CN110383189A - Unmanned aerial vehicle (UAV) control method and control device - Google Patents
Unmanned aerial vehicle (UAV) control method and control device Download PDFInfo
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- CN110383189A CN110383189A CN201880014089.3A CN201880014089A CN110383189A CN 110383189 A CN110383189 A CN 110383189A CN 201880014089 A CN201880014089 A CN 201880014089A CN 110383189 A CN110383189 A CN 110383189A
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- 238000000034 method Methods 0.000 title claims abstract description 65
- 238000012795 verification Methods 0.000 claims abstract description 41
- 238000013475 authorization Methods 0.000 claims description 9
- 238000006243 chemical reaction Methods 0.000 claims description 9
- 230000004913 activation Effects 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 239000000203 mixture Substances 0.000 claims description 4
- 238000012790 confirmation Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L9/00—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols
- H04L9/32—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L9/00—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols
- H04L9/32—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials
- H04L9/3215—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials using a plurality of channels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
- H04W12/06—Authentication
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- Computer Security & Cryptography (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Selective Calling Equipment (AREA)
Abstract
A kind of unmanned aerial vehicle (UAV) control method, comprising: the step of client application control, client has issued the application signal of application control to unmanned plane；Unmanned plane issues the step of encoded signal, and unmanned plane issues encoded signal to client；Client feedback step, client receives the encoded signal issued from unmanned plane, and emits feedback signal after treatment；Verification step, unmanned plane are verified the feedback signal that client emits to determine whether the applied control of authorized client.
Description
Copyright notice
This patent document disclosure includes material protected by copyright.The copyright is all for copyright holder.Copyright
Owner does not oppose the patent document in the presence of anyone replicates the proce's-verbal of Patent&Trademark Office and archives or specially
Benefit discloses.
Technical field
The embodiment of the present disclosure belongs to air vehicle technique field, and in particular to captures the method for the control of unmanned plane.
Background technique
When operator is more remote from unmanned plane, needs to carry out a verification process and carry out the legal of verification operation personnel
Then identity receives his control.Operator does not have any equipment that can send input signal to unmanned plane at this time, that is, does not have
The device of input signal, and the safety in order to ensure unmanned plane itself can be sent, needs to allow unmanned plane before through verification
Certain safe distance or more is maintained at a distance from application personnel.
Cause unmanned plane can not be by camera face recognition come the identity of confirmation operation personnel and operator in distance
Member also without any remote control equipment in the case where, it is desirable to provide a method of obtain unmanned plane control.
Summary of the invention
The one aspect of the embodiment of the present disclosure provides a kind of unmanned aerial vehicle (UAV) control method comprising:
The step of receiving application control, unmanned plane receives the application signal of the application control issued from client；
The step of issuing encoded signal, unmanned plane issue encoded signal to client；
Client feedback step is received, unmanned plane receives the feedback signal issued from client, which is client
End is according to the encoded signal that the receives signal that carries out that treated；
Verification step, unmanned plane are verified the feedback signal to determine whether the applied control of authorized client
Power.
According to the one aspect of the embodiment of the present disclosure, the application signal of the received request application control of unmanned plane is projection
Pattern.
According to the one aspect of the embodiment of the present disclosure, unmanned plane is to verify ciphertext to the encoded signal that client issues.
According to the one aspect of the embodiment of the present disclosure, the verification ciphertext is randomly generated by unmanned plane.
According to the one aspect of the embodiment of the present disclosure, before the reception client feedback step further include:
Coding step is received, client receives the issued encoded signal of unmanned plane；
Received encoded signal is decoded by identification step, client；
Identified received encoded signal is converted into feedback signal by switch process, client.
According to the one aspect of the embodiment of the present disclosure, the feedback signal is the specific image for including verification information.
According to the one aspect of the embodiment of the present disclosure, in the application signal, the encoded signal and the feedback signal
At least one be at least one of navigation lights flash signal, voice signal, gesture motion or text.
According to the one aspect of the embodiment of the present disclosure, in authorization verification process, if the feedback time of client is more than
Scheduled maximum latency, unmanned plane then revert to standby mode.
