CN111610797A - Control method, system and device of unmanned aerial vehicle - Google Patents
Control method, system and device of unmanned aerial vehicle Download PDFInfo
- Publication number
- CN111610797A CN111610797A CN201910138515.0A CN201910138515A CN111610797A CN 111610797 A CN111610797 A CN 111610797A CN 201910138515 A CN201910138515 A CN 201910138515A CN 111610797 A CN111610797 A CN 111610797A
- Authority
- CN
- China
- Prior art keywords
- remote control
- control device
- aerial vehicle
- unmanned aerial
- priority
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 52
- 238000013475 authorization Methods 0.000 claims description 18
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 claims description 2
- 230000006870 function Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 238000012549 training Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000010801 machine learning Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000015654 memory Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (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
The application discloses a control method, a system and a device of an unmanned aerial vehicle. Wherein, the method comprises the following steps: receiving identification information from a first remote control device; determining a priority of the first remote control device based on the identification information; judging whether the priority is higher than that of the second remote control equipment; and if the judgment result is yes, controlling the unmanned aerial vehicle to execute the control instruction sent by the first remote control device. The technical problem of whether conflict exists between the control instruction can not be identified when the unmanned aerial vehicle executes the control instruction sent by the remote control devices is solved.
Description
Technical Field
The application relates to the field of unmanned aerial vehicle control, in particular to a control method, a system and a device of an unmanned aerial vehicle.
Background
At present, in order to meet the requirements of operators with different experience degrees, various remote control equipment products are produced on the market, for example, remote control equipment controlled by a rocker is suitable for experienced operators; the intelligent remote control equipment with the interactive screen is suitable for novice operators. However, if the current unmanned aerial vehicle receives control instructions sent by a plurality of remote control devices, conflicts easily exist between tasks corresponding to the control instructions, and when the unmanned aerial vehicle executes the control instructions with conflicts, the unmanned aerial vehicle easily breaks down, so that the working efficiency of the unmanned aerial vehicle is low.
No effective solution has been proposed to the above technical problems.
Disclosure of Invention
The embodiment of the application provides a control method, a control system and a control device of an unmanned aerial vehicle, and aims to at least solve the technical problem that whether conflicts exist among control instructions cannot be identified when the unmanned aerial vehicle executes the control instructions sent by a plurality of remote control devices.
According to an aspect of an embodiment of the present application, there is provided a method for controlling an unmanned aerial vehicle, the method including: receiving identification information from a first remote control device; determining a priority of the first remote control device based on the identification information; judging whether the priority of the first remote control equipment is higher than that of the second remote control equipment, wherein the second remote control equipment comprises: a remote control device to which the drone is connecting or has been connected; and if the judgment result is yes, controlling the unmanned aerial vehicle to execute the control instruction sent by the first remote control device.
Optionally, before receiving the identification information from the first remote control device, the method further comprises: receiving a setting instruction of a user; setting priorities of a plurality of remote control devices for controlling the unmanned aerial vehicle according to the setting instruction, wherein the priorities of at least two remote control devices in the plurality of remote control devices are different.
Optionally, the second remote control device comprises: the remote control equipment corresponding to the control instruction executed by the unmanned aerial vehicle.
Optionally, the second remote control device comprises: a pre-designated remote control device; prior to receiving the identification information from the first remote control device, the method further comprises: receiving a control instruction from third remote control equipment, wherein the control instruction carries identification information of the third remote control equipment; matching the identification information of the third remote control device with the identification information of the second remote control device; when the matching result indicates consistency, executing a control instruction of the third remote control device; and when the matching result indicates inconsistency, refusing to execute the control instruction of the third remote control device.
Optionally, the method further comprises: and receiving an authorization instruction sent by the first remote control device, wherein the authorization instruction is used for indicating that the unmanned aerial vehicle is prohibited to control again to execute the control instruction of the first remote control device, and allowing the unmanned aerial vehicle to execute the control instruction of a fourth remote control device, and the priority of the fourth remote control device is lower than that of the first remote control device.
Optionally, the method further comprises: and if the judgment result is negative, determining to refuse to control the unmanned aerial vehicle to execute the control instruction of the first remote control device.
According to an aspect of an embodiment of the present application, there is provided a control system of a drone, the system including: the first remote control equipment is used for sending the identification information of the first remote control equipment and a control instruction to the receiver; a receiver for receiving identification information from a first remote control device; determining a priority of the first remote control device based on the identification information; judging whether the priority of the first remote control equipment is higher than that of the second remote control equipment, wherein the second remote control equipment comprises: a remote control device to which the drone is connecting or has been connected; if the judgment result is yes, controlling the unmanned aerial vehicle to execute a control instruction sent by the first remote control device; and the unmanned aerial vehicle is used for executing the control command.
According to an aspect of the embodiments of the present application, there is provided a control apparatus for a drone, the apparatus including: a receiving module for receiving identification information from a first remote control device; a determination module for determining a priority of the first remote control device based on the identification information; the judging module is used for judging whether the priority of the first remote control equipment is higher than that of the second remote control equipment; and the control module is used for controlling the unmanned aerial vehicle to execute the control instruction sent by the first remote control device if the judgment result is yes.
According to an aspect of the embodiments of the present application, there is provided a storage medium including a stored program, wherein when the program runs, a device on which the storage medium is located is controlled to execute the above-mentioned control method for the drone.
According to an aspect of the embodiments of the present application, there is provided a processor for executing a program, where the program executes the control method of the unmanned aerial vehicle described above.
According to another aspect of the embodiments of the present application, there is provided a method for controlling a drone, the method including: receiving a control instruction from first remote control equipment, wherein the control instruction carries identification information of the first remote control equipment; determining a priority of the first remote control device based on the identification information; judging whether the priority of the first remote control device is higher than that of the second remote control device; and if the judgment result is yes, controlling the unmanned aerial vehicle to execute the control instruction sent by the first remote control device.
