
Code, if checking second authorization code is correct, the first control terminal is kept to be still within controlling visual angle state, until detection
To pre-authorization control terminal operated or reached the second time threshold to unmanned plane visual angle after, it is described first control eventually
End stops control unmanned aerial vehicle vision horn shape state, the control terminal of control right transfer to the pre-authorization；If the second authorization code is not defeated
Enter or authentication error, then wait the 3rd time threshold, after the 3rd time threshold, then the second authorization code failure.
5. control right transfer control method as claimed in claim 4, it is characterised in that：The control terminal-pair of the pre-authorization without
It is man-machine be controlled after, can part transfer control to the 3rd control terminal, and by the authority of the partial control of transfer return
The first control terminal is transmitted to, the control terminal locking flight control of the pre-authorization, the 3rd control terminal can be to nobody
The non-flight control of machine is controlled.
6. control right transfer control method as claimed in claim 4, it is characterised in that：The first control terminal stops control
After unmanned aerial vehicle vision horn shape state, control retracted state is kept, when the first control terminal needs to check the visual angle state of unmanned plane,
Release the control of unmanned plane described in the control terminal-pair of the pre-authorization.
7. control right transfer control method as claimed in claim 6, it is characterised in that：When the described first control terminal releases institute
When stating the control of control terminal of pre-authorization, the control terminal of the pre-authorization is kept still to control a period, more than described
After period, the first control terminal withdraws the control to unmanned plane completely, and the period is according to the first control terminal
Set during the control for releasing the control terminal of the pre-authorization.
8. control right transfer control method as claimed in claim 1, it is characterised in that：The control include part transfer,
All transfers, when control part is shifted, wherein one is selected to control terminal as master control equipment, the master control equipment matching
Flight control；When control all shifts, the equipment for receiving control right transfer is locked as master control equipment.
A kind of 9. control right transfer control system, it is characterised in that including：
First control terminal, the first control terminal are used to manipulate unmanned plane；
Authorization code generation module, for generating the authorization code of connection and control right transfer；
Selecting module, for being alternatively coupled to other control terminals of the first control terminal；
Control right transfer module, by other control terminals of the control right transfer of the described first control terminal to the selection；
Control recycling module, the control to unmanned plane is withdrawn for the described first control terminal；
Time setting unit, for setting time threshold value.
10. a kind of unmanned plane, it is characterised in that including the control right transfer control method as described in claim 1-8 any one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710952402.5A CN107770166B (en) | 2017-10-13 | 2017-10-13 | Control right transfer control method and system and unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710952402.5A CN107770166B (en) | 2017-10-13 | 2017-10-13 | Control right transfer control method and system and unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107770166A true CN107770166A (en) | 2018-03-06 |
| CN107770166B CN107770166B (en) | 2020-07-31 |
Family
ID=61268181
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710952402.5A Active CN107770166B (en) | 2017-10-13 | 2017-10-13 | Control right transfer control method and system and unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107770166B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108594681A (en) * | 2018-04-13 | 2018-09-28 | 辽宁壮龙无人机科技有限公司 | A kind of unmanned plane control system and unmanned aerial vehicle (UAV) control method |