According to the one aspect of the embodiment of the present disclosure, in authorization verification process, if authentication error number is more than predetermined
Value, unmanned plane then revert to standby mode.
According to the one aspect of the embodiment of the present disclosure, the step of client transmitting feedback signal includes by included LED
Lamp projects specific image.
According to the one aspect of the embodiment of the present disclosure, the step of projection specific image include: on nearest ground or
Specific image is projected on person's wall.
According to the one aspect of the embodiment of the present disclosure, the specific image is the gesture of application control pattern, operator
Movement, sound or can be by least one of text that unmanned plane camera identifies etc..
According to the one aspect of the embodiment of the present disclosure, the control command without permission is provided in unmanned plane, in client
When end issues signal specific, camera is focused on designated position according to the control command by unmanned plane.
According to the one aspect of the embodiment of the present disclosure, the designated position is the client place for issuing the signal specific
Position.
According to the one aspect of the embodiment of the present disclosure, active search command is provided in unmanned plane, according to the active
Search command, by original place, actively control pattern is applied in search to unmanned plane when standby.
According to the one aspect of the embodiment of the present disclosure, when unmanned plane determines the applied control of authorized client, nothing
Man-machine sending authorization signal, to notify the client to take control.
According to the one aspect of the embodiment of the present disclosure, the client passes through the authorization signal solution that decoding device will receive
Code takes control with determination.
According to the one aspect of the embodiment of the present disclosure, the unmanned plane includes one group of unmanned plane of multiple unmanned plane compositions,
One of unmanned plane is as leader；
The unmanned plane includes one group of unmanned plane of multiple unmanned planes composition, one of unmanned plane as leader, remaining
Unmanned plane as subsidiary engine；
It is proprietary to receive the group that the leader reception that the step of applying for control includes this group of unmanned plane is issued from client
Apply for control pattern；
The step of issuing encoded signal includes emitting encoded signal to client by the leader；
Receiving client feedback step includes that the leader of the group receives the feedback signal issued from client, the feedback letter
It number include the checking signal for representing specified unmanned plane；
Verification step includes leader by finding specified unmanned plane after comparison, and specifies the operating right of unmanned plane to assign this
Give client.
According to the one aspect of the embodiment of the present disclosure, the participation verification information of respective unmanned plane turns in this group of unmanned plane
The parameter changed is different.
According to the one aspect of the embodiment of the present disclosure, respective unmanned plane corresponds to different activation and tests in this group of unmanned plane
The image of card process.
According to the one aspect of the embodiment of the present disclosure, according to the difference of specified unmanned plane, client convert after verifying
Ciphertext is different.
It further include that the leader in one group of unmanned plane is directed at client according to the one aspect of the embodiment of the present disclosure
Step.
According to the one aspect of the embodiment of the present disclosure, a subsidiary engine first discovery in one group of unmanned plane has application
In the case where control pattern, which communicates with the leader, so that the leader is directed at client.
According to the one aspect of the embodiment of the present disclosure, a subsidiary engine first discovery in one group of unmanned plane has application
In the case where control pattern, the subsidiary engine according to the instruction of the leader come with client communication.
According to the one aspect of the embodiment of the present disclosure, when multiple client issues application control to the same unmanned plane
When applying for signal, due to including Permission Levels in the feedback signal of client transmitting, unmanned plane selects to have in verification step
The client of higher-rights grade is completed to verify.
The one aspect of the embodiment of the present disclosure provides a kind of unmanned aerial vehicle (UAV) control device, for executing above-described side
Method.
According to the control device of the one aspect of the embodiment of the present disclosure, comprising:
Reception device is encoded, for receiving the issued encoded signal of unmanned plane；
Decoding apparatus, for received encoded signal to be decoded；With
Conversion equipment, for received encoded signal is converted into include verification information specific image；
Feedback device, for projecting the specific image for unmanned plane identification.
Feedback device according to the one aspect of the embodiment of the present disclosure is projection arrangement.