The method comprises the steps of receiving identification information from a first remote control device; determining a priority of the first remote control device based on the identification information; judging whether the priority of the first remote control device is higher than that of the second remote control device; and if the judgment result is yes, controlling the unmanned aerial vehicle to execute the control instruction sent by the first remote control device. The control that same unmanned aerial vehicle can accept a plurality of remote control devices at the in-process of flight has been realized to can confirm whether carry out its control command's effect according to remote control device's priority, guarantee that unmanned aerial vehicle can in time accept the control of the high remote control device of priority, play the technological effect of saving time and saving unmanned aerial vehicle's electric quantity consumption. And then solved unmanned aerial vehicle when carrying out the control command that a plurality of remote control equipment sent, can't discern whether there is the technical problem of conflict between the control command.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic flowchart of a control method of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of an alternative control system of a drone according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a control system of another unmanned aerial vehicle according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a control device of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 5 is a flowchart of another control method for a drone according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the scheme disclosed by the application, the priority of the corresponding first remote control device is determined by identifying the identification information, whether the priority level of the first remote control device is higher than that of the second remote control device is determined, and whether the unmanned aerial vehicle is controlled to execute the control instruction sent by the first remote control device is determined, so that the control of the high-priority remote control device can be received in time when the unmanned aerial vehicle executes the control instruction sent by the low-priority remote control device, for example, under some special conditions, experienced operators replace low-priority remote control devices used by inexperienced or relatively less experienced operators by using the high-priority remote control devices, namely, the takeover control of the unmanned aerial vehicle by the experienced operators is realized, and some misoperation of the unmanned aerial vehicle by the low-priority operators is avoided, and cause damage to the drone.
Fig. 1 is a schematic flowchart of a control method of an unmanned aerial vehicle according to an embodiment of the present application. As shown in fig. 1, this embodiment includes at least the following implementation steps S102-S108;
step S102, receiving identification information from a first remote control device;
in some optional embodiments of the application, the first remote control device is a sending end of the identification information currently received by the receiver, that is, the executing body of step S102 may include the receiver, and the receiver may be a component of the unmanned aerial vehicle and disposed in the unmanned aerial vehicle, or may be a device independent from the unmanned aerial vehicle. When the receiver and the unmanned aerial vehicle are mutually independent devices, the receiver and the unmanned aerial vehicle can communicate with each other, so that the receiver can send the received identification information to the unmanned aerial vehicle, and the control of the unmanned aerial vehicle is realized; the identification information may be a pairing code used for pairing the first remote control device and the receiver, or may be a password obtained by encrypting data by both the first remote control device and the receiver, and the identification information is stored in the first remote control device and the receiver, for example, in memories of both the first remote control device and the receiver.
The identification information may be determined by negotiation between the first remote control device and the receiver, or may be manually preset.
In other embodiments of the present application, before the step of receiving identification information from the first remote control device, the following steps are performed: receiving a setting instruction of a user; setting priorities of a plurality of remote control devices for controlling the unmanned aerial vehicle according to the setting instruction, wherein the priorities of at least two remote control devices in the plurality of remote control devices are different.
The priority of at least two of the plurality of remote control devices being different comprises: the priorities of some of the remote control devices may be different, or the priorities of all of the remote control devices may be different.
For example, when the priorities of some remote control devices are the same, the method provided by the embodiment of the present application may further include the following steps: when the priority of the remote control equipment corresponding to the control instruction received by the unmanned aerial vehicle is the same as the priority of the remote control equipment which is connected or is connected with the unmanned aerial vehicle, executing the control instruction sent by the remote control equipment with the same priority according to the time sequence of the received control instruction.
For example, the receiver has a human-computer interaction interface in which identification information of different remote control devices is presented; through the setting instruction, the priority of the identification information is set, so that when the control instruction sent by the remote control equipment corresponding to the corresponding identification information is received, the priority of the control instruction can be determined, and whether the control over the unmanned aerial vehicle is taken over or not is determined. The setting instruction can be represented as a moving operation instruction for different identification information, and the different identification information is arranged in the human-computer interaction interface from top to bottom or from left to right, wherein the priority is higher the earlier the arrangement order is.
Step S104, determining the priority of the first remote control equipment based on the identification information;
since the identification information corresponds to the remote control device and the priority of different remote control devices is different, different identifications may correspond to different priorities. When a remote control instruction of a remote control device with high priority is received, if the control instruction currently executed by the unmanned aerial vehicle is an instruction sent by a remote control device with low priority, the unmanned aerial vehicle stops executing the control instruction sent by the remote control device with low priority and starts executing the remote control instruction sent by the remote control device with high priority, if the unmanned aerial vehicle is currently connected with the remote control device with low priority or is connected with the remote control device with low priority, the control instruction sent by the remote control device with low priority is not executed, and the remote control instruction sent by the remote control device with high priority is directly started to be executed, namely the remote control device with high priority takes over the control of the remote control device with low priority on the unmanned aerial vehicle.
As described above, the main body for receiving the identification information from the first remote control device may be a receiver, the receiver may be connected to a user terminal, and the user terminal may send a setting instruction to the receiver through an App associated with the receiver and each remote control device, so as to set the priority of each remote control device.
In some optional embodiments of the present application, each remote control device is provided with and stores identification information corresponding to itself, and the identification information corresponds to the priority of the remote control device corresponding to the identification information. Identification information corresponding to each remote control device is stored in the receiver.
In some alternative embodiments of the present application, the identification information may act as a unique key between the remote control device and the receiver. When the remote control device sends a control instruction to the receiver, the identification information corresponding to the remote control device may be sent at the same time, for example, the control instruction sent by the remote control device includes two types of data: control information for controlling the drone to perform specific operations and identification information of the remote control device.
The receiver determines the priority of the remote control device which transmits the identification information according to the received identification information, thereby determining whether to execute the control instruction transmitted by the remote control device.
Step S106, determining whether the priority of the first remote control device is higher than the priority of the second remote control device, where the second remote control device may be: a remote control device to which the drone is connecting or has been connected;
in some optional embodiments of the present application, the second remote control device may be: and the remote control equipment corresponds to the control instruction executed by the unmanned aerial vehicle.
In some alternative embodiments of the present application, the priority of the remote control device may be determined in real-time, for example, the lower the delay, the higher the priority of the remote control device, as described below with reference to the remote control system shown in fig. 2. Fig. 2 is a schematic structural diagram of a control system of a drone according to an embodiment of the present application; the system comprises: a level 1 remote control device 22, a level 2 remote control device 24, a level 3 remote control device 26, a receiver 28, an unmanned aerial vehicle 210;
in fig. 2, there are three remote control devices, a level 1 remote control device 22, a level 2 remote control device 24, and a level 3 remote control device 26; the identification information corresponding to the level 1 remote control device 22 is a connection code (LinkCode)1, the identification information corresponding to the level 2 remote control device 24 is LinkCode2, and the identification information corresponding to the level 3 remote control device 26 is LinkCode 3; LinkCode1, LinkCode2, and LinkCode3 are all stored in receiver 28, wherein receiver 28 may be disposed in drone aircraft 210.