| CN108830093A (en) * | 2018-05-25 | 2018-11-16 | 链家网（北京）科技有限公司 | Management method, server and the terminal device of terminal device operating right |
| CN109189098A (en) * | 2018-10-29 | 2019-01-11 | 中国航空无线电电子研究所 | A kind of unmanned aerial vehicle (UAV) control power handover method based on unmanned systems joint framework |
| CN109445464A (en) * | 2019-01-08 | 2019-03-08 | 深圳市道通智能航空技术有限公司 | A kind of flight control method and flight control system |
| CN110027710A (en) * | 2019-04-26 | 2019-07-19 | 安徽理工大学 | A kind of remote full view control method towards small drone |
| CN111600916A (en) * | 2019-02-02 | 2020-08-28 | 华为技术有限公司 | Unmanned aerial vehicle control method, device and system |
| CN112363489A (en) * | 2020-09-11 | 2021-02-12 | 中国航空工业集团公司成都飞机设计研究所 | Handheld distributed finger control terminal system |
| CN112567435A (en) * | 2020-03-10 | 2021-03-26 | 深圳市大疆创新科技有限公司 | Device management method, device, movable platform and storage medium |
| CN112585545A (en) * | 2020-03-10 | 2021-03-30 | 深圳市大疆创新科技有限公司 | Control method, device, system and storage medium for movable platform |
| CN113272749A (en) * | 2018-11-08 | 2021-08-17 | 祖克斯有限公司 | Autonomous vehicle guidance authority framework |
| CN113377129A (en) * | 2021-08-13 | 2021-09-10 | 四川腾盾科技有限公司 | Method for cooperatively controlling one unmanned aerial vehicle by two ground stations |
| CN114677832A (en) * | 2021-12-22 | 2022-06-28 | 深圳市富斯科技有限公司 | Movable terminal and control system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105334863A (en) * | 2015-11-23 | 2016-02-17 | 杨珊珊 | Multi-control end unmanned aerial vehicle as well as consoles and control switching method thereof |
| WO2017065106A1 (en) * | 2015-10-14 | 2017-04-20 | 株式会社プロドローン | Remote-control type unmanned aircraft and control handover method for remote-control type unmanned aircraft |
| CN106814749A (en) * | 2017-02-06 | 2017-06-09 | 珠海市磐石电子科技有限公司 | A kind of UAS and control method based on multiparty control |
-
2017
- 2017-10-13 CN CN201710952402.5A patent/CN107770166B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017065106A1 (en) * | 2015-10-14 | 2017-04-20 | 株式会社プロドローン | Remote-control type unmanned aircraft and control handover method for remote-control type unmanned aircraft |
| CN105334863A (en) * | 2015-11-23 | 2016-02-17 | 杨珊珊 | Multi-control end unmanned aerial vehicle as well as consoles and control switching method thereof |
| CN106814749A (en) * | 2017-02-06 | 2017-06-09 | 珠海市磐石电子科技有限公司 | A kind of UAS and control method based on multiparty control |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108594681A (en) * | 2018-04-13 | 2018-09-28 | 辽宁壮龙无人机科技有限公司 | A kind of unmanned plane control system and unmanned aerial vehicle (UAV) control method |
| WO2019196145A1 (en) * | 2018-04-13 | 2019-10-17 | 辽宁壮龙无人机科技有限公司 | Unmanned aerial vehicle control system and unmanned aerial vehicle control method |
| CN108594681B (en) * | 2018-04-13 | 2019-12-10 | 辽宁壮龙无人机科技有限公司 | Unmanned aerial vehicle control system and unmanned aerial vehicle control method |
| CN108830093A (en) * | 2018-05-25 | 2018-11-16 | 链家网（北京）科技有限公司 | Management method, server and the terminal device of terminal device operating right |
| CN108830093B (en) * | 2018-05-25 | 2021-05-28 | 贝壳找房(北京)科技有限公司 | Management method of terminal equipment operation authority, server and terminal equipment |
| CN109189098A (en) * | 2018-10-29 | 2019-01-11 | 中国航空无线电电子研究所 | A kind of unmanned aerial vehicle (UAV) control power handover method based on unmanned systems joint framework |
| CN109189098B (en) * | 2018-10-29 | 2021-08-31 | 中国航空无线电电子研究所 | Unmanned aerial vehicle control right handover method based on unmanned aerial vehicle system combined architecture |
| CN113272749A (en) * | 2018-11-08 | 2021-08-17 | 祖克斯有限公司 | Autonomous vehicle guidance authority framework |
| CN113272749B (en) * | 2018-11-08 | 2024-03-08 | 祖克斯有限公司 | Autonomous vehicle guidance authority framework |
| CN109445464A (en) * | 2019-01-08 | 2019-03-08 | 深圳市道通智能航空技术有限公司 | A kind of flight control method and flight control system |