Detailed description of the invention
In order to which the embodiment of the present disclosure and its advantage is more fully understood, referring now to being described below in conjunction with attached drawing,
In:
Fig. 1 diagrammatically illustrates unmanned aerial vehicle (UAV) control method process according to an embodiment of the present invention；
Fig. 2 diagrammatically illustrates one and captures the control method process of specific unmanned plane in multiple unmanned planes；With
Fig. 3 diagrammatically illustrates the control method process that more people take unmanned plane in single unmanned plane by permission height.
Specific embodiment
Hereinafter, will be described with reference to the accompanying drawings embodiment of the disclosure.However, it should be understood that these descriptions are only exemplary
, and it is not intended to limit the scope of the present disclosure.In addition, in the following description, descriptions of well-known structures and technologies are omitted, with
Avoid unnecessarily obscuring the concept of the disclosure.
Term as used herein is not intended to limit the disclosure just for the sake of description specific embodiment.It uses herein
The terms "include", "comprise" etc. show the presence of the feature, step, operation and/or component, but it is not excluded that in the presence of
Or add other one or more features, step, operation or component.
There are all terms (including technical and scientific term) as used herein those skilled in the art to be generally understood
Meaning, unless otherwise defined.It should be noted that term used herein should be interpreted that with consistent with the context of this specification
Meaning, without that should be explained with idealization or excessively mechanical mode.
It, in general should be according to this using statement as " at least one in A, B and C etc. " is similar to
Field technical staff is generally understood the meaning of the statement to make an explanation (for example, " system at least one in A, B and C "
Should include but is not limited to individually with A, individually with B, individually with C, with A and B, with A and C, have B and C, and/or
System etc. with A, B, C).Using statement as " at least one in A, B or C etc. " is similar to, generally come
Saying be generally understood the meaning of the statement according to those skilled in the art to make an explanation (for example, " having in A, B or C at least
One system " should include but is not limited to individually with A, individually with B, individually with C, with A and B, have A and C, have
B and C, and/or the system with A, B, C etc.).It should also be understood by those skilled in the art that substantially arbitrarily indicating two or more
The adversative conjunction and/or phrase of optional project shall be construed as either in specification, claims or attached drawing
A possibility that giving including one of these projects, either one or two projects of these projects.For example, phrase " A or B " should
A possibility that being understood to include " A " or " B " or " A and B ".
Unmanned plane (specially unmanned vehicle, unmanned aerial vehicle, UAV) described below includes example
Such as fixed wing aircraft and gyroplane, such as helicopter, four-axle aircraft and fly with other quantity and/or rotor structure
Machine.It is provided with image collecting device on unmanned plane, for acquiring target image, such as can be used for shooting photo, shoots video
Deng.
Fig. 1 diagrammatically illustrates unmanned aerial vehicle (UAV) control method process according to an embodiment of the present invention.
A kind of unmanned aerial vehicle (UAV) control method, which is characterized in that the unmanned aerial vehicle (UAV) control method includes:
The step of client application control, client have issued the application signal of application control to unmanned plane；
Unmanned plane issues the step of encoded signal, and unmanned plane issues encoded signal to client；
Client feedback step, client receive the encoded signal issued from unmanned plane, and transmitting feedback after treatment
Signal；
Verification step, unmanned plane are verified the feedback signal that client emits to determine whether authorized client institute Shen
Control please.
Client has issued request to unmanned plane and applies for that the application signal of control is projection pattern.
Unmanned plane is to verify ciphertext to the encoded signal that client issues.
The verification ciphertext is randomly generated by unmanned plane.
The client feedback step includes:
Receiving step is encoded, client receives the issued encoded signal of unmanned plane；
Received encoded signal is decoded by identification step, client；
Identified received encoded signal is converted into feedback signal by switch process, client.
The feedback signal is the specific image for including verification information.
At least one of the application signal, the encoded signal and described feedback signal be navigation lights flash signal,
At least one of voice signal, gesture motion or text.
When the two needs to communicate with each other, unmanned plane can be flashed by navigation lights issues certain encoded signal or broadcast sound
Sound is emitted to the coding receiving device of operator, decrypts unmanned plane boat lamp by the equipment decodable code and flashes included request
Information, is reconverted into correct verification information scrambled and the LED light by carrying projects into a specific image and allows nobody
Machine camera can identify on remote to be inputted.
Unmanned plane can all send different checking requests to operator, operation by scrambled when therefore verifying every time
Personnel project corresponding image by the equipment on nearest ground or wall, and ciphertext is returned to unmanned plane, as long as should
Equipment can guarantee the legitimacy of operator in correct operator's hand.
Referring to attached drawing 1, detailed description are as follows:
Firstly, unmanned plane hovers at some home, the case where making camera scan surrounding is rotated in place.Operator
Member station is at some home apart from unmanned plane certain distance.
According to one embodiment, the control command without permission is provided in unmanned plane.According to this control command, only
Operator is wanted to issue a signal specific, it can order unmanned plane camera focuses on designated position.
According to another embodiment, unmanned plane can in some way when standby, and distance and 360 degree are actively searched in original place
Whether the pattern of doubtful application control is had in visual range.
The step of reference attached drawing 1, detailed description client request application control, is as follows:
Operator station can some position taken by the camera by unmanned plane, got and asked with signal receiver
Seek the projection pattern of application control.
Specifically, as shown in Fig. 1, in step sl:
Client is projected out application control pattern.
As shown in Fig. 1, step S1 is illustrated from the arrow that the projecting block of client is directed toward unmanned plane.Pass through the step
S1, operator have issued the projection pattern of request application control to unmanned plane.Projection pattern be only exemplary rather than
Exclusive, operator can also emit various other encoded signals, such as broadcast sounds etc..
For unmanned plane identification pattern can diversified forms, such as the gesture motion of operator, or can be by nobody
The text etc. of machine camera identification.
Referring to attached drawing 1, it is as follows that the step of unmanned generator terminal issues verification ciphertext is described in detail:
In this step, unmanned plane generates one section of ciphertext at random and encodes to client sending.As shown in Fig. 1, from nobody
The arrow that machine is directed toward the decoding block of client illustrates step S2.By step S2, unmanned plane has issued to operator
Verify ciphertext.As shown in the picture, which is navigation lights flash signal.Navigation lights flash signal be only exemplary and
Nonexcludability, unmanned plane can also emit various other encoded signals, such as broadcast sounds etc..
Referring to attached drawing 1, client feedback is described in detail, and steps are as follows:
In this step, client feeds back received verification ciphertext.As shown in Fig. 1, in step s3,
Client conversion ciphertext is encoded to projection pattern and projects.According to one embodiment of present invention, as shown in Fig. 1, the step
Rapid includes three decoding, conversion-coding and projection steps.
Decoding step is also referred to as identification step, and in this step, client is identified by decoding device and issued by unmanned plane
Ciphertext coding.As shown in Fig. 1, client is realized in the decoding block of client to encode the ciphertext that unmanned plane issues
Identification, specifically, operator pass through decoding device identification signal.
Conversion-coding step is also referred to as client switch process or client coding step, in this step, client
After the ciphertext issued by unmanned plane identified is converted and recompile.By the step, client is turned by built-in
Mold changing block received encoded signal is converted into include verification information specific image.Image be only exemplary rather than
It is exclusive, various other encoded signals, such as broadcast sounds etc. can also be converted into.
In projection step, the specific image that client will convert into is projected.According to one embodiment of present invention, client
End projects pattern on nearest ground or wall by LED light array.
Image can be application control pattern, the gesture motion of operator, sound or can be known by unmanned plane camera
At least one of other text etc..
Referring to attached drawing 1, it is as follows that unmanned generator terminal verification step is described in detail:
In this step, camera is directed at the pattern being projected out by client by unmanned plane, starts verification process.Specifically
Ground, unmanned plane identify the pattern projected by client and decoding, the same conversion regime of the ciphertext that oneself had previously been issued
It is compared after conversion, verifying ciphertext, which meets, completes verifying.
After verifying, client is to obtain the authorization of unmanned plane.But in licensing process, if wait operator
Member's feedback time is more than maximum latency or authentication error number is more than certain restrictions, before unmanned plane then reverts to
Standby mode.
Finally, unmanned plane can pass through previously described side when unmanned plane confirmation assigns operating right to the client
Formula issues signal, and the decoding device of the client can determine whether that knowing whether oneself has taken makes for after the signal received decoding
With power.For example, unmanned plane issues signal " I is held the people that id is xxx equipment and controls ", id is the decoding of the client of xxx
Equipment exports the information after interpreting the signal.
Fig. 2 diagrammatically illustrates one and captures the control method process of specific unmanned plane in multiple unmanned planes.
The unmanned plane includes one group of unmanned plane of multiple unmanned plane compositions, and one of unmanned plane is as leader；
The step of client application control includes that client to the leader of the group emits the proprietary application control of the group
Pattern；
Unmanned plane issues the step of encoded signal including emitting encoded signal to client by the leader；
Client feedback step includes that client is converted to the verifying letter for representing specified unmanned plane to the transmitting of the leader of the group
Number；
Verification step includes leader by finding specified unmanned plane after comparison, and specifies the operating right of unmanned plane to assign this
Give client.
The parameter of the participation verification information conversion of respective unmanned plane is different in this group of unmanned plane.
Respective unmanned plane corresponds to the image of different activation verification process in this group of unmanned plane.
According to the difference of specified unmanned plane, the verifying ciphertext after client is converted is different.
Referring to attached drawing 2, it is as follows that the case where one captures specific unmanned plane in multimachine is described in detail:
There are different groups of multiple unmanned planes, respective unmanned plane corresponds to different activation verification process
Image.Same group of different unmanned planes, the parameter for participating in verification information conversion is different, receives same request ciphertext,
According to the difference of specified unmanned plane, the verifying ciphertext after conversion is different, and decoding or LED projection equipment are set first for specific
Group issues the verifying pattern of activation corresponding to the group.
When having an airplane to receive effective active information in the group, the main unmanned plane in the group passes through boat lamp to operation
Personnel issue verification information, according to the unmanned plane that operator specifies on decoding device, convert the checking signal of the corresponding machine
Leader is sent back to, leader can equally convert out effective transitional information of each machine of subordinate, by finding specified unmanned plane after comparison,
And assign its operating right to operator.
Referring to shown in Fig. 2, Fig. 2 shows one group of unmanned plane, specifically, including a leader and three group member's unmanned planes,
It is respectively labeled as No. 1 machine, No. 2 machines and No. 3 machines.
If client specifies this group of unmanned plane, and specifies No. 3 machines, the operating method for capturing control is as follows:
Firstly, client emits the proprietary application control pattern of the group to the leader of the group；
Then, leader emits verification ciphertext to client；
Subsequently, client is converted to the verifying ciphertext for representing No. 3 machines to the transmitting of the leader of the group；
Finally, leader assigns client by finding specified unmanned plane after comparison, and by its operating right.
Fig. 3 diagrammatically illustrates the control method process that more people take unmanned plane in single unmanned plane by permission height.
When multiple client issues the application signal of application control to the same unmanned plane, due to client transmitting
It include Permission Levels in feedback signal, unmanned plane selects the client with higher-rights grade to complete to test in verification step
Card.
Referring to attached drawing 3, it is as follows that the case where single machine is captured in more people by permission height is described in detail:
When separate unit unmanned plane issues verification information, while there are multiple decoding devices to receive the information, different decodings is set
Standby to convert out different patterns according to different rights, unmanned plane receives multiple pattern-informations after verifying, by operating right
Imparting represents the highest pattern sender of permission.
Referring to shown in Fig. 3, three clients are shown in fig. 3, and respectively there is permission 1, permission 2 and permission 3,
Middle permission 1 is greater than permission 2, and permission 2 is greater than permission 3.
When three clients all issue application control to unmanned plane, client 1 represents permission 1 to unmanned plane sending
Ciphertext is verified, client 2 issues the verifying ciphertext for representing permission 2 to unmanned plane and client 3 issues representation to unmanned plane
The verifying ciphertext of limit 3.After unmanned plane receives multiple verifying ciphertexts, comparison is carried out, and assign operating right to representation
Limit highest pattern sender.In this embodiment, operating right is assigned to the client with permission 1.
Finally, unmanned plane can be by previously described when unmanned plane confirmation assigns operating right to a client
Mode issues signal, and the decoding device of the client can determine whether to know whether oneself takes by after the signal received decoding
The right to use.For example, unmanned plane issues signal " I is held the people that id is xxx equipment and controls ", decoding device id is that xxx is being solved
After reading the signal, the information is exported.
According to another embodiment, in the case where the position of one group of unmanned plane is misaligned controller, before authentication, increase
The step of having added leader to be directed at controller.
According to another embodiment, in the case that a subsidiary engine first discovery in one group of unmanned plane has application signal,
The subsidiary engine passes the signal along to leader, is then directed at controller by leader.
According to another embodiment, in the case where subsidiary engine discovery has application signal, can also be responsible for by the subsidiary engine and
Applicant engages in the dialogue, but the feedback signal the unification how signal received handles and need is handled by leader.I.e. at one group
In the case that the discovery of any one of unmanned plane subsidiary engine has application signal, which is responsible for engaging in the dialogue with applicant, but
It is Content of Communication is to be responsible for making instruction by leader.During subsidiary engine is communicated with leader, it is preferable that leave leader alone
Ongoing behavior.
It will be understood by those skilled in the art that the feature recorded in each embodiment and/or claim of the disclosure can
To carry out multiple combinations or/or combination, even if such combination or combination are not expressly recited in the disclosure.Particularly, exist
In the case where not departing from disclosure spirit or teaching, the feature recorded in each embodiment and/or claim of the disclosure can
To carry out multiple combinations and/or combination.All these combinations and/or combination each fall within the scope of the present disclosure.
Although the disclosure, art technology has shown and described referring to the certain exemplary embodiments of the disclosure
Personnel it should be understood that in the case where the spirit and scope of the present disclosure limited without departing substantially from the following claims and their equivalents,
A variety of changes in form and details can be carried out to the disclosure.Therefore, the scope of the present disclosure should not necessarily be limited by above-described embodiment,
But should be not only determined by appended claims, also it is defined by the equivalent of appended claims.
Claims (28)
1. a kind of unmanned aerial vehicle (UAV) control method, which is characterized in that the unmanned aerial vehicle (UAV) control method includes:
The step of receiving application control, unmanned plane receives the application signal of the application control issued from client；
The step of issuing encoded signal, unmanned plane issue encoded signal to client；
Client feedback step is received, unmanned plane receives the feedback signal issued from client, which is client root
According to the encoded signal that the receives signal that carries out that treated；
Verification step, unmanned plane are verified the feedback signal to determine whether the applied control of authorized client.
2. unmanned aerial vehicle (UAV) control method according to claim 1, wherein
The application signal of the received request application control of unmanned plane is projection pattern.
3. unmanned aerial vehicle (UAV) control method according to claim 1, wherein
Unmanned plane is to verify ciphertext to the encoded signal that client issues.
4. unmanned aerial vehicle (UAV) control method according to claim 3, wherein
The verification ciphertext is randomly generated by unmanned plane.
5. unmanned aerial vehicle (UAV) control method according to claim 1, wherein
Before the reception client feedback step further include:
Coding step is received, client receives the issued encoded signal of unmanned plane；
Received encoded signal is decoded by identification step, client；
Identified received encoded signal is converted into feedback signal by switch process, client.
6. unmanned aerial vehicle (UAV) control method according to claim 1, wherein
The feedback signal is the specific image for including verification information.
7. unmanned aerial vehicle (UAV) control method according to claim 1, wherein
At least one of the application signal, the encoded signal and described feedback signal are navigation lights flash signal, sound
At least one of signal, gesture motion or text.
8. unmanned aerial vehicle (UAV) control method according to claim 1, wherein
In authorization verification process, if the feedback time of client is more than scheduled maximum latency, unmanned plane if, restores
At standby mode.
9. unmanned aerial vehicle (UAV) control method according to claim 1, wherein
In authorization verification process, if authentication error number is more than predetermined value, unmanned plane if, reverts to standby mode.
10. unmanned aerial vehicle (UAV) control method according to claim 1, wherein
The step of client transmitting feedback signal includes projecting specific image by included LED light.