In fig. 2, level 1 remote control device 22 communicates with receiver 28 using LinkCode1, level 2 remote control device 24 communicates with receiver 28 using LinkCode2, and level 3 remote control device 26 communicates with receiver 28 using LinkCode 3.
Three priorities may be set for the level 1 remote control device 22, the level 2 remote control device 24, and the level 3 remote control device 26, with the level 1 remote control device having the highest priority, the level 2 remote control device having a lower priority than the level 1 remote control device, and the level 3 remote control device having a lower priority than the level 2 remote control device.
For another example, the level 1 remote control device has the most complex operation and the highest real-time performance; the operation of the 2-level remote control equipment is simpler than that of the 1-level remote control equipment, and the real-time performance of the 2-level remote control equipment is slightly lower than that of the 1-level remote control equipment; the operation of the 3-level remote control device is simplest and the real-time performance is weakest. The smaller the number, the higher the remote control priority. Within such a control architecture, a high priority remote control device may interrupt the operation of a low priority remote control device on a target.
And if the priority of the remote control equipment of the control instruction being executed by the unmanned aerial vehicle is lower than the priority of the first remote control equipment corresponding to the currently received identification information, directly controlling to pause the unmanned aerial vehicle to execute the control instruction of the low-priority control equipment, and immediately executing the control instruction sent by the first remote control equipment.
For example: and if the unmanned aerial vehicle is executing the control instruction of the 2-level remote control equipment, when the control instruction sent by the 1-level remote control equipment is received, directly controlling the unmanned aerial vehicle to execute the control instruction of the 1-level remote control equipment.
In some special scenarios (e.g., when training a novice), the remote control device that can control the drone may be restricted to prevent unauthorized persons from controlling the drone; for example, when starting unmanned aerial vehicle, or just start unmanned aerial vehicle and unmanned aerial vehicle is not in the steady state yet, can let experienced operating personnel use the higher remote control equipment of real-time (for example rocker type remote controller) to operate, give again after the restabilization and control by new hand. At this time, the second remote control device may be a pre-designated remote control device, that is, before receiving the control instruction of the first remote control device operated by a novice, the drone executes only the control instruction sent by the second remote control device, so as to avoid damage to the drone. Specifically, when the second remote control device is a pre-designated remote control device, before step S102, that is, before receiving the identification information from the first remote control device, the embodiments provided in the present application may further perform the following processing steps: receiving a control instruction from third remote control equipment, wherein the control instruction carries identification information of the third remote control equipment; matching the identification information of the third remote control device with the identification information of the second remote control device; when the matching result indicates consistency, executing a control instruction of the third remote control device; and when the matching result indicates inconsistency, refusing to execute the control instruction of the third remote control device.
In some optional embodiments of the present application, the priority of the remote control device whose identification information is LinkCode1 > the priority of the remote control device whose identification information is LinkCode2 > the priority of the remote control device whose identification information is LinkCode3, and if only the remote control device whose priority is the same as that of the second remote control device is currently allowed to control the drone, it is determined that the priorities of the third remote control device and the second remote control device are the same only when the received identification information of the third remote control device matches LinkCode2, and then the control instruction of the third remote control device is executed.
In other alternative embodiments of the present application, the pre-designated remote control device may also be a remote control device of a certain level selected in advance, and the drone is controlled to execute the control instruction sent by the first remote control device only when the priority of the first remote control device corresponding to the received identification information is higher than the priority of the pre-designated remote control device.
In some optional embodiments of the present application, if under some severe environmental conditions, when only a high-class operator using the level 1 remote control device is allowed to control the drone, the priority of the level 2 remote control device may be set to a low priority, thereby avoiding damage to the drone due to an inexperienced operator using the level 2 remote control device operating the drone.
In some alternative embodiments of the present application, the priority of the remote control device may be preset by a user, or may be automatically determined by other means, for the latter, for example: the determination may be made according to the type of the control instruction sent by the remote control device, for example, when the control instruction indicates that the unmanned aerial vehicle is to go back to the sea, the control instruction is determined to be the control instruction with the highest priority; or may be determined by the number of times the control command issued by the remote control device is taken, the greater the number of times, the higher the priority. For the former (i.e. the way the user has set it in advance), it can take the form of: receiving a setting instruction of a user; setting priorities of a plurality of remote control devices for controlling the unmanned aerial vehicle according to the setting instruction, wherein the priorities of at least two remote control devices in the plurality of remote control devices are different.
And step S108, if the judgment result is yes, controlling the unmanned aerial vehicle to execute the control instruction sent by the first remote control device.
In some optional embodiments of the present application, it is determined whether to control the drone to execute the control instruction sent by the first remote control device according to the determination result.
Optionally, the control instruction includes, but is not limited to, an instruction for controlling the following parameters of the drone: heading, course, attitude, etc. When unmanned aerial vehicle is used for the plant protection field, can also include the range of spraying, the medicine volume of spraying, spray high isoparametric to unmanned aerial vehicle, not be limited to this.
In some optional embodiments of the present application, the following steps may also be performed: and receiving an authorization instruction sent by the first remote control device, wherein the authorization instruction is used for instructing the unmanned aerial vehicle to forbid the execution of the control instruction of the first remote control device and allowing the unmanned aerial vehicle to execute the control instruction of a fourth remote control device, and the priority of the fourth remote control device is lower than that of the first remote control device.
In some optional embodiments of the present application, when the level 1 remote control device does not need to operate the drone and is handed over to the level 2 remote control device for operation, the operator performs an "authorization" operation on the level 1 remote control device, stops the control output of the level 1 remote control device, and gives the control right to the level 2 remote control device. When the 2-level remote control device is operated by the 3-level remote control device without controlling the unmanned aerial vehicle, the operator performs an "authorization" operation (for example, triggering a specific function key) on the 2-level remote control device, stops the control output of the 2-level remote control device, and gives the control right to the 3-level remote control device.
In some optional embodiments of the present application, determining whether to control the drone to execute the control instruction sent by the first remote control device according to the determination result may be implemented by: if the judgment result indicates that the priority is higher than that of the second remote control equipment, determining to control the unmanned aerial vehicle to execute a control instruction of the first remote control equipment; and if the judgment result indicates that the priority is lower than that of the second remote control device, determining to refuse to control the unmanned aerial vehicle to execute the control instruction of the first remote control device.
