CN108933839A - A kind of unmanned aerial vehicle (UAV) control method, apparatus and system based on cloud platform - Google Patents
A kind of unmanned aerial vehicle (UAV) control method, apparatus and system based on cloud platform Download PDFInfo
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- CN108933839A CN108933839A CN201811044331.XA CN201811044331A CN108933839A CN 108933839 A CN108933839 A CN 108933839A CN 201811044331 A CN201811044331 A CN 201811044331A CN 108933839 A CN108933839 A CN 108933839A
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- cloud platform
- unmanned plane
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- flying quality
- control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention discloses a kind of unmanned aerial vehicle (UAV) control method, apparatus and system based on cloud platform.This method, it include: to obtain to fly the flying quality that control module is sent, flying quality includes at least following any one or combinations thereof: location information, height value, flying speed, offline mode, station-keeping mode, parameter information, parameter information include course, yaw angle, pitch angle, roll angle；Flying quality is sent to cloud platform；Receive the control instruction that cloud platform is sent.Cloud platform is realized according to flying quality, control instruction is sent to Internet of Things module, to realize control of the cloud platform to unmanned plane, or terminal controls unmanned plane by cloud platform, it avoiding when can not be directly connected to unmanned plane due to terminal, terminal controls unmanned plane by cloud platform, or, cloud platform directly controls unmanned plane, and then improves the safety of control unmanned plane.
Description
Technical field
The present invention relates to air vehicle technique field, espespecially a kind of unmanned aerial vehicle (UAV) control method, apparatus based on cloud platform and it is
System.
Background technique
With the development of unmanned air vehicle technique, unmanned plane has been widely used in each face of each side of people's life, for example, boat
Bat, plant protection, fire fighting.
Application No. is 2014102502638 patent applications to disclose a kind of utilization cloud storage technology storage unmanned plane during flying
The method of data, specifically, wireless network card is configured on unmanned plane, and obtain unmanned plane during unmanned plane during flying
Flying quality is by network transmission to cloud platform, and then, cloud platform is stored to acquisition to flying quality, then, terminal
The flying quality for being stored in cloud platform is obtained, while terminal controls unmanned plane according to the flying quality.
However, those skilled in the art have found during stating the prior art in realization, terminal and unmanned plane can not
When connection, terminal can not control unmanned plane.
Summary of the invention
The unmanned aerial vehicle (UAV) control method, apparatus based on cloud platform that in order to solve the above-mentioned technical problems, the present invention provides a kind of
And system, it is able to solve when terminal can not be connect with unmanned plane, the problem of terminal can not control unmanned plane.
In order to reach the object of the invention, the unmanned aerial vehicle (UAV) control method based on cloud platform that the present invention provides a kind of, comprising:
It obtains and flies the flying quality that control module is sent, the flying quality includes at least following any one or combinations thereof:
Location information, height value, flying speed, offline mode, station-keeping mode, parameter information, the parameter information include course, yaw
Angle, pitch angle, roll angle；
According to preset condition, the flying quality is sent to cloud platform；
Receive the control instruction that the cloud platform is sent.
Further, the control instruction controls the instruction of the winged control module for the cloud platform, and the control refers to
It enables and includes at least following any one: hovering instruction, forced landing instruction, instruction of making a return voyage.
Further, the control instruction for receiving the cloud platform and sending, comprising:
Receive the control instruction that sends by the cloud platform of terminal, the control instruction for the terminal can not with it is winged
When controlling module connection, the instruction of the winged control module is controlled by the cloud platform.
Further, described according to preset condition, the flying quality is sent to cloud platform, comprising:
When the straight-line displacement value for determining unmanned plane is greater than default straight-line displacement value, the flight number is sent to cloud platform
According to the straight-line displacement value includes the present bit of the location information and the unmanned plane when reporting the flying quality the last time
Linear distance between confidence breath；Or
When the difference in height for determining unmanned plane is greater than preset height value, the flying quality, the height are sent to cloud platform
Degree difference includes the difference between the current level value of the height value and the unmanned plane when reporting the flying quality the last time；
Or
When the flying speed changing value for determining unmanned plane is greater than pre-set velocity value, the flight number is sent to cloud platform
Include the current flight speed of the unmanned plane according to, the flying speed changing value and when the last time reports the flying quality
Flying speed between difference；Or
When the offline mode for determining unmanned plane changes, the flying quality is sent to cloud platform；Or
When the station-keeping mode for determining unmanned plane changes, the flying quality is sent to cloud platform；Or
When the satellite number variation for determining unmanned plane is more than default satellite number, the flying quality is sent to cloud platform；Or
Person
When the parameter information for determining unmanned plane is more than preset value, the flying quality, the parameter are sent to cloud platform
Information includes following any one: course changing value, pitch angle changing value or roll angle changing value, temperature, rotation speed change value；Or
Person
According to report cycle, the flying quality is sent to cloud platform, the report cycle includes the Internet of Things module
The time interval of the flying quality is sent to the cloud platform.
The unmanned aerial vehicle (UAV) control method based on cloud platform that the present invention also provides a kind of, comprising:
The flying quality that Internet of Things module is sent is obtained, the flying quality includes at least following any one or its group
Close: location information, height value, flying speed, offline mode, station-keeping mode, parameter information, the parameter information include course,
Yaw angle, pitch angle, roll angle；
By the flying quality, the control instruction sent to the Internet of Things module is determined；
The control instruction is sent to the Internet of Things module.
Further, described by the flying quality, it determines to the Internet of Things module and sends control instruction, comprising:
According to the flying quality, determine whether the flying quality is more than early warning range；
If it is determined that the flying quality is more than early warning range, it is determined that the control instruction sent to the Internet of Things module,
The control instruction controls the instruction of the winged control module for the cloud platform, and the control instruction includes at least following any
One: hovering instruction, forced landing instruction, instruction of making a return voyage.
Further, described by the flying quality, it determines to the Internet of Things module and sends control instruction, comprising:
The flying quality is sent to terminal；
The control instruction that terminal is sent is obtained, the control instruction can not be connect for the terminal with winged control module
When, the terminal controls the instruction of the winged control module by the cloud platform.
The present invention provides a kind of internet of things equipment, comprising:
Processor；
And the memory of storage computer executable instructions, the executable instruction pass through the processing when executed
Device executes the unmanned aerial vehicle (UAV) control method described above based on cloud platform.
The present invention also provides a kind of cloud platforms, comprising:
Processor；
And the memory of storage computer executable instructions, the executable instruction pass through the processing when executed
Device executes the unmanned aerial vehicle (UAV) control method described above based on cloud platform.
The present invention also provides a kind of unmanned aerial vehicle control systems based on cloud platform, comprising: Internet of Things as described above
Equipment, cloud platform as described above and terminal and flying control equipment, the terminal respectively with the flying control equipment and the cloud
Platform connection.
Compared with prior art, the unmanned aerial vehicle (UAV) control method, apparatus and system provided by the invention based on cloud platform, passes through
It obtains and flies the flying quality that control module is sent, the flying quality is including at least following any one or combinations thereof: location information,
Height value, flying speed, offline mode, station-keeping mode, parameter information, the parameter information include course, yaw angle, pitching
Angle, roll angle；The flying quality is sent to cloud platform；Receive the control instruction that the cloud platform is sent.Realize cloud platform
According to flying quality, control instruction is sent to Internet of Things module, to realize control or terminal of the cloud platform to unmanned plane
Unmanned plane is controlled by cloud platform, is avoided when can not be directly connected to unmanned plane due to terminal, terminal is flat by cloud
Platform controls unmanned plane, alternatively, cloud platform directly controls unmanned plane, and then improves the safety of control unmanned plane.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by specification, right
Specifically noted structure is achieved and obtained in claim and attached drawing.
Detailed description of the invention
Attached drawing is used to provide to further understand technical solution of the present invention, and constitutes part of specification, with this
The embodiment of application technical solution for explaining the present invention together, does not constitute the limitation to technical solution of the present invention.
Fig. 1 is that the present invention is based on the flow diagrams of one embodiment of unmanned aerial vehicle (UAV) control method of cloud platform；
Fig. 2 is that the present invention is based on the flow diagrams of two embodiment of unmanned aerial vehicle (UAV) control method of cloud platform；
Fig. 3 is that the present invention is based on the flow diagrams of three embodiment of unmanned aerial vehicle (UAV) control method of cloud platform；
Fig. 4 is that the present invention is based on the structural schematic diagrams of one embodiment of unmanned aerial vehicle control system of cloud platform；
Fig. 5 is that the present invention is based on the flow diagrams of four embodiment of unmanned aerial vehicle (UAV) control method of cloud platform；
Fig. 6 is that the present invention is based on the flow diagrams of five embodiment of unmanned aerial vehicle (UAV) control method of cloud platform；
Fig. 7 is the structural schematic diagram of one embodiment of internet of things equipment of the present invention；
Fig. 8 is the structural schematic diagram of one embodiment of cloud platform of the present invention.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention
Embodiment be described in detail.It should be noted that in the absence of conflict, in the embodiment and embodiment in the application
Feature can mutual any combination.
Step shown in the flowchart of the accompanying drawings can be in a computer system such as a set of computer executable instructions
It executes.Also, although logical order is shown in flow charts, and it in some cases, can be to be different from herein suitable
Sequence executes shown or described step.
Fig. 1 is that the present invention is based on the flow diagrams of one embodiment of unmanned aerial vehicle (UAV) control method of cloud platform.As shown in Figure 1,
The executing subject of the present embodiment is Internet of Things module, wherein the Internet of Things module can be the equipment being independently arranged, and be also possible to set
Set the module on unmanned plane, it should be noted that one end of Internet of Things module is connect with winged control module is arranged on unmanned plane,
The other end of Internet of Things module is connect with cloud platform, and when Internet of Things module can not be connect with cloud platform, Internet of Things module can be with
The flying quality is sent to cloud platform when Internet of Things module is connect with cloud platform by the flying quality of caching unmanned plane.This reality
The unmanned aerial vehicle (UAV) control method of example offer is provided, comprising:
Step 101, Internet of Things module, which obtain, flies the flying quality that control module is sent.
Specifically, fly the flying quality of the control available unmanned plane of module during unmanned plane during flying, meanwhile, Internet of Things
Net module it is available it is winged control module send flying quality, wherein the flying quality include at least following any one or
A combination thereof: location information, height value, flying speed, offline mode, station-keeping mode, parameter information, the parameter information include boat
To, yaw angle, pitch angle, roll angle；
Step 102, according to preset condition, send the flying quality to cloud platform.
For example, when the straight-line displacement value for determining unmanned plane is greater than default straight-line displacement value, institute is sent to cloud platform
Flying quality is stated, the straight-line displacement value includes the location information and the unmanned plane when reporting the flying quality the last time
Current location information between linear distance；Or
When the difference in height for determining unmanned plane is greater than preset height value, the flying quality, the height are sent to cloud platform
Degree difference includes the difference between the current level value of the height value and the unmanned plane when reporting the flying quality the last time；
Or
When the flying speed changing value for determining unmanned plane is greater than pre-set velocity value, the flight number is sent to cloud platform
Include the current flight speed of the unmanned plane according to, the flying speed changing value and when the last time reports the flying quality
Flying speed between difference；Or
When the offline mode for determining unmanned plane changes, the flying quality is sent to cloud platform；Or
When the station-keeping mode for determining unmanned plane changes, the flying quality is sent to cloud platform；Or
When the satellite number variation for determining unmanned plane is more than default satellite number, the flying quality is sent to cloud platform；Or
Person
When the parameter information for determining unmanned plane is more than preset value, the flying quality, the parameter are sent to cloud platform
Information includes following any one: course changing value, pitch angle changing value or roll angle changing value, temperature, rotation speed change value；Or
Person
According to report cycle, the flying quality is sent to cloud platform, the report cycle includes the Internet of Things module
The time interval of the flying quality is sent to the cloud platform.It should be noted that the report cycle can be Internet of Things mould
What block obtained during registering in cloud platform from cloud platform.
By above-mentioned implementation, cloud platform not only can obtain flying quality according to report cycle, that is to say, that i.e.
Fixed Time Interval obtains the flying quality that an Internet of Things module is sent, and can also occur in the flight parameter of unmanned plane larger
When variation, the flying quality that Internet of Things module is sent is obtained, realizes and unmanned plane is timely monitored.
Step 103 receives the control instruction that the cloud platform is sent.
Two kinds of implementations are included at least for receiving the control instruction that the cloud platform is sent:
The first implementation receives the control instruction that the cloud platform is sent, and the control instruction is flat for the cloud
Platform controls the winged instruction for controlling module, and the control instruction includes at least following any one: hovering instructs, forced landing instructs,
It makes a return voyage instruction.
For example, cloud platform determines that unmanned plane has been in no-fly region, connects according to the location information in flying quality
, cloud platform sends hovering instruction, and instruction of making a return voyage to Internet of Things module；Alternatively, cloud platform flies according in flying quality
Row mode determines that unmanned plane has been in abnormal operating state, and then, cloud platform sends forced landing instruction to Internet of Things module.
Specifically, cloud platform can determine whether unmanned plane is more than early warning range according to flying quality, however, it is determined that described to fly
Row data are more than early warning range, it is determined that unmanned plane is in time of crisis, while cloud platform can directly be sent out to Internet of Things module
Send control instruction, without by terminal to unmanned plane send control instruction, and then avoid due to terminal by cloud platform to
Unmanned plane sends control instruction and leads to time delays.
Second of implementation receives the control instruction that terminal is sent by the cloud platform, and the control instruction is used for
When the terminal can not be connect with winged control module, the terminal controls the instruction of the winged control module by the cloud platform.
Specifically, terminal can determine itself and nothing when terminal can not get the information of flight control modules transmission
Man-machine to connect, then, terminal can control unmanned plane by cloud platform, i.e., terminal sends control to cloud platform and refers to
It enables, so that cloud platform sends control instruction by Internet of Things module to flight control modules.It realizes in terminal and nothing
It is man-machine to connect, that is, when terminal can not directly control unmanned plane, terminal can be by cloud platform to unmanned plane
It is controlled, so as to avoid the lost contact of terminal and unmanned plane, and then avoids unmanned plane and be in uncontrolled precarious position.
In the present embodiment, it obtains and flies the flying quality that control module is sent, the flying quality includes at least following any
One or combinations thereof: location information, height value, flying speed, offline mode, station-keeping mode, parameter information, the parameter information
Including course, yaw angle, pitch angle, roll angle；The flying quality is sent to cloud platform；Receive the control that the cloud platform is sent
System instruction.Cloud platform is realized according to flying quality, control instruction is sent to Internet of Things module, to realize cloud platform to nothing
Man-machine control or terminal controls unmanned plane by cloud platform, avoids since terminal can not be direct with unmanned plane
When connection, terminal controls unmanned plane by cloud platform, alternatively, cloud platform directly controls unmanned plane, and then improves control
The safety of unmanned plane processed.
Preferably, before the control instruction for receiving the cloud platform transmission, further includes:
Obtain the no-fly region that the cloud platform is sent；
According to the no-fly region, flight instruction is sent to the winged control module, so that the unmanned plane during flying is described
Safety zone other than no-fly region.
In the present embodiment, when increasing no-fly region newly, or reducing no-fly region, Internet of Things module can obtain in real time
Updated no-fly region in cloud platform, and then realize the effect in the no-fly region of real-time update.
It should be noted that the Internet of Things module in the present embodiment includes at least two eSIM cards；
According to the priority of the eSIM card, highest priority in the eSIM card that determination can be connect with the cloud platform
ESIM card is the eSIM card connecting with the cloud platform.
Specifically, the Internet of Things module in the present embodiment may include mobile module or narrowband Internet of Things NBIOT module,
Wherein, which can be 3G module or 4G module, also, embedded user identity is arranged in the mobile module
Identification card (Embedded Subscriber Identification Module, abbreviation eSIM), is arranged in NBIOT module
eSIM.Preferably, on circuit boards by eSIM welding, prevent unmanned plane from influencing in flight course on the vibration of eSIM.Meanwhile
At least two eSIM cards can be set in one Internet of Things module, each eSIM card corresponds to the communication chain of different operators offer
Road.The present embodiment can be cut using universal input/output circuit (General Purpose Input Output, abbreviation GPIO)
The mode changed switches over eSIM card, for example, is detecting that the connection between current eSIM card and cloud platform is unstable
When, it can be according to highest priority in the eSIM card that the priority of the eSIM card, determination can be connect with the cloud platform
ESIM card is the eSIM card connecting with the cloud platform, alternatively, communicating effect in the eSIM card that determination can be connect with the cloud platform
The optimal eSIM card of fruit is the eSIM card connecting with the cloud platform.
On the basis of the above embodiments, Internet of Things module obtains before flying the flying quality that control module is sent, can be with
Include:
Internet of Things module sends to cloud platform and logs in authentication information.
The login authentication information in the present embodiment includes at least unmanned plane number, unmanned plane location information and driver
Information, the unmanned plane number include the international mobile equipment identification number IMEI and temporal information of the unmanned plane；It needs to illustrate
, log-on message is sent to cloud platform in Internet of Things module, and after determining and logining successfully, Internet of Things module is to cloud platform
It sends and logs in authentication information.
Internet of Things module receives the login that cloud platform is sent and authenticates feedback information.
Specifically, login authentication feedback information includes instruction information, the instruction information includes: to determine described in permission
When unmanned plane during flying, flight instruction is sent to the Internet of Things module and report cycle, the report cycle include the object
Networking module sends the time interval of the flying quality to the cloud platform；When determining does not allow the unmanned plane during flying,
No-fly instruction is sent to the Internet of Things module.
Specifically, cloud platform determines that the unmanned plane is no-fly unmanned plane according to unmanned plane number, or according to institute
It states unmanned plane location information and determines that the unmanned plane determines that driver does not have in no-fly region, or according to the driver information
Operate the permission of the unmanned plane, it is determined that do not allow the unmanned plane during flying；
Cloud platform determines the unmanned plane to allow flight unmanned plane, or according to the nothing according to unmanned plane number
Man-machine location information determines that the unmanned plane is allowing flight range, or determines that driver has behaviour according to the driver information
Make the permission of the unmanned plane, it is determined that allow the unmanned plane during flying.
After cloud platform gets unmanned plane during flying data, nobody to fly can be seen by cloud platform in real time
Machine.Cloud platform administrator or unmanned plane driver can issue control instruction to specified unmanned plane.Cloud platform is to Internet of Things
The control instruction that module is sent can carry in report feedback message, and this report feedback message is Internet of Things module to cloud platform
Cloud platform is sent to Internet of Things module after transmission report message, wherein report message carries flying quality.
Meanwhile the present embodiment can also be connect with third party's unmanned plane supervisory systems, forward unmanned plane during flying data in real time
To the regulatory agency in related airspace.
During unmanned plane reports flying quality, unmanned plane driver can upload operation to cloud platform by terminal
Ground block message, including block area and mapping information, crops and pest and disease damage situation.These information, can be in cloud platform storage
It is shared in team, convenient working team assists to carry out operation, meanwhile, cloud platform can also count each team and the operation of member
Statistical data facilitates manager to grasp operation progress in time, the pest and disease damage situation with various regions, analyzes pest and disease damage development trend, mentions
Before prevented.
Fig. 2 is that the present invention is based on the flow diagrams of two embodiment of unmanned aerial vehicle (UAV) control method of cloud platform.As shown in Fig. 2,
The executing subject of the present embodiment is cloud platform, wherein the cloud platform is can to store the synthesis cloud taken into account with data processing with data
Platform.The applicable scene of the present embodiment is that unmanned plane starts, lands and when flight.Unmanned aerial vehicle (UAV) control side provided in this embodiment
Method, comprising:
Step 201 obtains the flying quality that Internet of Things module is sent.
Specifically, in the flight course of unmanned plane, the flying quality of unmanned plane meeting real-time collecting itself, wherein this flies
Row data include at least following any one or combinations thereof: location information, height value, flying speed, offline mode, positioning mould
Formula, parameter information, the parameter information include course, yaw angle, pitch angle, roll angle；Meanwhile in order to which terminal can obtain in real time
The flying quality of unmanned plane is taken, which can be sent to cloud platform by unmanned plane, and be saved in cloud platform.
Step 202 passes through the flying quality, the determining control instruction sent to the Internet of Things module.
For by the flying quality, determining that the control instruction sent to the Internet of Things module includes at least following two
Kind implementation:
The first implementation, according to the flying quality, determine whether the flying quality is more than early warning range；If really
The fixed flying quality is more than early warning range, it is determined that the control instruction sent to the Internet of Things module, the control instruction
The instruction of the winged control module is controlled for the cloud platform, the control instruction includes at least following any one: hovering refers to
It enables, instruction of force-landing, instruction of making a return voyage.
For example, cloud platform determines that unmanned plane has been in no-fly region, connects according to the location information in flying quality
, cloud platform sends hovering instruction, and instruction of making a return voyage to Internet of Things module；Alternatively, cloud platform flies according in flying quality
Row mode determines that unmanned plane has been in abnormal operating state, and then, cloud platform sends forced landing instruction to Internet of Things module.
Specifically, cloud platform can determine whether unmanned plane is more than early warning range according to flying quality, however, it is determined that described to fly
Row data are more than early warning range, it is determined that unmanned plane is in time of crisis, while cloud platform can directly be sent out to Internet of Things module
Send control instruction, without by terminal to unmanned plane send control instruction, and then avoid due to terminal by cloud platform to
Unmanned plane sends control instruction and leads to time delays.
Second of implementation sends the flying quality to terminal；The control instruction that terminal is sent is obtained, it is described
When control instruction can not be connect for the terminal with winged control module, the terminal controls the winged control mould by the cloud platform
The instruction of block.
Specifically, connecting in terminal with unmanned plane, i.e., terminal is connect with the flight control modules that unmanned plane is arranged in, can not
When getting the information of flight control modules transmission, while it can determine that terminal can not be connect with unmanned plane, so that terminal can be with
Unmanned plane is controlled by cloud platform, that is, terminal sends control instruction to cloud platform, so that cloud platform refers to control
Order is sent by Internet of Things module to flight control modules.It realizes, can not be connect in terminal with unmanned plane, that is, eventually
When can not directly control unmanned plane, terminal controls unmanned plane by cloud platform at end, so as to avoid terminal and
The lost contact of unmanned plane, and then avoid the lost contact for leading to unmanned plane.
Step 203 sends the control instruction to the Internet of Things module.
For example, in terminal and unmanned plane lost contact or other abnormal conditions, manager or unmanned plane driver can
With the flying quality sent by cloud platform, the flight progress of unmanned plane is obtained in real time, meanwhile, terminal can pass through cloud platform pair
Unmanned plane is controlled, or even when there is Emergency time, and cloud platform directly can send control instruction to terminal, with realization pair
The control of unmanned plane.
In the present embodiment, cloud platform obtains the flying quality that Internet of Things module is sent, and the flying quality includes at least
Following any one or combinations thereof: location information, height value, flying speed, offline mode, station-keeping mode, parameter information, it is described
Parameter information includes course, yaw angle, pitch angle, roll angle；By the flying quality, determines and sent out to the Internet of Things module
The control instruction sent；The control instruction is sent to the Internet of Things module.Cloud platform is realized according to flying quality, to Internet of Things
Net module sends control instruction, passes through cloud platform to unmanned plane to the control of unmanned plane or terminal to realize cloud platform
It being controlled, is avoided when can not be directly connected to unmanned plane due to terminal, terminal controls unmanned plane by cloud platform,
Alternatively, cloud platform directly controls unmanned plane, and then improve the safety of control unmanned plane.
Preferably, the flying quality for obtaining Internet of Things module and sending, comprising:
When the straight-line displacement value of unmanned plane is greater than default straight-line displacement value, the described of the Internet of Things module transmission is obtained
Flying quality, the straight-line displacement value include the location information and the unmanned plane when reporting the flying quality the last time
Linear distance between current location information；Or
When the difference in height of unmanned plane is greater than preset height value, the flight number that the Internet of Things module is sent is obtained
According to, the difference in height include it is the last report the flying quality when height value and the unmanned plane current level value it
Between difference；Or
When the flying speed changing value of unmanned plane is greater than pre-set velocity value, the described of the Internet of Things module transmission is obtained
Flying quality, the flying speed changing value include the current flight speed of the unmanned plane and the last time reporting the flight
The difference between flying speed when data；Or
When the offline mode of unmanned plane changes, the flying quality that the Internet of Things module is sent is obtained；Or
Person
When the station-keeping mode of unmanned plane changes, the flying quality that the Internet of Things module is sent is obtained；Or
Person
When the satellite number variation of unmanned plane is more than default satellite number, the flight that the Internet of Things module is sent is obtained
Data；Or
When the parameter information of unmanned plane is more than preset value, the flying quality that the Internet of Things module is sent is obtained,
The parameter information includes following any one: course changing value, pitch angle changing value or roll angle changing value, temperature, revolving speed
Changing value；Or
When reaching report cycle, the flying quality that the Internet of Things module is sent, the report cycle packet are obtained
Include the time interval that the Internet of Things module sends the flying quality to the cloud platform.
Cloud platform not only can obtain flying quality according to report cycle in the present embodiment, that is to say, that i.e. the set time
Interval obtain an Internet of Things module send flying quality, can also when the flight parameter of unmanned plane varies widely,
The flying quality that Internet of Things module is sent is obtained, realizes and unmanned plane is timely monitored.
It on the basis of the above embodiments, can be with before the flying quality that cloud platform obtains that Internet of Things module is sent
Include:
Obtain the login authentication information that the Internet of Things module is sent.
The login authentication information in the present embodiment includes at least unmanned plane number, unmanned plane location information and driver
Information, the unmanned plane number include the international mobile equipment identification number IMEI and temporal information of the unmanned plane；It needs to illustrate
, log-on message is sent to cloud platform in Internet of Things module, and after determining login successfully, the available Internet of Things of cloud platform
The login authentication information that net module is sent.
According to the log-on message, determine that the License Info of unmanned plane, the License Info include whether to allow the nothing
The information of man-machine flight；
It is sent to the Internet of Things module and logs in authentication feedback information, it includes instruction information which, which authenticates feedback information,
The instruction information include: determine allow the unmanned plane during flying when, to the Internet of Things module send flight instruction and
Report cycle, the report cycle include that the Internet of Things module was sent to the cloud platform between the time of the flying quality
Every；When determining does not allow the unmanned plane during flying, no-fly instruction is sent to the Internet of Things module.
Specifically, cloud platform determines that the unmanned plane is no-fly unmanned plane according to unmanned plane number, or according to institute
It states unmanned plane location information and determines that the unmanned plane determines that driver does not have in no-fly region, or according to the driver information
Operate the permission of the unmanned plane, it is determined that do not allow the unmanned plane during flying；
Cloud platform determines the unmanned plane to allow flight unmanned plane, or according to the nothing according to unmanned plane number
Man-machine location information determines that the unmanned plane is allowing flight range, or determines that driver has behaviour according to the driver information
Make the permission of the unmanned plane, it is determined that allow the unmanned plane during flying.
Fig. 3 is that the present invention is based on the flow diagrams of three embodiment of unmanned aerial vehicle (UAV) control method of cloud platform.As shown in figure 3,
The executing subject of the present embodiment is terminal, wherein the terminal can be the moveable terminal that ground is arranged in, and the terminal
It can be with cloud platform and UAV Communication.The applicable scene of the present embodiment can not be connect with unmanned plane for terminal or terminal
When the link connecting with unmanned plane is unstable.Unmanned aerial vehicle (UAV) control method provided in this embodiment, comprising:
Step 301, terminal obtain the flying quality that cloud platform is sent.
Step 302, terminal determine control instruction according to the flying quality.
In the present embodiment, the control instruction controls the instruction of the winged control module for terminal by cloud platform；
Step 303, terminal send control instruction to cloud platform, refer to so as to send control to winged control module by cloud platform
It enables.
In the present embodiment, terminal obtains the flying quality that cloud platform is sent；Terminal determines control according to the flying quality
System instruction, the control instruction are used to control the instruction of the winged control module；The terminal sends control instruction to cloud platform, with
Make to send the control instruction to the winged control module by cloud platform；It realizes terminal and passes through control of the cloud platform to unmanned plane
System, when avoiding terminal can not connect with unmanned plane, terminal controls unmanned plane by cloud platform.
Fig. 4 is that the present invention is based on the structural schematic diagrams of one embodiment of unmanned aerial vehicle control system of cloud platform；Fig. 5 is the present invention
The flow diagram of four embodiment of unmanned aerial vehicle (UAV) control method based on cloud platform.As shown in figure 4, terminal and winged control module pass through nothing
Line radio station number, which passes mode, to carry out data transmission, meanwhile, terminal can also be carried out data transmission by mobile network and cloud platform, and
And the Internet of Things module of unmanned plane and cloud platform carry out number by mobile network and pass transmission, wherein are arranged in inside unmanned plane
Fly to pass through Serial Peripheral Interface (SPI) (Serial Peripheral Interface, abbreviation SPI) between control module and Internet of Things module
And/or universal asynchronous receiving-transmitting transmitter (Universal Asynchronous Receiver/Transmitter, abbreviation UART)
It is communicated, wherein the terminal can be the mobile terminal that earth station is arranged in.
Specifically, as shown in figure 5, unmanned aerial vehicle (UAV) control method provided in this embodiment, comprising:
Step 501 flies control module to Internet of Things module transmission login authentication information.
Step 502, Internet of Things module are sent to cloud platform logs in authentication information.
Step 503, cloud platform determine the License Info of Internet of Things module according to authentication information is logged in.
Step 504, cloud platform are sent to Internet of Things module logs in authentication feedback information.
Login authentication feedback information in the present embodiment includes License Info.
Step 505, Internet of Things module are sent to winged control module logs in authentication feedback information.
Step 506 flies control module to Internet of Things module transmission flying quality.
Step 507, Internet of Things module send flying quality to cloud platform.
Step 508, cloud platform determine the control instruction sent to the Internet of Things module according to flying quality.
In the present embodiment, the control instruction controls the instruction of the winged control module, the control for the cloud platform
System instruction includes at least following any one: hovering instruction, forced landing instruction, instruction of making a return voyage.
Step 509, cloud platform send control instruction to the Internet of Things module.
Step 510, Internet of Things module send control instruction to winged control module.
Fig. 6 is that the present invention is based on the flow diagrams of five embodiment of unmanned aerial vehicle (UAV) control method of cloud platform.As shown in fig. 6,
Unmanned aerial vehicle (UAV) control method provided in this embodiment, comprising:
Step 601 flies control module to Internet of Things module transmission login authentication information.
Step 602, Internet of Things module are sent to cloud platform logs in authentication information.
Step 603, cloud platform determine the License Info of Internet of Things module according to authentication information is logged in.
Step 604, cloud platform are sent to Internet of Things module logs in authentication feedback information.
Login authentication feedback information in the present embodiment includes License Info.
Step 605, Internet of Things module are sent to winged control module logs in authentication feedback information.
Step 606 flies control module to Internet of Things module transmission flying quality.
Step 607, Internet of Things module send flying quality to cloud platform.
Step 608, cloud platform send flying quality to terminal
Step 609, terminal determine the control instruction sent to the Internet of Things module according to flying quality.
In the present embodiment, the control instruction is for flying the instruction of control module described in the terminal control.
Step 610, terminal send control instruction to cloud platform.
Step 611, cloud platform send control instruction to the Internet of Things module.
Step 612, Internet of Things module send control instruction to winged control module.
Fig. 7 is the structural schematic diagram of one embodiment of internet of things equipment of the present invention.As shown in fig. 7, object provided in this embodiment
Networking module, comprising: obtain module 71 and processing module 72；Wherein,
Module 71 is obtained, for obtaining the flying quality for flying control module and sending, the flying quality includes at least following
Meaning one or combinations thereof: location information, height value, flying speed, offline mode, station-keeping mode, parameter information, the parameter letter
Breath includes course, yaw angle, pitch angle, roll angle；Receive the control instruction that the cloud platform is sent.
Processing module 72, for sending the flying quality to cloud platform according to preset condition；
In the present embodiment, cloud platform is realized by flying quality, is sent the control to the Internet of Things module and is referred to
Enable, and then realize cloud platform and the control of unmanned plane or terminal control unmanned plane by cloud platform, avoid by
When terminal can not be connect with unmanned plane, control of the terminal to unmanned plane.
On the basis of the above embodiments, the control instruction controls the finger of the winged control module for the cloud platform
It enables, the control instruction includes at least following any one: hovering instruction, forced landing instruction, instruction of making a return voyage.
Module 71 is obtained, is also used to receive the control instruction that terminal is sent by the cloud platform, the control instruction is used
When the terminal can not be connect with winged control module, the instruction of the winged control module is controlled by the cloud platform.
Processing module 72 is also used to when the straight-line displacement value for determining unmanned plane is greater than default straight-line displacement value, Xiang Yunping
Platform sends the flying quality, and the straight-line displacement value includes the location information and institute when reporting the flying quality the last time
State the linear distance between the current location information of unmanned plane；Or
When the difference in height for determining unmanned plane is greater than preset height value, the flying quality, the height are sent to cloud platform
Degree difference includes the difference between the current level value of the height value and the unmanned plane when reporting the flying quality the last time；
Or
When the flying speed changing value for determining unmanned plane is greater than pre-set velocity value, the flight number is sent to cloud platform
Include the current flight speed of the unmanned plane according to, the flying speed changing value and when the last time reports the flying quality
Flying speed between difference；Or
When the offline mode for determining unmanned plane changes, the flying quality is sent to cloud platform；Or
When the station-keeping mode for determining unmanned plane changes, the flying quality is sent to cloud platform；Or
When the satellite number variation for determining unmanned plane is more than default satellite number, the flying quality is sent to cloud platform；Or
Person
When the parameter information for determining unmanned plane is more than preset value, the flying quality, the parameter are sent to cloud platform
Information includes following any one: course changing value, pitch angle changing value or roll angle changing value, temperature, rotation speed change value；Or
Person
According to report cycle, the flying quality is sent to cloud platform, the report cycle includes the Internet of Things module
The time interval of the flying quality is sent to the cloud platform.
In the present embodiment, cloud platform is realized according to flying quality, sends control instruction to Internet of Things module, thus real
Showed cloud platform and the control of unmanned plane or terminal controlled unmanned plane by cloud platform, avoid due to terminal without
When method and unmanned plane are directly connected to, terminal controls unmanned plane by cloud platform, alternatively, cloud platform directly controls nobody
Machine, and then improve the safety of control unmanned plane.
Fig. 8 is the structural schematic diagram of one embodiment of cloud platform of the present invention.As shown in figure 8, cloud platform provided in this embodiment,
It include: to obtain module 81, processing module 82 and sending module 83；Wherein,
Module 81 is obtained, for obtaining the flying quality of Internet of Things module transmission, the flying quality includes at least following
Any one or combinations thereof: location information, height value, flying speed, offline mode, station-keeping mode, parameter information, the parameter
Information includes course, yaw angle, pitch angle, roll angle；
Processing module 82, for determining the control instruction sent to the Internet of Things module by the flying quality；
Sending module 83, for sending the control instruction to the Internet of Things module.
In the present embodiment, cloud platform is realized by flying quality, is sent the control to the Internet of Things module and is referred to
Enable, and then realize cloud platform and the control of unmanned plane or terminal control unmanned plane by cloud platform, avoid by
When terminal can not be connect with unmanned plane, control of the terminal to unmanned plane.
Further, on the basis of the above embodiments, processing module 82 are also used to be determined according to the flying quality
Whether the flying quality is more than early warning range；
If it is determined that the flying quality is more than early warning range, it is determined that the control instruction sent to the Internet of Things module,
The control instruction controls the instruction of the winged control module for the cloud platform, and the control instruction includes at least following any
One: hovering instruction, forced landing instruction, instruction of making a return voyage.
Sending module 83 is also used to send the flying quality to terminal；
Module 81 is obtained, is also used to obtain the control instruction of terminal transmission, the control instruction is used for the terminal
When can not connect with winged control module, the terminal controls the instruction of the winged control module by the cloud platform.
In the present embodiment, cloud platform is realized by flying quality, is sent the control to the Internet of Things module and is referred to
Enable, and then realize cloud platform and the control of unmanned plane or terminal control unmanned plane by cloud platform, avoid by
When terminal can not be connect with unmanned plane, control of the terminal to unmanned plane.
The present embodiment also provides a kind of cloud platform, comprising:
Processor；
And the memory of storage computer executable instructions, the executable instruction pass through the processing when executed
Device executes the unmanned aerial vehicle (UAV) control method described in above-mentioned Fig. 1 based on cloud platform.
In the present embodiment, cloud platform is realized according to flying quality, sends control instruction to Internet of Things module, thus real
Showed cloud platform and the control of unmanned plane or terminal controlled unmanned plane by cloud platform, avoid due to terminal without
When method and unmanned plane are directly connected to, terminal controls unmanned plane by cloud platform, alternatively, cloud platform directly controls nobody
Machine, and then improve the safety of control unmanned plane.
The present embodiment also provides a kind of cloud platform, comprising:
Processor；
And the memory of storage computer executable instructions, the executable instruction pass through the processing when executed
Device executes the unmanned aerial vehicle (UAV) control method described in above-mentioned Fig. 2 based on cloud platform.
In the present embodiment, cloud platform is realized by flying quality, is sent the control to the Internet of Things module and is referred to
Enable, and then realize cloud platform and the control of unmanned plane or terminal control unmanned plane by cloud platform, avoid by
When terminal can not be connect with unmanned plane, the control of terminal and cloud platform to unmanned plane.
The present embodiment also provides a kind of unmanned aerial vehicle control system based on cloud platform, comprising: as the Internet of Things of above-mentioned Fig. 7 is set
The cloud platform and terminal and flying control equipment of standby, such as above-mentioned Fig. 8, the terminal are flat with the flying control equipment and the cloud respectively
Platform connection.
In the present embodiment, cloud platform is realized according to flying quality, sends control instruction to Internet of Things module, thus real
Showed cloud platform and the control of unmanned plane or terminal controlled unmanned plane by cloud platform, avoid due to terminal without
When method and unmanned plane are directly connected to, terminal controls unmanned plane by cloud platform, alternatively, cloud platform directly controls nobody
Machine, and then improve the safety of control unmanned plane.
Although disclosed herein embodiment it is as above, the content only for ease of understanding the present invention and use
Embodiment is not intended to limit the invention.Technical staff in any fields of the present invention is taken off not departing from the present invention
Under the premise of the spirit and scope of dew, any modification and variation, but the present invention can be carried out in the form and details of implementation
Scope of patent protection, still should be subject to the scope of the claims as defined in the appended claims.
Claims (10)
1. a kind of unmanned aerial vehicle (UAV) control method based on cloud platform characterized by comprising
It obtains and flies the flying quality that control module is sent, the flying quality includes at least following any one or combinations thereof: position
Information, height value, flying speed, offline mode, station-keeping mode, parameter information, the parameter information include course, yaw angle,
Pitch angle, roll angle；
According to preset condition, the flying quality is sent to cloud platform；
Receive the control instruction that the cloud platform is sent.
2. the method according to claim 1, wherein the control instruction is described winged for cloud platform control
The instruction of module is controlled, the control instruction includes at least following any one: hovering instruction, forced landing instruction, instruction of making a return voyage.
3. the method according to claim 1, wherein the control instruction for receiving the cloud platform and sending, packet
It includes:
The control instruction that terminal is sent by the cloud platform is received, the control instruction can not be with winged control mould for the terminal
When block connects, the instruction of the winged control module is controlled by the cloud platform.
4. method according to claim 1-3, which is characterized in that it is described according to preset condition, it is sent out to cloud platform
Send the flying quality, comprising:
When the straight-line displacement value for determining unmanned plane is greater than default straight-line displacement value, the flying quality, institute are sent to cloud platform
State the present bit confidence that straight-line displacement value includes the location information and the unmanned plane when reporting the flying quality the last time
Linear distance between breath；Or
When the difference in height for determining unmanned plane is greater than preset height value, the flying quality, the difference in height are sent to cloud platform
Height value when reporting the flying quality including the last time and the difference between the current level value of the unmanned plane；Or
When the flying speed changing value for determining unmanned plane is greater than pre-set velocity value, the flying quality, institute are sent to cloud platform
Stating flying speed changing value includes that the current flight speed of the unmanned plane and the last report fly when the flying quality
Difference between scanning frequency degree；Or
When the offline mode for determining unmanned plane changes, the flying quality is sent to cloud platform；Or
When the station-keeping mode for determining unmanned plane changes, the flying quality is sent to cloud platform；Or
When the satellite number variation for determining unmanned plane is more than default satellite number, the flying quality is sent to cloud platform；Or
When the parameter information for determining unmanned plane is more than preset value, the flying quality, the parameter information are sent to cloud platform
Including following any one: course changing value, pitch angle changing value or roll angle changing value, temperature, rotation speed change value；Or
According to report cycle, the flying quality is sent to cloud platform, and the report cycle includes the Internet of Things module to institute
State the time interval that cloud platform sends the flying quality.
5. a kind of unmanned aerial vehicle (UAV) control method based on cloud platform characterized by comprising
The flying quality that Internet of Things module is sent is obtained, the flying quality includes at least following any one or combinations thereof: position
Confidence breath, height value, flying speed, offline mode, station-keeping mode, parameter information, the parameter information include course, yaw
Angle, pitch angle, roll angle；
By the flying quality, the control instruction sent to the Internet of Things module is determined；
The control instruction is sent to the Internet of Things module.
6. according to the method described in claim 5, determining to the Internet of Things it is characterized in that, described by the flying quality
Net module sends control instruction, comprising:
According to the flying quality, determine whether the flying quality is more than early warning range；
If it is determined that the flying quality is more than early warning range, it is determined that the control instruction sent to the Internet of Things module, it is described
Control instruction controls the instruction of the winged control module for the cloud platform, and the control instruction includes at least following any one
: hovering instruction, forced landing instruction, instruction of making a return voyage.
7. according to the method described in claim 5, determining to the Internet of Things it is characterized in that, described by the flying quality
Net module sends control instruction, comprising:
The flying quality is sent to terminal；
The control instruction that terminal is sent is obtained, when the control instruction can not be connect for the terminal with winged control module,
The terminal controls the instruction of the winged control module by the cloud platform.
8. a kind of internet of things equipment characterized by comprising
Processor；
And the memory of storage computer executable instructions, the executable instruction pass through the processor when executed and hold
Unmanned aerial vehicle (UAV) control method described in row the claims 1-4 based on cloud platform.
9. a kind of cloud platform characterized by comprising
Processor；
And the memory of storage computer executable instructions, the executable instruction pass through the processor when executed and hold
Unmanned aerial vehicle (UAV) control method described in row the claims 5-7 based on cloud platform.
10. a kind of unmanned aerial vehicle control system based on cloud platform characterized by comprising such as above-mentioned object according to any one of claims 8
Networked devices, such as above-mentioned cloud platform as claimed in claim 9 and terminal and flying control equipment, the terminal fly with described respectively
Control equipment is connected with the cloud platform.
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Application publication date: 20181204 |