11. unmanned aerial vehicle (UAV) control method according to claim 10, wherein
The step of projection specific image includes: to project specific image on nearest ground or wall.
12. unmanned aerial vehicle (UAV) control method described in 0 or 11 according to claim 1, wherein
The specific image is application control pattern, the gesture motion of operator, sound or can be known by unmanned plane camera
At least one of other text etc..
13. unmanned aerial vehicle (UAV) control method according to claim 1, wherein
The control command without permission is provided in unmanned plane, when client issues signal specific, unmanned plane is according to
Camera is focused on designated position by control command.
14. unmanned aerial vehicle (UAV) control method according to claim 13, wherein
The designated position is the position issued where the client of the signal specific.
15. unmanned aerial vehicle (UAV) control method according to claim 1, wherein
Active search command is provided in unmanned plane, according to the active search command, unmanned plane is when standby by original place master
Dynamic search application control pattern.
16. unmanned aerial vehicle (UAV) control method according to claim 1, wherein
When unmanned plane determines the applied control of authorized client, unmanned plane issues authorization signal, to notify the client
Take control in end.
17. unmanned aerial vehicle (UAV) control method according to claim 16, wherein
The client is decoded the authorization signal received by decoding device, takes control with determination.
18. unmanned aerial vehicle (UAV) control method according to claim 1, wherein
The unmanned plane includes one group of unmanned plane of multiple unmanned plane compositions, and one of unmanned plane is as leader, remaining nothing
It is man-machine to be used as subsidiary engine；
The step of receiving application control includes that the leader of this group of unmanned plane receives the proprietary application of the group issued from client
Control pattern；
The step of issuing encoded signal includes emitting encoded signal to client by the leader；
Receiving client feedback step includes that the leader of the group receives the feedback signal issued from client, the feedback signal packet
Include the checking signal for representing specified unmanned plane；
Verification step includes leader by finding specified unmanned plane after comparison, and this is specified to the operating right imparting visitor of unmanned plane
Family end.
19. unmanned aerial vehicle (UAV) control method according to claim 18, wherein
The parameter of the participation verification information conversion of respective unmanned plane is different in this group of unmanned plane.
20. unmanned aerial vehicle (UAV) control method according to claim 18, wherein
Respective unmanned plane corresponds to the image of different activation verification process in this group of unmanned plane.
21. unmanned aerial vehicle (UAV) control method according to claim 18, wherein
According to the difference of specified unmanned plane, the verifying ciphertext after client is converted is different.
22. unmanned aerial vehicle (UAV) control method according to claim 18, wherein
Further include the steps that the leader in one group of unmanned plane being directed at client.
23. unmanned aerial vehicle (UAV) control method according to claim 22, wherein
A subsidiary engine first discovery in one group of unmanned plane have application control pattern in the case where, the subsidiary engine with it is described
Leader communication, so that the leader is directed at client.
24. unmanned aerial vehicle (UAV) control method according to claim 22, wherein
A subsidiary engine first discovery in one group of unmanned plane have application control pattern in the case where, the subsidiary engine according to
The instruction of the leader comes and client communication.
25. unmanned aerial vehicle (UAV) control method according to claim 1, wherein
When multiple client issues the application signal of application control to the same unmanned plane, due to the feedback of client transmitting
It include Permission Levels in signal, unmanned plane selects the client with higher-rights grade to complete to verify in verification step.
26. a kind of unmanned aerial vehicle (UAV) control device, for executing method described in -17 any one according to claim 1.
27. control device according to claim 26, comprising:
Reception device is encoded, for receiving the issued encoded signal of unmanned plane；
Decoding apparatus, for received encoded signal to be decoded；With
Conversion equipment, for received encoded signal is converted into include verification information specific image；
Feedback device, for projecting the specific image for unmanned plane identification.
28. control device according to claim 26, in which:
The feedback device is projection arrangement.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/081254 WO2019183915A1 (en) | 2018-03-30 | 2018-03-30 | Unmanned aerial vehicle control method and control device |
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| CN110383189A true CN110383189A (en) | 2019-10-25 |
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| WO (1) | WO2019183915A1 (en) |
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