For example: when the receiver receives the LinkCode with high priority (i.e., the identification information), the receiver ignores the control instruction of the LinkCode with low priority.
When using 3 grades of remote control equipment to control unmanned aerial vehicle, if need 2 grades of remote control equipment intervene or emergency take over. The operator starts to control the 2-level remote control equipment, and the control output of the 2-level remote control equipment is automatically turned on at the moment; the receiver receives the handling information with the LinkCode2, and disregards the handling information with the LinkCode 3. The drone is now controlled entirely by the level 2 remote control device. When the 2-level remote control equipment is used for controlling the unmanned aerial vehicle, the 1-level remote control equipment is involved or takes over emergently if needed. The operator starts to control the level 1 remote control equipment, and the control output of the level 1 remote control equipment is automatically turned on at the moment; the receiver receives the handling information with the LinkCode1, and disregards the handling information with the LinkCode 2. The drone is now controlled entirely by the level 1 remote control device.
The scheme aim at that this application embodiment provides combines multiple remote control equipment's advantage, controls unmanned aerial vehicle. Assume the following scenarios: a new hand uses the lower intelligent remote control equipment of priority to carry out the airline to unmanned aerial vehicle and controls, and when confirming that unmanned aerial vehicle is dangerous (for example bump into with the barrier), the director next door can in time take over control unmanned aerial vehicle safety and descend, for example: the method comprises the steps that an unmanned aerial vehicle detects flight environment information in the flight process, when the flight environment information meets preset conditions, warning information is generated and sent to a ground monitoring terminal, and therefore ground workers adopt remote control equipment with higher priority to send control instructions after learning the warning information, so that take-over control over the unmanned aerial vehicle is achieved, and risks are avoided; or: when an operator executes an air route task, the intelligent remote control equipment is used for carrying out air route control on the unmanned aerial vehicle, and when the operator needs to operate temporarily or switch the field, the operator needs to switch to the rocker remote control equipment with higher priority to control the unmanned aerial vehicle to fly in real time.
The flight environment information includes but is not limited to: wind speed on the flight path, obstacles, remaining capacity or remaining oil of the unmanned aerial vehicle, and the like. When the alarm information is generated, corresponding alarm information can be determined according to the corresponding relation between the information and the alarm information; or inputting at least one of the above information into a machine learning model for analysis by using a machine learning mode to obtain alarm information, wherein the machine learning model is obtained according to the sample environment information and flight fault training corresponding to the sample environment information.
The embodiment of the application receives the identification information from the first remote control equipment; determining a priority of the first remote control device based on the identification information; judging whether the priority is higher than that of the second remote control equipment; and determining whether to control the unmanned aerial vehicle to execute the control instruction sent by the first remote control device according to the judgment result. The control that same unmanned aerial vehicle can accept a plurality of remote control devices at the in-process of flight has been realized to can confirm whether carry out its control command's effect according to remote control device's priority, guarantee that unmanned aerial vehicle can in time accept the control of the high remote control device of priority, play the technological effect of saving time and saving unmanned aerial vehicle's electric quantity consumption. And then solved unmanned aerial vehicle when carrying out the control command that a plurality of remote control equipment sent, can't discern whether there is the technical problem of conflict between the control command.
The embodiment of the application further provides a control system of the unmanned aerial vehicle, and fig. 3 is a schematic structural diagram of the control system of the unmanned aerial vehicle according to the embodiment of the application. The system comprises: a first remote control device 32, a receiver 34, a drone 36; wherein:
a first remote control device 32 for transmitting identification information of the first remote control device 32, and a control instruction to the receiver 34;
a receiver 34 for receiving identification information from the first remote control device 32; determining a priority of the first remote control device 32 based on the identification information; determining whether the priority of the first remote control device 32 is higher than the priority of the second remote control device; and determining whether to control the unmanned aerial vehicle 36 to execute the control instruction sent by the first remote control device 32 according to the judgment result.
In some alternative embodiments of the present application, the second remote control device is a remote control device to which the drone 36 is connecting or has been connected.
In some optional embodiments of the present application, the second remote control device may be: the remote control device corresponding to the control instruction executed by the unmanned aerial vehicle 36.
In some optional embodiments of the present application, the first remote control device 32 is a sender of the identification information currently received by the receiver 34; the identification information may be a pairing code used for pairing the first remote control device 32 and the receiver 34, or may be a password obtained by encrypting data by both the first remote control device 32 and the receiver 34, and the identification information is stored in the first remote control device 32 and the receiver 34.
In some optional embodiments of the present application, the receiver 34 may also receive a setting instruction of a user; priorities of a plurality of remote control devices for controlling the drone 36 are set in accordance with the setting instructions, wherein the priorities of at least two of the plurality of remote control devices are different.
The priority of at least two of the plurality of remote control devices being different comprises: the priorities of some of the remote control devices may be different, or the priorities of all of the remote control devices may be different.
For example, when the priorities of some remote control devices are the same, the method provided by the embodiment of the present application may further include the following steps: when the priority of the remote control device corresponding to the control instruction received by the unmanned aerial vehicle is the same as the priority of the remote control device which is being connected or is already connected to the unmanned aerial vehicle 36, executing the control instruction sent by the remote control device with the same priority according to the time sequence of the received control instruction.
And the unmanned aerial vehicle 36 is used for executing the control instructions.
In some optional embodiments of the present application, the main body receiving the identification information from the first remote control device 32 may be a receiver 34, the receiver 34 may be connected to a user terminal, and the user terminal may send a setting instruction to the receiver 34 through an App associated with the receiver 34 and each remote control device, so as to set the priority of each remote control device.
In some optional embodiments of the present application, each remote control device is provided with and stores identification information corresponding to itself, and the identification information corresponds to the priority of the remote control device corresponding to the identification information. Identification information corresponding to each remote control device is stored in the receiver 34.
In some alternative embodiments of the present application, the identification information may act as a unique key between the remote control device and the receiver 34. When the remote control device sends control information to the receiver 34, identification information corresponding to the remote control device may be sent at the same time, for example, the control instruction sent by the remote control device includes two types of data: control information for controlling the drone 36 to perform a particular operation and identification information for the remote control device.
The receiver 34 determines the priority of the remote control device that transmitted the identification information based on the received identification information.
In some alternative embodiments of the present application, three priorities may be set, with the priority of the level 1 remote control device being the highest, the priority of the level 2 remote control device being lower than the priority of the level 1 remote control device, and the priority of the level 3 remote control device being lower than the priority of the level 2 remote control device.
In an alternative embodiment of the present application, the level 1 remote control device is the most complex to operate, with the highest real-time performance; the operation of the 2-level remote control equipment is simpler than that of the 1-level remote control equipment, and the real-time performance of the 2-level remote control equipment is slightly lower than that of the 1-level remote control equipment; the operation of the 3-level remote control device is simplest and the real-time performance is weakest. The smaller the number, the higher the remote control priority. Within such a control architecture, a high priority remote control device may interrupt the operation of a low priority remote control device on a target.
In some optional embodiments of the present application, the second remote control device may be: the control instructions being executed by the drone 36 correspond to remote control devices.
In some optional embodiments of the present application, if the priority of the remote control device that is currently executing the control instruction by the drone 36 is lower than the priority of the first remote control device 32 that corresponds to the currently received identification information, the drone 36 is directly controlled to be paused to execute the control instruction of the low-priority control device, and the control instruction sent by the first remote control device 32 is immediately executed.
For example: if the unmanned aerial vehicle 36 is executing the control instruction of the level 2 remote control device, when receiving the control instruction sent by the level 1 remote control device, the unmanned aerial vehicle 36 is directly controlled to execute the control instruction of the level 1 remote control device.
In some special scenarios (e.g., when training a novice), the remote control device that can control the drone may be restricted to prevent unauthorized persons from controlling the drone; for example, when starting unmanned aerial vehicle, or just start unmanned aerial vehicle and unmanned aerial vehicle is not in steady state yet, can let experienced operating personnel use the higher remote control equipment of real-time nature to operate, give again after the restabilization and control by the novice. At this time, the second remote control device may be a pre-designated remote control device, that is, before receiving the control instruction of the first remote control device operated by a novice, the drone executes only the control instruction sent by the second remote control device, so as to avoid damage to the drone. Specifically, when the second remote control device is a pre-designated remote control device, the receiver 34 may further receive a control instruction from a third remote control device before receiving the identification information from the first remote control device, where the control instruction carries the identification information of the third remote control device; matching the identification information of the third remote control device with the identification information of the second remote control device; when the matching result indicates consistency, executing a control instruction of the third remote control device; and when the matching result indicates inconsistency, refusing to execute the control instruction of the third remote control device.
In some optional embodiments of the present application, the priority of the remote control device whose identification information is LinkCode1 > the priority of the remote control device whose identification information is LinkCode2 > the priority of the remote control device whose identification information is LinkCode3, and if only the remote control device whose priority is the same as that of the second remote control device is currently allowed to control the drone, it is determined that the priorities of the third remote control device and the second remote control device are the same only when the received identification information of the third remote control device matches LinkCode2, and then the control instruction of the third remote control device is executed.
In other alternative embodiments of the present application, the pre-designated remote control device may be a remote control device of a certain level selected in advance, and the drone 36 is controlled to execute the control instruction sent by the first remote control device 32 only when the priority of the first remote control device 32 corresponding to the received identification information is higher than the priority of the designated remote control device.
In some optional embodiments of the present application, if under certain harsh environmental conditions, when only the senior operator using the level 1 remote control device is allowed to control the drone, the priority of the level 2 remote control device may be set to the second remote control device, thereby avoiding damage to the drone 36 caused by an inexperienced operator using the level 2 remote control device operating the drone 36.
In some alternative embodiments of the present application, the priority of the remote control device may be preset by a user, or may be automatically determined by other methods, for the latter, for example, the priority may be determined according to the type of the control instruction sent by the remote control device, or may be higher according to the number of times the control instruction sent by the remote control device is adopted. For the former (i.e. the way the user has set it in advance), it can take the form of: receiving a setting instruction of a user; priorities of a plurality of remote control devices for controlling the drone 36 are set in accordance with the setting instructions, wherein the priorities of at least two of the plurality of remote control devices are different.
In some optional embodiments of the present application, the receiver 34 receives an authorization instruction sent by the first remote control device 32, the authorization instruction being indicative of a prohibition of controlling the drone 36 again to execute control instructions of the first remote control device 32.
In some optional embodiments of the present application, when the level 1 remote control device is operated by the level 2 remote control device without operating the drone 36, the operator performs an "authorization" operation on the level 1 remote control device, stops the control output of the level 1 remote control device, and passes the control right to the level 2 remote control device. When the 2-level remote control device does not need to control the unmanned aerial vehicle 36 and is operated by the 3-level remote control device, the operator executes an authorization operation on the 2-level remote control device, stops the control output of the 2-level remote control device and gives the control right to the 3-level remote control device.
In some optional embodiments of the present application, after the receiver 34 determines the priority of the remote control device that transmits the identification information according to the received identification information, it is further determined whether to control the drone 36 to execute the control instruction transmitted by the first remote control device 32 according to the determination result, which may be implemented by: if the judgment result indicates that the priority is higher than that of the second remote control device, determining to control the unmanned aerial vehicle 36 to execute the control instruction of the first remote control device 32; if the determination result indicates that the priority is lower than the priority of the second remote control device, it is determined that the unmanned aerial vehicle 36 is denied control to execute the control instruction of the first remote control device 32.
For example: when the receiver 36 receives the LinkCode with the high priority, it ignores or stops executing the control instruction corresponding to the LinkCode with the low priority.
When using a level 3 remote control device to control the drone 36, a level 2 remote control device intervention or emergency take-over is required. The operator starts to control the 2-level remote control equipment, and the control output of the 2-level remote control equipment is automatically turned on at the moment; the receiver 34, upon receiving the control information with the LinkCode2, disregards the control information of the LinkCode 3. The drone 36 is now fully controlled by the level 2 remote control device. When using a level 2 remote control device to control the drone 36, a level 1 remote control device intervention or emergency take-over is required. The operator starts to control the level 1 remote control equipment, and the control output of the level 1 remote control equipment is automatically turned on at the moment; the receiver receives the handling information with the LinkCode1, and disregards the handling information with the LinkCode 2. The drone 36 is now fully controlled by the level 1 remote control device.
The scheme aim at that this application embodiment provides combines multiple remote control equipment's advantage, controls unmanned aerial vehicle 36. Assume the following scenarios: a novice hand uses intelligent remote control equipment to control the air route of the unmanned aerial vehicle 36, and when the unmanned aerial vehicle 36 is likely to be collided, a nearby instructor can take over the control of the unmanned aerial vehicle 36 to land safely; or: when the operator executes the airline task, the intelligent remote control device is used for carrying out airline control on the unmanned aerial vehicle 36, and when the operator needs to temporarily operate or switch the field, the operator needs to switch to the rocker remote control device to control the unmanned aerial vehicle 36 to fly in real time.
