CN107770166B - Control right transfer control method and system and unmanned aerial vehicle - Google Patents
Control right transfer control method and system and unmanned aerial vehicle Download PDFInfo
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- CN107770166B CN107770166B CN201710952402.5A CN201710952402A CN107770166B CN 107770166 B CN107770166 B CN 107770166B CN 201710952402 A CN201710952402 A CN 201710952402A CN 107770166 B CN107770166 B CN 107770166B
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- 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
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- 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
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- 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
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- 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
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Abstract
The application relates to a control right transfer control method, a control right transfer control system and an unmanned aerial vehicle, wherein the control right transfer control method comprises a first control terminal, the first control terminal is used for controlling the unmanned aerial vehicle, and the method comprises the following steps: selecting other control terminals connected to the first control terminal, and transferring the control right of the first control terminal to the selected other control terminals. This application switches through the control right of initiative, brings bigger user experience for the user, simultaneously, switches the in-process at the control right, does not have the time blank point of switching, has ensured whole accurate control to unmanned aerial vehicle conscientiously.
Description
Technical Field
The application relates to the field of unmanned aerial vehicle control, in particular to a control right transfer control method and system and an unmanned aerial vehicle.
Background
In the prior art, the mode of controlling the unmanned aerial vehicle by the remote controller is very mature, the control of the unmanned aerial vehicle by the mobile terminal is rapidly developing along with the development of science and technology, but the control right transfer of the unmanned aerial vehicle can be realized by the fresh technology, the remote controller mainly carries out unmanned aerial vehicle control by a single person with a plurality of fingers with two hands, the control mode is very complex, the problem of more control parameters exists when the mobile terminal is used for controlling the unmanned aerial vehicle, sometimes, when a user operates the unmanned aerial vehicle, the problem of emergency or operation error occurs, and the unmanned aerial vehicle flies at high altitude, once the control of the control end is lost, the unmanned aerial vehicle can be completely lost, therefore, a plurality of control ends are necessary to be arranged for control, for example, patent application CN105334863A discloses an unmanned aerial vehicle with a plurality of control ends and a corresponding control console thereof, which discloses that a plurality of control ends are connected with the unmanned aerial vehicle, when one of them control end disconnection and unmanned aerial vehicle's the time, other control ends access unmanned aerial vehicle controls, and there is control blank time section in this kind of mode existence control end switching process, can't guarantee the accurate control to unmanned aerial vehicle in the blank time section, and simultaneously, this control switches and switches passively, can't accomplish the initiative and switch, shifts the control right to the control end that the user wanted.
Content of application
In order to solve the technical problems: the application provides a control right transfer control method, including first control terminal, first control terminal is used for controlling unmanned aerial vehicle, wherein, the method includes: selecting other control terminals connected to the first control terminal, and transferring the control right of the first control terminal to the selected other control terminals.
The control right transfer control method may further include, before the selecting another control terminal connected to the first control terminal: the method comprises the steps that a first control terminal is searched through a wireless communication module, a connection request is sent, and after the first control terminal receives the connection request, a first authorization code is generated to determine that the connection of a device requiring connection is successful.
The control right transfer control method, wherein the determining that the connection request of the connection device is successful includes: and determining whether the first authorization code which is correct is input by the device requiring connection through data comparison, if the first authorization code is correct, prompting that the connection is successful, if the first authorization code is not input or wrong is verified, waiting for a first time threshold, and if the first time threshold is exceeded, the first authorization code is invalid.
The control right transfer control method described above, wherein the selecting the other control terminal connected to the first control terminal includes: checking the states of other connected control terminals, pre-authorizing one of the control terminals to generate a second authorization code, determining whether the pre-authorized control terminal inputs the correct second authorization code through data comparison, if the second authorization code is verified to be correct, keeping the first control terminal still in the view angle control state until the first control terminal detects that the pre-authorized control terminal operates the view angle of the unmanned aerial vehicle or reaches a second time threshold, stopping controlling the view angle state of the unmanned aerial vehicle by the first control terminal, and transferring the control right to the pre-authorized control terminal; and if the second authorized code is not input or is verified to be wrong, waiting for a third time threshold, and if the third time threshold is exceeded, the second authorized code is invalid.