| CN111600916B (en) * | 2019-02-02 | 2022-03-25 | 华为技术有限公司 | Unmanned aerial vehicle control method, device and system |
| CN111600916A (en) * | 2019-02-02 | 2020-08-28 | 华为技术有限公司 | Unmanned aerial vehicle control method, device and system |
| CN110027710A (en) * | 2019-04-26 | 2019-07-19 | 安徽理工大学 | A kind of remote full view control method towards small drone |
| CN112585545A (en) * | 2020-03-10 | 2021-03-30 | 深圳市大疆创新科技有限公司 | Control method, device, system and storage medium for movable platform |
| WO2021179153A1 (en) * | 2020-03-10 | 2021-09-16 | 深圳市大疆创新科技有限公司 | Control method, device and system for movable platform, and storage medium |
| CN112567435A (en) * | 2020-03-10 | 2021-03-26 | 深圳市大疆创新科技有限公司 | Device management method, device, movable platform and storage medium |
| CN112567435B (en) * | 2020-03-10 | 2023-04-04 | 深圳市大疆创新科技有限公司 | Device management method, device, movable platform and storage medium |
| CN112363489A (en) * | 2020-09-11 | 2021-02-12 | 中国航空工业集团公司成都飞机设计研究所 | Handheld distributed finger control terminal system |
| CN113377129A (en) * | 2021-08-13 | 2021-09-10 | 四川腾盾科技有限公司 | Method for cooperatively controlling one unmanned aerial vehicle by two ground stations |
| CN113377129B (en) * | 2021-08-13 | 2021-11-16 | 四川腾盾科技有限公司 | Method for cooperatively controlling one unmanned aerial vehicle by two ground stations |
| CN114677832A (en) * | 2021-12-22 | 2022-06-28 | 深圳市富斯科技有限公司 | Movable terminal and control system |
| CN114677832B (en) * | 2021-12-22 | 2023-12-26 | 深圳市富斯科技有限公司 | Mobile terminal and control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107770166B (en) | 2020-07-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107770166A (en) | A kind of control right transfer control method, system and unmanned plane | |
| CN105334863B (en) | The unmanned plane and its console and control switching method of a kind of more control terminals | |
| CN103942940B (en) | A kind of flight control | |
| CN105025014A (en) | Unmanned aerial vehicle commissioning method, system and device | |
| CN104390313A (en) | Equipment control method and system and air conditioner controller | |
| EP2169343A2 (en) | Store management system and method of operating the same | |
| CN108367731A (en) | Vehicle function in monitoring and modification motor vehicle | |
| DE102013225808B4 (en) | Method for detecting a smart key in the vicinity of a vehicle | |
| CN104410967A (en) | Apparatus, method and system for enabling connections | |
| US10873460B2 (en) | UAV authentication method and system | |
| CA2931772A1 (en) | Method and apparatus for augmented pilot operations of fly-by-wire vehicles | |
| US20150017913A1 (en) | Communication method, program storage medium, mobile terminal, home electric appliance, and home electric appliance operation setting system | |
| US20240184251A1 (en) | Systems and methods for safety-enabled control | |
| KR101661313B1 (en) | Method for controlling danger facility and computer program for executing the method | |
| CN105268181A (en) | Multi-player shared screen operation system of online game and method | |
| CN108989160A (en) | A kind of method and system avoiding equipment control hazard | |
| CN107640124B (en) | Onboard safety systems | |
| CN113787925A (en) | Control method, device and system of electronic lock | |
| CN103487271A (en) | Fault diagnosis system of carrier rocket | |
| CN105141795A (en) | Unlocking method and system for device to be unlocked | |
| CN105374088B (en) | The control method and device of the anti-active maloperation equipment of substation | |
| US20220118876A1 (en) | Method For Authenticating And Releasing A Charging Process Of An Electric Or Hybrid Vehicle At A Charging Station, Charging Station And Electric Or Hybrid Vehicle | |
| CN106713686A (en) | Method for transferring vehicle control authority through contact list and system thereof and contact list | |
| CN104978029A (en) | Screen manipulation method and apparatus | |
| CN115331335A (en) | Intelligent internet vehicle remote locking control system and method based on multiple terminals |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |