CN108346274A - Detect method, apparatus, remote controler, UAV system and the medium of unmanned plane - Google Patents
Detect method, apparatus, remote controler, UAV system and the medium of unmanned plane Download PDFInfo
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- CN108346274A CN108346274A CN201810214826.6A CN201810214826A CN108346274A CN 108346274 A CN108346274 A CN 108346274A CN 201810214826 A CN201810214826 A CN 201810214826A CN 108346274 A CN108346274 A CN 108346274A
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- 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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B17/00—Monitoring; Testing
- H04B17/30—Monitoring; Testing of propagation channels
- H04B17/309—Measuring or estimating channel quality parameters
- H04B17/318—Received signal strength
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W76/00—Connection management
- H04W76/10—Connection setup
- H04W76/11—Allocation or use of connection identifiers
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C2201/00—Transmission systems of control signals via wireless link
- G08C2201/20—Binding and programming of remote control devices
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Abstract
The application provides a kind of method, apparatus, remote controler, UAV system and the medium of detection unmanned plane, and this method includes：Receive that N number of unmanned plane sends to frequency signal；First pair of frequency signal is selected from N number of signal to frequency according to the first selection rule, and obtains the mark for the first unmanned plane for sending first pair of frequency signal；Judge that the first unmanned plane identifies whether to match with default mark；If the mark of the first unmanned plane is matched with default mark, with the first unmanned plane connect frequency.The probability connected to frequency is carried out so as to promote remote controler and corresponding unmanned plane, and then improves remote controller operation reliability.
Description
Technical field
This application involves air vehicle technique field more particularly to a kind of method, apparatus, remote controler, the nothings of detection unmanned plane
Man-machine system and medium.
Background technology
Currently, the necks such as unmanned plane is sowed in pesticide, aerial survey of taking photo by plane, aerial monitoring, polling transmission line and military affairs
It is used widely in domain.Usual user is by remote control control unmanned plane, and before controlling unmanned plane, unmanned plane needs and remote control
Device, which is realized, connects frequency.
Currently, in above-mentioned remote controler and above-mentioned unmanned plane in frequency connection procedure, if there are other in join domain
Wait for the unmanned plane to frequency connection, then the remote controler be possible to receive the transmission of other unmanned planes to frequency signal, and then may be distant
Control device be not corresponding unmanned plane carry out to frequency connect, but with other unmanned planes carry out to frequency connect the case where, at this
In the case of kind, maloperation of the user by the remote controler to other unmanned planes can be caused, influence making for user experience and unmanned plane
With safety.
Invention content
The embodiment of the present application provides a kind of method, apparatus, remote controler, UAV system and the medium of detection unmanned plane, from
And improve remote controller operation reliability.
In a first aspect, the embodiment of the present application provides a kind of method of detection unmanned plane, including：N number of unmanned plane is received to send
To frequency signal, N is the positive integer more than 1；According to the first selection rule, first pair of frequency is selected from N number of signal to frequency and is believed
Number, and obtain the mark for the first unmanned plane for sending first pair of frequency signal；Judge identifying whether and being marked in advance for the first unmanned plane
Know matching；If the mark of the first unmanned plane is matched with default mark, with the first unmanned plane connect frequency.
Remote controler and receive that multiple unmanned planes send to frequency signal in the case of, can be promoted by this method distant
Control device carries out the probability to frequency connection with corresponding unmanned plane, and then improves remote controller operation reliability.
Optional mode one：According to the first selection rule, first pair of frequency signal is selected from N number of signal to frequency, including：Root
According to N number of signal strength to frequency signal, first pair of frequency signal is selected from N number of signal to frequency.
Further, select signal strength in N number of signal to frequency it is strongest to frequency signal as first pair of frequency signal.
Optional mode two：According to the first selection rule, first pair of frequency signal is selected from N number of signal to frequency, including：Root
According to N number of receiving time to frequency signal, first pair of frequency signal is selected from N number of signal to frequency.
Optional mode three：According to the first selection rule, first pair of frequency signal is selected from N number of signal to frequency, including：From
One is randomly selected out in N number of signal to frequency to frequency signal as first pair of frequency signal.
First pair of frequency signal can be effectively determined by above-mentioned three kinds of optional modes.
Optionally, method further includes：If the mark of the first unmanned plane is mismatched with default mark, chooses and advise according to second
Then, second pair of frequency signal is selected from N number of signal to frequency, first pair of frequency signal is different from second pair of frequency signal；It obtains and sends
The mark of second unmanned plane of second pair of frequency signal, and judge that the second unmanned plane identifies whether to match with default mark.To
It further promotes remote controler and carries out the probability connected to frequency with corresponding unmanned plane, and then improve remote controller operation reliability.
Optionally, the first selection rule is identical as the second selection rule, or different.
Optionally, if the mark of the first unmanned plane is mismatched with default mark, prompt message is pushed, to prompt user not
Detect the unmanned plane being connect to frequency with remote controler.To improve the reliability of remote controler.
Optionally, method further includes：Receive the more new command of the default mark of terminal-pair；According to more new command by default mark
It is updated to new mark；Judge that the first unmanned plane identifies whether to match with default mark, including：Judge the mark of the first unmanned plane
Whether knowledge matches with new mark.
Device, remote controler, UAV system and the storage medium of detection unmanned plane is provided below, corresponding technique effect can
With reference to the technique effect of the above method, repeat no more below.
The third aspect, the application provide a kind of device of detection unmanned plane, including：
Receiving module, for receiving that N number of unmanned plane sends to frequency signal, N is the positive integer more than 1；
Module is chosen, for according to the first selection rule, first pair of frequency signal to be selected from N number of signal to frequency；
Acquisition module, the mark for obtaining the first unmanned plane for sending first pair of frequency signal；
Judgment module, for judging that the first unmanned plane identifies whether to match with default mark；
To frequency link block, if the mark for the first unmanned plane is matched with default mark, carried out with the first unmanned plane
Frequency is connected.
Optionally, module is chosen to be specifically used for, according to N number of signal strength to frequency signal, choosing from N number of signal to frequency
Go out first pair of frequency signal.
Optionally, it is strongest to frequency signal conduct specifically for selecting signal strength in N number of signal to frequency to choose module
First pair of frequency signal.
Optionally, module is chosen to be specifically used for, according to N number of receiving time to frequency signal, choosing from N number of signal to frequency
Go out first pair of frequency signal.
Optionally, module is chosen to be specifically used for randomly selecting out one from N number of signal to frequency to frequency signal as first
To frequency signal.
Optionally, if choosing, module is additionally operable to the mark of the first unmanned plane and default mark mismatches, according to the second choosing
Rule is taken, second pair of frequency signal is selected from N number of signal to frequency, first pair of frequency signal is different from second pair of frequency signal；It obtains
Module is additionally operable to obtain the mark for the second unmanned plane for sending second pair of frequency signal；Judgment module is additionally operable to judge the second unmanned plane
Identify whether matched with default mark.
Optionally, the first selection rule is identical as the second selection rule, or different.
Optionally, device further includes pushing module, if the mark for the first unmanned plane is mismatched with default mark, is pushed away
Prompt message is sent, the unmanned plane being connect to frequency with remote controler to prompt user to be not detected.
Optionally, device further includes update module.
Receiving module is additionally operable to receive the more new command of the default mark of terminal-pair；Update module is used for will according to more new command
Default mark is updated to new mark；Corresponding judgment module is specifically used for judging identifying whether and new mark for the first unmanned plane
Know matching.
The third aspect, the application provide a kind of remote controler, including：Processor and memory.
Memory is used to store the executable instruction of processor, and processor is for calling described instruction to realize such as first
The method of any one of the optional mode of aspect and first aspect.
Fourth aspect, the application provide a kind of UAV system, including：
Remote controler and at least one unmanned plane；
Wherein, at least one unmanned plane is used to remote controler connect frequency；In to frequency connection procedure, remote control
Device for realizing any one of the optional mode of such as first aspect and first aspect method.
5th aspect, the application provide a kind of storage medium, including：Instruction, instruction is for being executed by processor to realize
Such as the method for any one of the optional mode of first aspect and first aspect.
The application provides a kind of method, apparatus, remote controler, UAV system and the medium of detection unmanned plane, it is contemplated that distant
Control device in the case where receiving that multiple unmanned planes send to frequency signal, the application by this method can be promoted remote controler with
Corresponding unmanned plane carries out the probability to frequency connection, and then improves remote controller operation reliability.
Description of the drawings
Fig. 1 is the application scenario diagram for the technical scheme that one embodiment of the application provides；
Fig. 2 is the flow chart of the method for the detection unmanned plane that one embodiment of the application provides；
Fig. 3 is the flow chart of the method for the detection unmanned plane that another embodiment of the application provides；
Fig. 4 is a kind of structural schematic diagram of the device 40 for detection unmanned plane that one embodiment of the application provides；
Fig. 5 is a kind of structural schematic diagram for remote controler 50 that one embodiment of the application provides；
Fig. 6 is a kind of structural schematic diagram for UAV system 60 that one embodiment of the application provides.
Specific implementation mode
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application is described, and shows
So, described embodiment is some embodiments of the present application, instead of all the embodiments.Based on the implementation in the application
Example, the every other embodiment that those of ordinary skill in the art are obtained without creative efforts belong to
The range of the application protection.
Term " first ", " second " in the description and claims of this application and above-mentioned attached drawing, etc. (if deposited
) it is for distinguishing similar object, without being used to describe specific sequence or precedence.It should be appreciated that use in this way
Data can be interchanged in the appropriate case, so as to embodiments herein described herein, such as can be in addition to scheming herein
Sequence other than those of showing or describe is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that
In cover it is non-exclusive include, for example, containing the process of series of steps or unit, method, system, product or equipment need not
Those of be limited to clearly to list step or unit, but may include not listing clearly or for these processes, method,
The intrinsic other steps of product or equipment or unit.
The embodiment of the present application provides a kind of method, apparatus, remote controler, UAV system and the medium of detection unmanned plane.
Specifically, Fig. 1 is a kind of schematic diagram of the application scenarios for the technical scheme that one embodiment of the application provides.
As shown in Figure 1, in a spatial dimension, there are multigroup remote controler and unmanned plane (Unmanned Aerial Vehicle,
UAV).Wherein, a remote controler is corresponding with a unmanned plane, i.e., remote controler is for controlling its corresponding unmanned plane.Remote controler with
The correspondence of unmanned plane can be pre-configuration or user configuration, not limit herein.As shown in fig. 1, it is remotely controlled
Device 11 is corresponding with unmanned plane 12, and remote controler 13 is corresponding with unmanned plane 14.
Wherein, in initial start up phase, remote controler wants corresponding unmanned plane connected to frequency, and then realizes logical
Letter.
If during remote controler 11 with unmanned plane 12 connect frequency, remote controler 13 is also in nothing corresponding with its
Man-machine 14 connected to frequency.In this case, remote controler 11 may receive unmanned plane 12 and unmanned plane 14 is sent
To frequency signal, equally, remote controler 13 may also can receive that unmanned plane 12 and unmanned plane 14 send to frequency signal.
In Current implementations, there can be the case where remote controler 11 and unmanned plane 14 are to frequency successful connection, user is intended to lead to
Remote controler 11 is crossed to control unmanned plane 12, in this case, remote controler is used for controlling unmanned plane 14, has violated the control meaning of user
It is willing to, causes user that can carry out maloperation to unmanned plane 14 when controlling remote controler 11, increase the operational risk to unmanned plane 14,
Reduce the reliability of remote controller operation.
Based on above application scene and there is currently the technical issues of, how to increase pair of remote controler 11 and unmanned plane 12
Frequency successful connection probability becomes the project that those skilled in the art actively study.
For this purpose, under the application scenarios, the embodiment of the present application provides a kind of method of detection unmanned plane.Specifically, Fig. 2 is
The flow chart of the method for the detection unmanned plane that one embodiment of the application provides, wherein this method are executed by remote controler.The detection nothing
Man-machine method includes the following steps：
Step S201：Receive that N number of unmanned plane sends to frequency signal, N is the positive integer more than 1.
Wherein, remote controler is in same channelling mode with each unmanned plane in N number of unmanned plane, and uses identical communication
Agreement.The channelling mode can be 900 megahertzs (Mega Hertz, MHz) channelling mode or 2.4 gigahertz (GHZ)s (Giga Hertz,
GHz channelling mode), the application are without limitation.
Specifically, unmanned plane is when detecting that user configured for it to the start-up operation of frequency key, for example, starting behaviour
As long press operation, then unmanned plane can be sent in the form of broadcast to frequency signal.Remote controler is detecting user for its institute
Configuration to the start-up operation of frequency key (Macintosh on such as remote controler) when, start to receive to frequency signal on channel.If distant
Control in the spatial dimension residing for device, N number of unmanned plane is sent to frequency signal, and the communication protocol of this N number of unmanned plane and remote controler with
And used channel is identical, then remote controler can receive multiple to frequency signal.Wherein, which can be existing
To frequency signal, the embodiment of the present application is not limited its form and content.
Step S202：According to the first selection rule, first pair of frequency signal is selected from N number of signal to frequency, and obtain hair
Send the mark of the first unmanned plane of first pair of frequency signal.
It is alternatively possible to which any one in the following manner chooses first pair of frequency signal.
Optional mode one：First selection rule is to be chosen to frequency signal according to signal strength.I.e. according to N number of to frequency signal
Signal strength, first pair of frequency signal is selected from N number of signal to frequency.
Specifically, remote controler can detect the signal strength to frequency signal, currently, Duo Zhongyin when receiving to frequency signal
Element can influence the signal strength to frequency signal, for example, the distance between remote controler and corresponding unmanned plane, remote controler and unmanned plane
The performance of the communication device configured, unmanned plane are sent to factors such as the transmission powers of frequency signal.In conjunction with one in above-mentioned factor
Kind is a variety of, to determine that a signal to frequency signal being most likely to be transmitted by unmanned plane corresponding with the remote controler is strong
Degree, selected from N number of signal to frequency signal strength and the identified signal strength difference it is minimum to frequency signal as the
A pair of of frequency signal.
Alternatively, the signal strength section to frequency signal transmitted by its corresponding unmanned plane can be stored in remote controler,
The signal strength section can be what remote controler recorded determination according to history to frequency, or was pre-configured, not limit herein.
In turn, selected from N number of signal to frequency signal strength fall into the signal strength section to frequency signal as first pair frequency believe
Number.If there are multiple signal strengths to fall into the signal strength section, may further determine that optimal in signal strength section
Value, determines the difference of this multiple signal strengths and the optimal value, choose difference minimum to frequency signal as first pair of frequency signal.
Alternatively, can choose signal strength it is strongest to frequency signal as first pair of frequency signal.If for example, what is counted goes through
History is most strong to the usual signal strength of frequency signal transmitted by unmanned plane corresponding with remote controler in frequency linkage record, then and first
Selection rule can be choose signal strength it is strongest to frequency signal as first pair of frequency signal.
Optional mode two：According to N number of receiving time to frequency signal, first pair of frequency is selected from N number of signal to frequency and is believed
Number.Specifically, distance is nearest between usual remote controler and the unmanned plane of their own, correspondingly, pair of the remote controler to the unmanned plane
The receiving time of frequency signal should be earlier than the receiving time to frequency signal to other unmanned planes, in this case, can be from N
Chosen in a receiving time to frequency signal receiving time it is earliest to frequency signal as first pair of frequency signal.Alternatively, remote controler
Receiving time and the benchmark receiving time can be selected from N number of signal to frequency most based on the benchmark receiving time stored
To be close to frequency signal.Wherein, the benchmark receiving time can be the receiving time of frequency signal is counted according to history, or
Person is to be pre-configured, and is not limited herein.
Optional mode three randomly selects out one to frequency signal as first pair of frequency signal from N number of signal to frequency.Example
Such as, one can be randomly selected out to frequency in the case where remote controler is not known by the signal strength or receiving time to frequency signal
Signal, alternatively, it is received first selection rule is unsatisfactory for frequency signal in the case of, randomly select out one to frequency believe
Number.
Further, above-mentioned three kinds of optional modes can be with any combination.
Such as：In conjunction with optional mode one and optional mode two：First, according to N number of receiving time to frequency signal, from N number of
To selecting M in frequency signal to frequency signal, M is the positive integer more than 1, and M is less than N；Secondly, according to the M letters to frequency signal
Number intensity, from M to selecting first pair of frequency signal in frequency signal.Or, first, according to N number of signal strength to frequency signal, from
P are selected in N number of signal to frequency to frequency signal, P is the positive integer more than 1, and P is less than N；Secondly, according to P to frequency signal
Receiving time, from P to selecting first pair of frequency signal in frequency signal.
In conjunction with optional mode one and optional mode three：First, Q is randomly selected out from N number of signal to frequency to frequency signal,
Q is the positive integer more than 1, and Q is less than N；Secondly, according to the Q signal strengths to frequency signal, from Q to being selected in frequency signal
First pair of frequency signal.Alternatively, first choose one or more to frequency signal according to the signal strength of frequency signal, then from this or
One is randomly selected out in multiple signals to frequency to frequency signal as first pair of frequency signal.
In conjunction with optional mode two and optional mode three：First, R is randomly selected out from N number of signal to frequency to frequency signal,
R is the positive integer more than 1, and R is less than N；Secondly, according to the R receiving times to frequency signal, from R to being selected in frequency signal
First pair of frequency signal.Alternatively, first choose one or more to frequency signal according to the receiving time of frequency signal, then from this or
One is randomly selected out in multiple signals to frequency to frequency signal as first pair of frequency signal.
Further, the mark for the first unmanned plane for sending first pair of frequency signal is obtained, following optional mode can be passed through
It realizes：
Optional mode one：Remote controler sends request message to the first unmanned plane, with the mark of the first unmanned plane of acquisition request,
First unmanned plane sends response message to remote controler, which includes the mark of the first unmanned plane.Specifically, remote controler can
By the communication protocol between remote controler and the first unmanned plane, such as video transmission protocol, to send and ask to the first unmanned plane
Message, optionally, the response message of the first unmanned plane feedback can be the version information of the first unmanned plane, which includes
The mark of first unmanned plane.Optionally, which can also include：Model, manufacturer's information of first unmanned plane etc., this
Apply for that embodiment is without limitation.
Optional mode two：Unmanned plane can send the message for carrying unmanned plane mark in a broadcast manner.For example, nobody
Machine can carry unmanned plane mark, or after sending to frequency signal, carried in the message of transmission when sending to frequency signal
There is unmanned plane mark, not limits herein.
Step S203：Judge that the first unmanned plane identifies whether to match with default mark；
Step S204：If the mark of the first unmanned plane is matched with default mark, with the first unmanned plane connect frequency.
It is illustrated in conjunction with step S203 and step S204：
In step S203, so-called default mark refers to the mark for the corresponding unmanned plane that remote controler is stored,
In the default mark can be stored in the local storage that remote controler is configured, or that there are cloud storage spaces is medium, this
Application embodiment is not limited it.If default mark is stored in Cloud Server, remote controler can obtain first nobody
After the mark of machine, or before connected to frequency, the default mark is obtained from Cloud Server.
Further, remote controler can receive the more new command of the default mark of terminal-pair；It will be marked in advance according to more new command
Knowledge is updated to new mark；Based on this, step S203 includes：Judge that the first unmanned plane identifies whether to match with new mark.
Specifically, when default mark stores the local storage in remote controler, terminal can be connect by user with remote controler, pass through end
Application (Application, APP) on end updates the default mark in the local storage.When default mark be stored in it is distant
When controlling the cloud storage space of device, terminal can be connect by user with the high in the clouds, update the high in the clouds by the APP in terminal
Default mark in memory space.The wherein described terminal can be that the intelligent terminals such as mobile phone, tablet computer, computer or user are whole
End, the application are without limitation.
After remote controler gets the mark of the first unmanned plane, the mark to the first unmanned plane and default mark progress
Match, if the mark of the first unmanned plane and identical or unmanned plane the portion identification being identified as in default mark of default mark,
Indicate that the mark of the first unmanned plane is matched with default mark, i.e., the first unmanned plane is corresponding with the remote controler.If the first unmanned plane
Mark and default mark it is different, then it represents that the mark of the first unmanned plane is mismatched with default mark, i.e. the first unmanned plane with should
Remote controler does not correspond to.
Illustratively, after the mark for determining the first unmanned plane is matched with default mark, it is determined that the first unmanned plane with it is distant
It controls device to correspond to, then the unmanned plane that remote controler can be corresponding connect frequency.Refer to remote controler and unmanned plane to frequency connection
Based on being communicatively coupled to frequency signal, to realize communication.
Optionally, if the mark of the first unmanned plane and default mark matching, remote controler can be exported to successfully carrying frequently
Show information, the unmanned plane being connect to frequency with remote controler to prompt user to have detected that.Wherein the prompt message can be voice letter
Breath such as prompts the user with " having detected that the unmanned plane being connect to frequency with remote controler ".Alternatively, the prompt message can be text envelope
Breath, such as the display screen display of remote controler " having detected that the unmanned plane being connect to frequency with remote controler ", for another example, remote controler will be literary
This information is exported to being shown on the display screen of terminal.Alternatively, the prompt message can be signal information, such as works as and flicker certain
When the light of kind particular color, indicate to have detected that the unmanned plane with remote controler successful match, or when the flicker of certain signal lamp is special
When determining number, indicate to have detected that the unmanned plane for connecting frequency with remote controler.
Optionally, if the mark of the first unmanned plane is mismatched with default mark, any prompt message or defeated is not exported
Go out the prompt message to frequency failure, the unmanned plane being connect to frequency with remote controler to prompt user to be not detected.Wherein the prompt is believed
Breath can be voice messaging, such as prompt the user with " unmanned plane being connect to frequency with remote controler is not detected ".Alternatively, the prompt is believed
Breath can be text message, such as " be not detected with remote controler to the unmanned plane that connect frequently " in the display screen display of remote controler,
For another example, remote controler exports text message to showing on the display screen of terminal.Alternatively, the prompt message can be signal lamp
Information indicates that the unmanned plane with remote controler successful match is not detected, or work as such as when flickering the light of certain particular color
When certain signal lamp flickers specific times, indicate that the unmanned plane for connecting frequency with remote controler is not detected.
In the embodiment of the present application, remote controler and receive that multiple unmanned planes send to frequency signal in the case of, remote control
Device selects first pair of frequency signal from N number of signal to frequency, and obtains the mark for the first unmanned plane for sending first pair of frequency signal；
Judge that the first unmanned plane identifies whether to match with default mark；If the mark of the first unmanned plane is matched with default mark, with
First unmanned plane connected to frequency.The probability connected to frequency is carried out so as to promote remote controler and corresponding unmanned plane, into
And improve remote controller operation reliability.
Fig. 3 is the flow chart of the method for the detection unmanned plane that another embodiment of the application provides, and wherein this method is by being remotely controlled
Device executes.The method of the detection unmanned plane includes the following steps：
Step S301：Receive that N number of unmanned plane sends to frequency signal, N is the positive integer more than 1.
Step S302：According to the first selection rule, first pair of frequency signal is selected from N number of signal to frequency, and obtain hair
Send the mark of the first unmanned plane of first pair of frequency signal.
Step S303：Judge that first unmanned plane identifies whether to match with default mark；
Step S304：If the mark of the first unmanned plane is matched with default mark, with the first unmanned plane connect frequency.
Wherein, step S301 to step S304, and step S201 is identical to step S204, specifically refers to step S201
To the content of step S204, details are not described herein.
Step S305：If the mark of the first unmanned plane is mismatched with default mark, according to the second selection rule, from N number of
To selecting second pair of frequency signal in frequency signal, first pair of frequency signal is different from second pair of frequency signal.
Step S306：The mark for the second unmanned plane for sending second pair of frequency signal is obtained, and judges second unmanned plane
Identify whether with it is described it is default mark match.
Step S307 with second unmanned plane connect frequency if matching.
Optional mode one：As described above, when receiving to frequency signal, it is strong to detect the signal to frequency signal for remote controler
Degree, currently, many factors can influence the signal strength to frequency signal, for example, the distance between remote controler and corresponding unmanned plane,
The performance for the communication device that remote controler is configured with unmanned plane, unmanned plane are sent to factors such as the transmission powers of frequency signal.In conjunction with
It is one or more in above-mentioned factor, come determine one be most likely to be transmitted by unmanned plane corresponding with the remote controler to frequency
The signal strength of signal, the second selection rule can be that signal strength and the identified letter are selected from N number of signal to frequency
Number strength difference time it is small to frequency signal as first pair of frequency signal.
Alternatively, the signal strength section to frequency signal transmitted by its corresponding unmanned plane can be stored in remote controler,
The signal strength section can be what remote controler recorded determination according to history to frequency, or was pre-configured, not limit herein.
Used signal strength section is known as the first signal strength section when will choose first pair of frequency signal, can be amplified to it,
Obtain second signal intensity interval.It, can further really if there are multiple signal strengths to fall into the second signal intensity interval
Determine the optimal value in signal strength section, determine the difference of this multiple signal strengths and the optimal value, chooses small pair of difference time
Frequency signal is as second pair of frequency signal.
Alternatively, can choose signal strength time it is strong to frequency signal as second pair of frequency signal.
Optional mode two：According to N number of receiving time to frequency signal, second pair of frequency is selected from N number of signal to frequency and is believed
Number.Remote controler can be chosen from N number of receiving time to frequency signal receiving time time it is early to frequency signal as second pair of frequency
Signal.Alternatively, remote controler can based on the benchmark receiving time stored, selected from N number of signal to frequency receiving time with
The benchmark receiving time time is close to frequency signal.Wherein, which can be connect to frequency signal according to history
It is counted between time receiving, or be pre-configured, it not limits herein.
Optional mode three, from N-1 to frequency signal (in N number of signal to frequency in addition to first pair of frequency signal to frequency signal)
In randomly select out one to frequency signal as second pair of frequency signal.For example, the letter to frequency signal can be not known by remote controler
In the case of number intensity or receiving time, one is randomly selected out to frequency signal.
Optionally, the method further includes：If the mark of the second unmanned plane is mismatched with default mark, remote controler is sent
To the prompt message of frequency failure, content is identical as above-described embodiment content, and the application repeats no more this.
It should be noted that the mark of above-mentioned first unmanned plane, the mark of the second unmanned plane and default mark all can be
Sequence code (Serial Number, SN).Certain mark of first unmanned plane, the mark of the second unmanned plane and default mark are not
It is limited to SN.
In the embodiment of the present application, if the mark of the first unmanned plane is mismatched with default mark, according to the second selection rule,
Second pair of frequency signal is selected from N number of signal to frequency, first pair of frequency signal is different from second pair of frequency signal；It obtains and sends second
To the mark of the second unmanned plane of frequency signal, and judge that the second unmanned plane identifies whether to match with default mark.Thus into one
Step promotes remote controler and carries out the probability connected to frequency with corresponding unmanned plane, and then improves remote controller operation reliability.
Fig. 4 is a kind of structural schematic diagram of the device 40 for detection unmanned plane that one embodiment of the application provides, specifically, such as
Shown in Fig. 4, the device 40 of the detection unmanned plane includes：Receiving module 41 chooses module 42, acquisition module 43, judgment module 44
With to frequency link block 45.
Wherein, receiving module 41, for receiving that N number of unmanned plane sends to frequency signal, N is the positive integer more than 1.
Module 42 is chosen, for according to the first selection rule, first pair of frequency signal to be selected from N number of signal to frequency.
Acquisition module 43, the mark for obtaining the first unmanned plane for sending first pair of frequency signal.
Judgment module 44, for judging that the first unmanned plane identifies whether to match with default mark.
To frequency link block 45, if the mark for the first unmanned plane is matched with default identify, with the first unmanned plane into
Row connects frequency.
Optionally, module 42 is chosen to be specifically used for, according to N number of signal strength to frequency signal, selecting from N number of signal to frequency
Take out first pair of frequency signal.
Optionally, choosing module 42, signal strength in N number of signal to frequency is strongest to make frequency signal specifically for selecting
For first pair of frequency signal.
Optionally, module 42 is chosen to be specifically used for, according to N number of receiving time to frequency signal, selecting from N number of signal to frequency
Take out first pair of frequency signal.
Optionally, module 42 is chosen to be specifically used for randomly selecting out one from N number of signal to frequency to frequency signal as the
A pair of of frequency signal.
Optionally, if choosing, module 42 is additionally operable to the mark of the first unmanned plane and default mark mismatches, according to second
Selection rule, selects second pair of frequency signal from N number of signal to frequency, and first pair of frequency signal is different from second pair of frequency signal；It obtains
Modulus block 43 is additionally operable to obtain the mark for the second unmanned plane for sending second pair of frequency signal；Judgment module 44 is additionally operable to judge
Second unmanned plane identifies whether to match with the default mark.
Optionally, the first selection rule is identical as the second selection rule, or different.
Optionally, device further includes pushing module 46, if the mark for the first unmanned plane is mismatched with default mark,
Prompt message is pushed, the unmanned plane being connect to frequency with remote controler to prompt user to be not detected.
Optionally, device further includes update module 47.Wherein, receiving module 41 is additionally operable to receive the default mark of terminal-pair
More new command；Update module 47 is used to that default mark to be updated to new mark according to more new command；Correspondingly, judgment module 44
Specifically for judging that the first unmanned plane identifies whether to match with new mark.The application provides a kind of dress of detection unmanned plane
It sets, which can perform any one method of above-mentioned detection unmanned plane, and details are not described herein for content and effect.
It should be noted that above-mentioned function module can be by one kind or knot in software, firmware or the hardware in remote controler
The mode of conjunction is realized.
Fig. 5 is a kind of structural schematic diagram for remote controler 50 that one embodiment of the application provides, as shown in figure 5, the remote controler
50 include processor 51 and memory 52.
Memory 52 is used to store the executable instruction of processor 51 so that processor 51 for call described instruction with
The method for realizing above-mentioned detection unmanned plane, details are not described herein for content and effect.
Processor 51 can be by one or more application application-specific integrated circuit (Application Specific
Integrated Circuit, ASIC), digital signal processor (Digital Signal Processor, DSP), number letter
Number processing equipment (Digital Signal Processing Device, DSPD), programmable logic device (Programmable
Logic Device, PLD), field programmable gate array (Field-Programmable Gate Array, FPGA), control
Device, microcontroller, microprocessor or other electronic components are realized.
Memory 52 can be by any kind of volatibility or non-volatile memory device or combination thereof realization, such as
Static RAM (Static Random Access Memory, SRAM), electrically erasable programmable read-only memory
(Electrically Erasable Programmable Read-Only Memory, EEPROM), erasable programmable is read-only
Memory (Erasable Programmable Read-Only Memory, EPROM), programmable read only memory
(Programmable read-only memory, PROM), read-only memory (Read-Only Memory, ROM), magnetic storage
Device, flash memory, disk or CD.
With reference to Fig. 5, remote controler 50 can also include following one or more components：Power supply module 53, input/output unit
54 and communication component 55.
Power supply module 53 provides electric power for the various assemblies of remote controler 50.Power supply module 53 may include power management system
System, one or more power supplys and other generated with for remote controler 50, management and the associated component of distribution electric power.
Input/output unit 54, wherein input unit are used to receive user to the opening operation to frequency connection；Output device
For exporting prompt message.Input unit may include physical button or touch screen etc., and output device may include display screen, refer to
Show lamp, loud speaker etc..
Communication component 55 is configured to facilitate the communication of wired or wireless way between remote controler 50 and other equipment.Remote control
Device 50 can access the wireless network based on communication standard, such as Wireless Fidelity (Wireless-Fidelity, WiFi) technology,
Three generations (3Generation, 3G) mobile communication system, forth generation (4Generation, 4G) mobile communication system or the 5th generation
(5Generation, 5G) mobile communication system or combination thereof.In one exemplary embodiment, communication component 55 via
Broadcast channel broadcasts relevant information, or using reception channel reception unmanned plane be pre-configured or general to frequency signal.One
In a exemplary embodiment, the communication component 55 can also include near-field communication (NFC) module, to promote short range communication.Example
Such as, NFC module can be based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra wide band (UWB) technology,
Bluetooth (BT) technology and other technologies are realized.
In the exemplary embodiment, it includes the non-transitorycomputer readable storage medium instructed, example to additionally provide a kind of
Such as include the memory 52 of instruction, above-metioned instruction can be executed by the processor 51 of remote controler 50 to complete the above method.For example, institute
State non-transitorycomputer readable storage medium can be ROM, random access memory (RAM), CD-ROM, tape, floppy disk and
Optical data storage devices etc..
A kind of non-transitorycomputer readable storage medium, when the instruction in the storage medium is by the processing of remote controler 50
When device executes so that remote controler 50 is able to carry out a kind of method of detection unmanned plane.
It should be noted that said modules, memory can be coupled with processor by bus, or pass through other companies
Realization interactive communication is connect, is not limited herein.Fig. 6 is that a kind of structure for UAV system 60 that one embodiment of the application provides is shown
It is intended to, as shown in fig. 6, the UAV system includes remote controler 61 and at least one unmanned plane 62.Wherein at least one unmanned plane
62 for the remote controler 61 connect frequency, and in frequency connection procedure, remote controler 61 is for realizing above-mentioned detection
Details are not described herein for the method for unmanned plane, content and effect.
The application provides a kind of computer program product, which includes instruction, the instruction for realizing
The method of above-mentioned detection unmanned plane.Details are not described herein for its content and effect.
One of ordinary skill in the art will appreciate that：Realize that all or part of step of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.Program above-mentioned can be stored in a computer-readable medium.The program exists
When execution, execution includes the steps that above-mentioned each method embodiment；And medium above-mentioned includes：ROM, RAM, magnetic disc or CD etc.
The various media that can store program code.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that：Its according to
So can with technical scheme described in the above embodiments is modified, either to which part or all technical features into
Row equivalent replacement；And these modifications or replacements, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (21)
1. a kind of method of detection unmanned plane, which is characterized in that including：
Receive that N number of unmanned plane sends to frequency signal, N is the positive integer more than 1；
According to the first selection rule, first pair of frequency signal is selected from N number of signal to frequency, and obtains transmission described first
To the mark of the first unmanned plane of frequency signal；
Judge that first unmanned plane identifies whether to match with default mark；
If the mark of first unmanned plane is matched with the default mark, with first unmanned plane connect frequency.
2. according to the method described in claim 1, it is characterized in that, described according to the first selection rule, N number of frequency is believed from described
First pair of frequency signal is selected in number, including：
According to N number of signal strength to frequency signal, first pair of frequency signal is selected from N number of signal to frequency.
3. according to the method described in claim 2, it is characterized in that, described according to N number of signal strength to frequency signal, from
First pair of frequency signal is selected in N number of signal to frequency, including：
Select signal strength in N number of signal to frequency it is strongest to frequency signal as first pair of frequency signal.
4. according to the method described in claim 1, it is characterized in that, described according to the first selection rule, N number of frequency is believed from described
First pair of frequency signal is selected in number, including：
According to N number of receiving time to frequency signal, first pair of frequency signal is selected from N number of signal to frequency.
5. according to the method described in claim 1, it is characterized in that, described according to the first selection rule, N number of frequency is believed from described
First pair of frequency signal is selected in number, including：
One is randomly selected out from N number of signal to frequency to frequency signal as first pair of frequency signal.
6. according to claim 1-5 any one of them methods, which is characterized in that further include：
If the mark of first unmanned plane and the default mark mismatch, according to the second selection rule, from described N number of right
Second pair of frequency signal is selected in frequency signal, first pair of frequency signal is different from second pair of frequency signal；
The mark for the second unmanned plane for sending second pair of frequency signal is obtained, and judges identifying whether for second unmanned plane
It is matched with the default mark.
7. according to the method described in claim 6, it is characterized in that, first selection rule and the second selection rule phase
Together, or it is different.
8. according to claim 1-7 any one of them methods, which is characterized in that further include：
If the mark of first unmanned plane is mismatched with the default mark, prompt message is pushed, to prompt user not examine
Measure the unmanned plane being connect to frequency with remote controler.
9. according to claim 1-8 any one of them methods, which is characterized in that further include：
Receive the more new command that mark is preset described in terminal-pair；
The default mark is updated to new mark according to the more new command；
Judgement first unmanned plane identifies whether to match with default mark, including：
Judge that first unmanned plane identifies whether to match with the new mark.
10. a kind of device of detection unmanned plane, which is characterized in that including：
Receiving module, for receiving that N number of unmanned plane sends to frequency signal, N is the positive integer more than 1；
Module is chosen, for according to the first selection rule, first pair of frequency signal to be selected from N number of signal to frequency；
Acquisition module, the mark for obtaining the first unmanned plane for sending first pair of frequency signal；
Judgment module, for judging that first unmanned plane identifies whether to match with default mark；
To frequency link block, if the mark for first unmanned plane is matched with the default mark, with first nothing
It is man-machine frequency is connected.
11. device according to claim 10, which is characterized in that the selection module is specifically used for：
According to N number of signal strength to frequency signal, first pair of frequency signal is selected from N number of signal to frequency.
12. according to the devices described in claim 11, which is characterized in that the selection module is specifically used for：
Select signal strength in N number of signal to frequency it is strongest to frequency signal as first pair of frequency signal.
13. device according to claim 10, which is characterized in that the selection module is specifically used for：
According to N number of receiving time to frequency signal, first pair of frequency signal is selected from N number of signal to frequency.
14. device according to claim 10, which is characterized in that the selection module is specifically used for：
One is randomly selected out from N number of signal to frequency to frequency signal as first pair of frequency signal.
15. according to claim 10-14 any one of them devices, which is characterized in that
The selection module, if the mark of first unmanned plane and the default mark mismatch are additionally operable to, according to second
Selection rule selects second pair of frequency signal, first pair of frequency signal and second pair of frequency from N number of signal to frequency
Signal is different；
The acquisition module is additionally operable to obtain the mark for the second unmanned plane for sending second pair of frequency signal；
The judgment module is additionally operable to judge that second unmanned plane identifies whether to match with the default mark.
16. device according to claim 15, which is characterized in that first selection rule and second selection rule
It is identical or different.
17. according to claim 10-16 any one of them devices, which is characterized in that further include：
Pushing module pushes prompt message if the mark for first unmanned plane is mismatched with the default mark, with
The unmanned plane being connect to frequency with remote controler is not detected in prompt user.
18. according to claim 10-17 any one of them devices, which is characterized in that further include：Update module；
The receiving module is additionally operable to receive the more new command that mark is preset described in terminal-pair；
The default mark is updated to new mark by the update module for the more new command according to；
Correspondingly, the judgment module is specifically used for：
Judge that first unmanned plane identifies whether to match with the new mark.
19. a kind of remote controler, which is characterized in that including：Processor and memory；
The memory is used to store the executable instruction of the processor；
The processor is for calling described instruction to realize such as claim 1-9 any one of them methods.
20. a kind of UAV system, which is characterized in that including：
Remote controler and at least one unmanned plane；
Wherein, at least one unmanned plane is used to the remote controler connect frequency；
In to frequency connection procedure, the remote controler is for realizing such as claim 1-9 any one of them method.
21. a kind of storage medium, which is characterized in that including：Instruction, described instruction is for being executed by processor to realize such as right
It is required that 1-9 any one of them methods.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810214826.6A CN108346274A (en) | 2018-03-15 | 2018-03-15 | Detect method, apparatus, remote controler, UAV system and the medium of unmanned plane |
| PCT/CN2018/112878 WO2019174255A1 (en) | 2018-03-15 | 2018-10-31 | Method and apparatus for detecting unmanned aerial vehicle, remote controller, unmanned aerial vehicle system and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810214826.6A CN108346274A (en) | 2018-03-15 | 2018-03-15 | Detect method, apparatus, remote controler, UAV system and the medium of unmanned plane |
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| CN111369720A (en) * | 2020-04-30 | 2020-07-03 | 清华大学 | Unmanned aerial vehicle's electron key |
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| WO2019174255A1 (en) | 2019-09-19 |
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