Based on the system, the control that same unmanned aerial vehicle can accept a plurality of remote control devices at the in-process of flight has been realized to this application to can confirm whether carry out its control command's effect according to remote control device's priority, guarantee that unmanned aerial vehicle can in time accept the control of the high remote control device of priority, play the technological effect of saving time and saving unmanned aerial vehicle's electric quantity consumption. And then solved unmanned aerial vehicle when carrying out the control command that a plurality of remote control equipment sent, can't discern whether there is the technical problem of conflict between the control command.
It should be noted that, reference may be made to the description related to the embodiment shown in fig. 1 for a preferred implementation of the embodiment shown in fig. 3, and details are not described here again.
The embodiment of the application further provides a control device of the unmanned aerial vehicle, and fig. 4 is a schematic structural diagram of the control device of the unmanned aerial vehicle according to the embodiment of the application. As shown in fig. 4, the apparatus includes: a receiving module 42, a determining module 44, a judging module 46, a control module 48; wherein:
a receiving module 42 for receiving identification information from the first remote control device;
a determination module 44 for determining a priority of the first remote control device based on the identification information;
a judging module 46, configured to judge whether the priority of the first remote control device is higher than the priority of the second remote control device;
and if the judgment result of the user is yes, the control module 48 controls the unmanned aerial vehicle to execute the control instruction sent by the first remote control device.
In some optional embodiments of the present application, the second remote control device is a remote control device to which the drone is connecting or is connected.
In some embodiments of the present application, the control device of the above-mentioned unmanned aerial vehicle may further include: the setting module is used for receiving a setting instruction of a user; setting priorities of a plurality of remote control devices for controlling the unmanned aerial vehicle according to the setting instruction, wherein the priorities of at least two remote control devices in the plurality of remote control devices are different.
The priority of at least two of the plurality of remote control devices being different comprises: the priorities of some of the remote control devices may be different, or the priorities of all of the remote control devices may be different.
For example, when the priorities of some remote control devices are the same, the method provided by the embodiment of the present application may further include the following steps: when the priority of the remote control device corresponding to the control instruction received by the unmanned aerial vehicle is the same as the priority of the remote control device which is being connected or is already connected to the unmanned aerial vehicle 36, executing the control instruction sent by the remote control device with the same priority according to the time sequence of the received control instruction.
The receiving module is further configured to receive an authorization instruction sent by the first remote control device, where the authorization instruction is used to instruct the drone to prohibit execution of the control instruction of the first remote control device, and allow the drone to execute a control instruction of a fourth remote control device, where a priority of the fourth remote control device is lower than a priority of the first remote control device.
In some special scenarios (e.g., when training a novice), the remote control device that can control the drone may be restricted to prevent unauthorized persons from controlling the drone; for example, when starting unmanned aerial vehicle, or just start unmanned aerial vehicle and unmanned aerial vehicle is not in steady state yet, can let experienced operating personnel use the higher remote control equipment of real-time nature to operate, give again after the restabilization and control by the novice. At this time, the second remote control device may be a pre-designated remote control device, that is, before receiving the control instruction of the first remote control device operated by a novice, the drone executes only the control instruction sent by the second remote control device, so as to avoid damage to the drone. Specifically, when the second remote control device is a pre-designated remote control device, the receiving module 42 in the control apparatus of the unmanned aerial vehicle provided by the present application is further configured to receive a control instruction from a third remote control device before receiving the identification information from the first remote control device, where the control instruction carries the identification information of the third remote control device; at this time, the control module in the control apparatus of the unmanned aerial vehicle provided by the present application is further configured to match the identification information of the third remote control device with the identification information of the second remote control device; when the matching result indicates consistency, executing a control instruction of the third remote control device; and when the matching result indicates inconsistency, refusing to execute the control instruction of the third remote control device.
In some optional embodiments of the present application, the priority of the remote control device whose identification information is LinkCode1 > the priority of the remote control device whose identification information is LinkCode2 > the priority of the remote control device whose identification information is LinkCode3, and if only the remote control device whose priority is the same as that of the second remote control device is currently allowed to control the drone, it is determined that the priorities of the third remote control device and the second remote control device are the same only when the received identification information of the third remote control device matches LinkCode2, and then the control instruction of the third remote control device is executed.
It should be noted that, reference may be made to the description related to the embodiment shown in fig. 1 for a preferred implementation of the embodiment shown in fig. 4, and details are not described here again.
The embodiment of the application further provides another control method for the unmanned aerial vehicle, and as shown in fig. 5, the method includes:
step S502, receiving a control instruction from a first remote control device, wherein the control instruction carries identification information of the first remote control device; because the identification information can be carried by the control instruction, the control information and the identification information can be simultaneously sent, and the control time is saved.
Step S504, determining the priority of the first remote control equipment based on the identification information;
step S506, judging whether the priority of the first remote control equipment is higher than that of the second remote control equipment;
in some optional embodiments of the present application, the second remote control device may be a remote control device to which the drone is connecting or is connected;
and step S508, if the judgment result is yes, controlling the unmanned aerial vehicle to execute the control instruction sent by the first remote control device.
It should be noted that, reference may be made to the relevant descriptions in fig. 1 to 4 for preferred embodiment modes in the embodiments of the present application, and details are not described here again.
According to another aspect of the embodiment of the application, a storage medium is further provided, and the storage medium includes a stored program, wherein when the program runs, the device on which the storage medium is located is controlled to execute the control method of the unmanned aerial vehicle.
Alternatively, the program stored in the storage medium performs the following functions when executed: receiving identification information from a first remote control device; determining a priority of the first remote control device based on the identification information; judging whether the priority is higher than that of the second remote control equipment; and determining whether to control the unmanned aerial vehicle to execute the control instruction sent by the first remote control device according to the judgment result.
Alternatively, the program stored in the storage medium performs the following functions when executed: receiving a setting instruction of a user; setting priorities of a plurality of remote control devices for controlling the unmanned aerial vehicle according to the setting instruction, wherein the priorities of at least two remote control devices in the plurality of remote control devices are different.
The priority of at least two of the plurality of remote control devices being different comprises: the priorities of some of the remote control devices may be different, or the priorities of all of the remote control devices may be different.