The control right transfer control method is characterized in that after the pre-authorized control terminal controls the unmanned aerial vehicle, the control right can be partially transferred to the third control terminal, the authority of the transferred partial control right is transmitted back to the first control terminal, the pre-authorized control terminal locks the flight control right, and the third control terminal can control non-flight control of the unmanned aerial vehicle.
The control right transfer control method comprises the steps that after the first control terminal stops controlling the view angle state of the unmanned aerial vehicle, the control right is kept in a withdrawing state, and when the view angle state of the unmanned aerial vehicle needs to be checked by the first control terminal, the control of the pre-authorized control terminal on the unmanned aerial vehicle is removed.
The control right transfer control method comprises the steps that when the first control terminal releases control of the pre-authorized control terminal, the pre-authorized control terminal is kept to be still controlled for a time period, after the time period is exceeded, the first control terminal completely withdraws control right of the unmanned aerial vehicle, and the time period is set according to the time when the first control terminal releases control of the pre-authorized control terminal.
The control right transfer control method comprises the steps that the control right comprises partial transfer and total transfer, when the control right is partially transferred, one control terminal is selected as a main control device, and the main control device is matched with the flight control right; when all the control right is transferred, the device receiving the transfer of the control right is locked as the main control device.
A control right transfer control system, comprising:
the first control terminal is used for controlling the unmanned aerial vehicle;
the authorization code generating module is used for generating an authorization code for connection and control right transfer;
a selection module for selecting other control terminals connected to the first control terminal;
a control right transfer module for transferring the control right of the first control terminal to the other selected control terminals;
the control right recovery module is used for recovering the control right of the unmanned aerial vehicle by the first control terminal;
and the time setting unit is used for setting a time threshold.
An unmanned aerial vehicle comprising the control right transfer control method.
This application can pass through control terminal's authorization, with unmanned aerial vehicle's flight control, other control terminal are shifted to the visual angle control of camera etc., and can withdraw the control right at any time, when shifting the control right, the transfer time regulation and control that has predetermined time, can effectually prevent that the control right from shifting unsuccessfully, cause unmanned aerial vehicle to lose control, control terminal to receiving the control right carries out twice authorization verification, the security at the control terminal of authorization has been guaranteed, prevent the mistake from appearing in the authorization process, make the control right transfer in-process keep unmanned aerial vehicle's normal operating throughout. This application switches through the control right of initiative, brings bigger user experience for the user, simultaneously, switches the in-process at the control right, does not have the time blank point of switching, has ensured whole control to unmanned aerial vehicle conscientiously.
Drawings
Fig. 1 is a schematic diagram of a control right transfer control method according to the present application.
Detailed Description
The present application will now be described in further detail with reference to the drawings, it should be noted that the following detailed description is given for illustrative purposes only and is not to be construed as limiting the scope of the present application, as those skilled in the art will be able to make numerous insubstantial modifications and adaptations to the present application based on the above disclosure.
As shown in fig. 1, a schematic diagram of a control right transfer control method is provided for the present application, including a first control terminal, where the first control terminal is used to control an unmanned aerial vehicle, and the method includes: selecting other control terminals connected to the first control terminal, and transferring the control right of the first control terminal to the selected other control terminals.
The control right transfer control method may further include, before the selecting another control terminal connected to the first control terminal: the method comprises the steps that a first control terminal is searched through a wireless communication module, a connection request is sent, and after the first control terminal receives the connection request, a first authorization code is generated to determine that the connection of a device requiring connection is successful.
The control right transfer control method, wherein the determining that the connection request of the connection device is successful includes: and determining whether the first authorization code which is correct is input by the device requiring connection through data comparison, if the first authorization code is correct, prompting that the connection is successful, if the first authorization code is not input or wrong is verified, waiting for a first time threshold, and if the first time threshold is exceeded, the first authorization code is invalid.