For example, when the priorities of some remote control devices are the same, the method provided by the embodiment of the present application may further include the following steps: when the priority of the remote control device corresponding to the control instruction received by the unmanned aerial vehicle is the same as the priority of the remote control device which is being connected or is already connected to the unmanned aerial vehicle 36, executing the control instruction sent by the remote control device with the same priority according to the time sequence of the received control instruction.
Alternatively, the program stored in the storage medium performs the following functions when executed: and receiving an authorization instruction sent by the first remote control device, wherein the authorization instruction is used for indicating that the unmanned aerial vehicle is forbidden to execute the control instruction of the first remote control device, and allowing the unmanned aerial vehicle to execute the control instruction of a fourth remote control device, and the priority of the fourth remote control device is lower than that of the first remote control device.
Alternatively, the program stored in the storage medium performs the following functions when executed: if the judgment result indicates that the priority is higher than the priority of the second remote control device, determining to control the unmanned aerial vehicle to execute a control instruction of the first remote control device; and if the judgment result indicates that the priority is lower than the priority of the second remote control device, determining to refuse to control the unmanned aerial vehicle to execute the control instruction of the first remote control device.
According to another aspect of the embodiment of the present application, there is also provided a processor, configured to execute a program, where the program executes the control method of the unmanned aerial vehicle.
Optionally, the processor is configured to perform the following functions: receiving identification information from a first remote control device; determining a priority of the first remote control device based on the identification information; judging whether the priority is higher than that of the second remote control equipment; and determining whether to control the unmanned aerial vehicle to execute the control instruction sent by the first remote control device according to the judgment result.
Optionally, the processor is configured to perform the following functions: receiving a setting instruction of a user; setting priorities of a plurality of remote control devices for controlling the unmanned aerial vehicle according to the setting instruction, wherein the priorities of at least two remote control devices in the plurality of remote control devices are different.
Optionally, the processor is configured to perform the following functions: and receiving an authorization instruction sent by the first remote control device, wherein the authorization instruction is used for indicating that the unmanned aerial vehicle is forbidden to execute the control instruction of the first remote control device, and allowing the unmanned aerial vehicle to execute the control instruction of a fourth remote control device, and the priority of the fourth remote control device is lower than that of the first remote control device.
Optionally, the processor is configured to perform the following functions: if the judgment result indicates that the priority is higher than the priority of the second remote control device, determining to control the unmanned aerial vehicle to execute a control instruction of the first remote control device; and if the judgment result indicates that the priority is lower than the priority of the second remote control device, determining to refuse to control the unmanned aerial vehicle to execute the control instruction of the first remote control device.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, a division of a unit may be a division of a logic function, and an actual implementation may have another division, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or may not be executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (11)
1. A control method of an unmanned aerial vehicle, the method comprising:
receiving identification information from a first remote control device;
determining a priority of the first remote control device based on the identification information;
judging whether the priority of the first remote control device is higher than that of a second remote control device, wherein the second remote control device comprises: a remote control device to which the drone is connecting or has been connected;
and if the judgment result is yes, controlling the unmanned aerial vehicle to execute the control instruction sent by the first remote control device.
2. The method of claim 1, wherein prior to receiving the identification information from the first remote control device, the method further comprises:
receiving a setting instruction of a user;
setting priorities of a plurality of remote control devices for controlling the unmanned aerial vehicle according to the setting instruction, wherein the priorities of at least two remote control devices in the plurality of remote control devices are different.
3. The method of claim 1, wherein the second remote control device comprises: a pre-designated remote control device.
4. The method of claim 3, wherein prior to receiving the identification information from the first remote control device, the method further comprises:
receiving a control instruction from third remote control equipment, wherein the control instruction carries identification information of the third remote control equipment;
matching the identification information of the third remote control device with the identification information of the second remote control device;
when the matching result indicates consistency, executing a control instruction of the third remote control device; and when the matching result indicates inconsistency, refusing to execute the control instruction of the third remote control device.
5. The method of claim 1, further comprising:
and receiving an authorization instruction sent by the first remote control device, wherein the authorization instruction is used for instructing the unmanned aerial vehicle to forbid execution of the control instruction of the first remote control device and allowing the unmanned aerial vehicle to execute the control instruction of a fourth remote control device, and the priority of the fourth remote control device is lower than that of the first remote control device.
6. The method according to any one of claims 1 to 5, further comprising:
and if the judgment result is negative, determining to refuse to control the unmanned aerial vehicle to execute the control instruction of the first remote control device.
7. A control method of an unmanned aerial vehicle, the method comprising:
receiving a control instruction from first remote control equipment, wherein the control instruction carries identification information of the first remote control equipment;
determining a priority of the first remote control device based on the identification information;
judging whether the priority of the first remote control device is higher than that of the second remote control device;
and if the judgment result is yes, controlling the unmanned aerial vehicle to execute the control instruction sent by the first remote control device.
8. A control system for a drone, the system comprising:
the first remote control equipment is used for sending the identification information of the first remote control equipment and a control instruction to the receiver;
a receiver for receiving identification information from a first remote control device; determining a priority of the first remote control device based on the identification information; judging whether the priority of the first remote control device is higher than that of a second remote control device, wherein the second remote control device comprises: a remote control device to which the drone is connecting or has been connected;
if the judgment result is yes, controlling the unmanned aerial vehicle to execute a control instruction sent by the first remote control device;
and the unmanned aerial vehicle is used for executing the control instruction.
9. A control device of an unmanned aerial vehicle, the device comprising:
a receiving module for receiving identification information from a first remote control device;
a determination module for determining a priority of the first remote control device based on the identification information;
the judging module is used for judging whether the priority of the first remote control device is higher than that of the second remote control device, wherein the second remote control device comprises: a remote control device to which the drone is connecting or has been connected;
and the control module is used for controlling the unmanned aerial vehicle to execute the control instruction sent by the first remote control device if the judgment result is yes.
10. A storage medium, characterized in that the storage medium includes a stored program, wherein when the program runs, a device in which the storage medium is located is controlled to execute the control method of the unmanned aerial vehicle according to any one of claims 1 to 6 or claim 7.
11. A processor, characterized in that the processor is configured to run a program, wherein the program is configured to execute the control method of the drone according to any one of claims 1 to 6 or claim 7 when running.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910138515.0A CN111610797A (en) | 2019-02-25 | 2019-02-25 | Control method, system and device of unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910138515.0A CN111610797A (en) | 2019-02-25 | 2019-02-25 | Control method, system and device of unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111610797A true CN111610797A (en) | 2020-09-01 |
Family
ID=72195720
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910138515.0A Pending CN111610797A (en) | 2019-02-25 | 2019-02-25 | Control method, system and device of unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111610797A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112669585A (en) * | 2020-12-15 | 2021-04-16 | 广州极飞科技有限公司 | Method for device pairing, processor, mobile terminal and server |
| CN112728772A (en) * | 2020-12-31 | 2021-04-30 | 广东万和热能科技有限公司 | Control method of water heater |
| CN114706426A (en) * | 2022-05-31 | 2022-07-05 | 中国航空工业集团公司沈阳飞机设计研究所 | Unmanned aerial vehicle multi-machine cooperative task control system and method, electronic device and medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140156030A1 (en) * | 2012-11-30 | 2014-06-05 | Kabushiki Kaisha Toshiba | Remote controller managing device, control method, and computer program product |
| WO2017152607A1 (en) * | 2016-03-09 | 2017-09-14 | 合一智能科技（深圳）有限公司 | Remote control method, remote controller and remote control system |
| CN107223223A (en) * | 2016-04-29 | 2017-09-29 | 深圳市大疆创新科技有限公司 | The control method and system, intelligent glasses of a kind of visual angle of unmanned plane first flight |
| CN108594681A (en) * | 2018-04-13 | 2018-09-28 | 辽宁壮龙无人机科技有限公司 | A kind of unmanned plane control system and unmanned aerial vehicle (UAV) control method |
| CN108700891A (en) * | 2017-08-30 | 2018-10-23 | 深圳市大疆创新科技有限公司 | Control method, unmanned plane and the machine readable storage medium of unmanned plane |
| CN208092547U (en) * | 2018-04-13 | 2018-11-13 | 辽宁壮龙无人机科技有限公司 | A kind of unmanned aerial vehicle control system and UAV system |
-
2019
- 2019-02-25 CN CN201910138515.0A patent/CN111610797A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140156030A1 (en) * | 2012-11-30 | 2014-06-05 | Kabushiki Kaisha Toshiba | Remote controller managing device, control method, and computer program product |
| WO2017152607A1 (en) * | 2016-03-09 | 2017-09-14 | 合一智能科技（深圳）有限公司 | Remote control method, remote controller and remote control system |
| CN107223223A (en) * | 2016-04-29 | 2017-09-29 | 深圳市大疆创新科技有限公司 | The control method and system, intelligent glasses of a kind of visual angle of unmanned plane first flight |
| CN108700891A (en) * | 2017-08-30 | 2018-10-23 | 深圳市大疆创新科技有限公司 | Control method, unmanned plane and the machine readable storage medium of unmanned plane |
| CN108594681A (en) * | 2018-04-13 | 2018-09-28 | 辽宁壮龙无人机科技有限公司 | A kind of unmanned plane control system and unmanned aerial vehicle (UAV) control method |
| CN208092547U (en) * | 2018-04-13 | 2018-11-13 | 辽宁壮龙无人机科技有限公司 | A kind of unmanned aerial vehicle control system and UAV system |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112669585A (en) * | 2020-12-15 | 2021-04-16 | 广州极飞科技有限公司 | Method for device pairing, processor, mobile terminal and server |
| CN112728772A (en) * | 2020-12-31 | 2021-04-30 | 广东万和热能科技有限公司 | Control method of water heater |
| CN112728772B (en) * | 2020-12-31 | 2022-06-14 | 广东万和热能科技有限公司 | Control method of water heater |
| CN114706426A (en) * | 2022-05-31 | 2022-07-05 | 中国航空工业集团公司沈阳飞机设计研究所 | Unmanned aerial vehicle multi-machine cooperative task control system and method, electronic device and medium |
| CN114706426B (en) * | 2022-05-31 | 2022-08-30 | 中国航空工业集团公司沈阳飞机设计研究所 | Unmanned aerial vehicle multi-machine cooperative task control system and method, electronic device and medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111610797A (en) | Control method, system and device of unmanned aerial vehicle | |
| CN104950907B (en) | The monitoring method of unmanned plane, apparatus and system | |
| CN108291952B (en) | Unmanned aerial vehicle and flight state supervision method and flight state monitoring system thereof | |
| CN104932526B (en) | Control method of flight equipment and flight equipment | |
| US9359067B2 (en) | Method of flying an unmanned aerial vehicle | |
| US11125006B2 (en) | Method, system and device for controlling door of railway vehicle | |
| CN106802665B (en) | Unmanned aerial vehicle cluster system | |
| CN107357314A (en) | A kind of unmanned vehicle long-range control method and system | |
| CN105700545B (en) | A kind of unmanned plane dispatching method based on unmanned plane automation platform | |
| CN105472558A (en) | Unmanned aerial vehicle and control method | |
| CN107077411A (en) | Information cuing method and remote control applied to remote control | |
| CN106292711A (en) | A kind of unmanned vehicle major-minor control system and control method thereof | |
| CN104991563B (en) | Unmanned aerial vehicle hierarchical operation method and system | |
| CN107784845A (en) | Vehicle Unmanned Systems and the method for authentication are carried out to the passenger that gets on or off the bus | |
| CN106774358A (en) | Unmanned plane intelligent battery and its control method, device and unmanned plane | |
| CN106292719A (en) | Earth station's emerging system and earth station's video data fusion method | |
| CN114637310A (en) | Unmanned aerial vehicle control method, flight controller and unmanned aerial vehicle | |
| CN113759914A (en) | Remote control request processing method, related device and cloud server | |
| CN112783062A (en) | Control system of unmanned mine car | |
| CN107105051A (en) | A kind of off-line type aircraft monitoring method and supervising device based on cloud service | |
| CN107918402A (en) | One kind is based on mobile network's unmanned plane cluster flight system | |
| CN113260939A (en) | Unmanned aerial vehicle control method, terminal device, unmanned aerial vehicle and storage medium | |
| CN107636551B (en) | Flight control method and device and intelligent terminal | |
| CN111752289B (en) | Unmanned aerial vehicle control method and related device | |
| CN106778370B (en) | Self-destruction method and device of device capable of moving autonomously |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 510000 Block C, 115 Gaopu Road, Tianhe District, Guangzhou City, Guangdong Province Applicant after: Guangzhou Jifei Technology Co.,Ltd. Address before: 510000 Block C, 115 Gaopu Road, Tianhe District, Guangzhou City, Guangdong Province Applicant before: Guangzhou Xaircraft Technology Co.,Ltd. |
|
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200901 |