The control right transfer control method described above, wherein the selecting the other control terminal connected to the first control terminal includes: checking the states of other connected control terminals, pre-authorizing one of the control terminals to generate a second authorization code, determining whether the pre-authorized control terminal inputs the correct second authorization code through data comparison, if the second authorization code is verified to be correct, keeping the first control terminal still in the view angle control state until the first control terminal detects that the pre-authorized control terminal operates the view angle of the unmanned aerial vehicle or reaches a second time threshold, stopping controlling the view angle state of the unmanned aerial vehicle by the first control terminal, and transferring the control right to the pre-authorized control terminal; and if the second authorized code is not input or is verified to be wrong, waiting for a third time threshold, and if the third time threshold is exceeded, the second authorized code is invalid.
The control right transfer control method is characterized in that after the pre-authorized control terminal controls the unmanned aerial vehicle, the control right can be partially transferred to the third control terminal, the authority of the transferred partial control right is transmitted back to the first control terminal, the pre-authorized control terminal locks the flight control right, and the third control terminal can control non-flight control of the unmanned aerial vehicle.
The control right transfer control method comprises the steps that after the first control terminal stops controlling the view angle state of the unmanned aerial vehicle, the control right is kept in a withdrawing state, and when the view angle state of the unmanned aerial vehicle needs to be checked by the first control terminal, the control of the pre-authorized control terminal on the unmanned aerial vehicle is removed.
The control right transfer control method comprises the steps that when the first control terminal releases control of the pre-authorized control terminal, the pre-authorized control terminal is kept to be still controlled for a time period, after the time period is exceeded, the first control terminal completely withdraws control right of the unmanned aerial vehicle, and the time period is set according to the time when the first control terminal releases control of the pre-authorized control terminal.
The control right transfer control method comprises the steps that the control right comprises partial transfer and total transfer, when the control right is partially transferred, one control terminal is selected as a main control device, and the main control device is matched with the flight control right; when all the control right is transferred, the device receiving the transfer of the control right is locked as the main control device.
A control right transfer control system, comprising:
the first control terminal is used for controlling the unmanned aerial vehicle;
the authorization code generating module is used for generating an authorization code for connection and control right transfer;
a selection module for selecting other control terminals connected to the first control terminal;
a control right transfer module for transferring the control right of the first control terminal to the other selected control terminals;
the control right recovery module is used for recovering the control right of the unmanned aerial vehicle by the first control terminal;
and the time setting unit is used for setting a time threshold.
An unmanned aerial vehicle comprising the control right transfer control method.
This application can pass through control terminal's authorization, with unmanned aerial vehicle's flight control, other control terminal are shifted to the visual angle control of camera etc., and can withdraw the control right at any time, when shifting the control right, the transfer time regulation and control that has predetermined time, can effectually prevent that the control right from shifting unsuccessfully, cause unmanned aerial vehicle to lose control, control terminal to receiving the control right carries out twice authorization verification, the security at the control terminal of authorization has been guaranteed, prevent the mistake from appearing in the authorization process, make the control right transfer in-process keep unmanned aerial vehicle's normal operating throughout. This application switches through the control right of initiative, brings bigger user experience for the user, simultaneously, switches the in-process at the control right, does not have the time blank point of switching, has ensured whole control to unmanned aerial vehicle conscientiously.
Claims (9)
1. A control right transfer control method comprises a first control terminal, wherein the first control terminal is used for controlling an unmanned aerial vehicle, and the method is characterized by comprising the following steps: selecting other control terminals connected to the first control terminal, and transferring the control right of the first control terminal to the selected other control terminals;
the selecting the other control terminal connected to the first control terminal includes: checking the states of other connected control terminals, pre-authorizing one of the control terminals to generate a second authorization code, determining whether the pre-authorized control terminal inputs the correct second authorization code through data comparison, if the second authorization code is verified to be correct, keeping the first control terminal still in the view angle control state until the first control terminal detects that the pre-authorized control terminal operates the view angle of the unmanned aerial vehicle or reaches a second time threshold, stopping controlling the view angle state of the unmanned aerial vehicle by the first control terminal, and transferring the control right to the pre-authorized control terminal; and if the second authorized code is not input or is verified to be wrong, waiting for a third time threshold, and if the third time threshold is exceeded, the second authorized code is invalid.
2. The control right transfer control method according to claim 1, wherein: the selecting of the other control terminals connected to the first control terminal further comprises, before: the method comprises the steps that a first control terminal is searched through a wireless communication module, a connection request is sent, and after the first control terminal receives the connection request, a first authorization code is generated to determine that the connection of a device requiring connection is successful.
3. The control right transfer control method according to claim 2, characterized in that: the determining that the connection request of the connection device is successful comprises: and determining whether the first authorization code which is correct is input by the device requiring connection through data comparison, if the first authorization code is correct, prompting that the connection is successful, if the first authorization code is not input or wrong is verified, waiting for a first time threshold, and if the first time threshold is exceeded, the first authorization code is invalid.
4. The control right transfer control method according to claim 1, wherein: after the pre-authorized control terminal controls the unmanned aerial vehicle, the control right can be partially transferred to the third control terminal, the permission of the transferred partial control right is transmitted back to the first control terminal, the pre-authorized control terminal locks the flight control right, and the third control terminal can control the non-flight control of the unmanned aerial vehicle.
5. The control right transfer control method according to claim 1, wherein: after the first control terminal stops controlling the visual angle state of the unmanned aerial vehicle, the control right is kept in a withdrawing state, and when the visual angle state of the unmanned aerial vehicle needs to be checked by the first control terminal, the control of the pre-authorized control terminal on the unmanned aerial vehicle is released.
6. The control right transfer control method according to claim 5, wherein: when the first control terminal releases the control of the pre-authorized control terminal, the pre-authorized control terminal is kept to still control for a time period, after the time period is exceeded, the first control terminal completely withdraws the control right of the unmanned aerial vehicle, and the time period is set according to the time period when the first control terminal releases the control of the pre-authorized control terminal.
7. The control right transfer control method according to claim 1, wherein: the control right comprises partial transfer and total transfer, when the control right is partially transferred, one control terminal is selected as a main control device, and the main control device is matched with the flight control right; when all the control right is transferred, the device receiving the transfer of the control right is locked as the main control device.
8. A control right transfer control system, comprising:
the first control terminal is used for controlling the unmanned aerial vehicle;
the authorization code generating module is used for generating an authorization code for connection and control right transfer;
a selection module for selecting other control terminals connected to the first control terminal;
a control right transfer module for transferring the control right of the first control terminal to the other selected control terminals;
the control right recovery module is used for recovering the control right of the unmanned aerial vehicle by the first control terminal;
a time setting unit for setting a time threshold;
the selecting the other control terminal connected to the first control terminal includes: checking the states of other connected control terminals, pre-authorizing one of the control terminals to generate a second authorization code, determining whether the pre-authorized control terminal inputs the correct second authorization code through data comparison, if the second authorization code is verified to be correct, keeping the first control terminal still in the view angle control state until the first control terminal detects that the pre-authorized control terminal operates the view angle of the unmanned aerial vehicle or reaches a second time threshold, stopping controlling the view angle state of the unmanned aerial vehicle by the first control terminal, and transferring the control right to the pre-authorized control terminal; and if the second authorized code is not input or is verified to be wrong, waiting for a third time threshold, and if the third time threshold is exceeded, the second authorized code is invalid.
9. An unmanned aerial vehicle comprising the control right transfer control method according to any one of claims 1 to 7.
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| CN201710952402.5A CN107770166B (en) | 2017-10-13 | 2017-10-13 | Control right transfer control method and system and unmanned aerial vehicle |
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| CN201710952402.5A CN107770166B (en) | 2017-10-13 | 2017-10-13 | Control right transfer control method and system and unmanned aerial vehicle |
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| CN107770166B true CN107770166B (en) | 2020-07-31 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| 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 |
| 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 |
| US11726473B2 (en) * | 2018-11-08 | 2023-08-15 | Zoox, Inc. | Autonomous vehicle guidance authority framework |
| CN109445464B (en) * | 2019-01-08 | 2021-06-25 | 深圳市道通智能航空技术股份有限公司 | 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 |
| 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 |
| 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 |
| WO2021179161A1 (en) * | 2020-03-10 | 2021-09-16 | 深圳市大疆创新科技有限公司 | Device management method and apparatus, and 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 |
| 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 |
| CN114677832B (en) * | 2021-12-22 | 2023-12-26 | 深圳市富斯科技有限公司 | Mobile terminal and control system |
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