CN111741445A - Unmanned aerial vehicle system and unmanned aerial vehicle control method - Google Patents
Unmanned aerial vehicle system and unmanned aerial vehicle control method Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/16—Implementation or adaptation of Internet protocol [IP], of transmission control protocol [TCP] or of user datagram protocol [UDP]
- H04L69/164—Adaptation or special uses of UDP protocol
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W72/00—Local resource management
- H04W72/04—Wireless resource allocation
- H04W72/044—Wireless resource allocation based on the type of the allocated resource
- H04W72/0453—Resources in frequency domain, e.g. a carrier in FDMA
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W80/00—Wireless network protocols or protocol adaptations to wireless operation
- H04W80/06—Transport layer protocols, e.g. TCP [Transport Control Protocol] over wireless
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
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Abstract
The utility model provides an unmanned aerial vehicle system, including being in a plurality of wireless access points under the same LAN, wherein, the network address of different wireless access points is different, and the working frequency channel of each wireless access point includes first frequency channel and second frequency channel, wherein, each wireless access point can access predetermined number of unmanned aerial vehicles, the unmanned aerial vehicle that each wireless access point inserts communicates with controlgear under the first frequency channel and the second frequency channel; and the control equipment is in communication connection with the wireless access points and is used for controlling the unmanned aerial vehicle connected under the wireless access points. The disclosure also provides an unmanned aerial vehicle control method.
Description
Technical Field
The present disclosure relates to the field of communications technologies, and in particular, to an unmanned aerial vehicle system and an unmanned aerial vehicle control method.
Background
In recent years, the unmanned aerial vehicle industry is developed vigorously, and the unmanned aerial vehicle is applied more and more widely in military, business and agriculture. The main technologies of unmanned aerial vehicle formation comprise a flight path planning technology, an attitude control technology, a data fusion technology and a communication networking technology.
At present, communication schemes based on 802.11/b/g/n, namely WIFI, are mostly adopted for unmanned aerial vehicle formation, and a Transmission Control Protocol (TCP) based on a transmission layer encapsulates a mavlik protocol. Because the TCP protocol is a connection-oriented protocol and is a standard protocol stack, it is difficult to change the TCP protocol, and in order to implement the reliability of network communication, a complex congestion control algorithm, a complex handshake process and a retransmission strategy are used. The existing communication frequency based on the WIFI mostly uses the frequency band of 2.4GHZ, and since 2.4GHZ is an ISM (industrial, scientific, medical) frequency band, the channel congestion of 2.4GHZ is caused, and the signal-to-noise ratio is low. As the number of drones in the formation increases, the channel deteriorates dramatically, resulting in unsuccessful communication. Some communication schemes adopting the ZigBee are adopted, but the ZigBee channel has narrow bandwidth, only can transmit a small amount of data, and also has the problems of frequency spectrum environment and channel congestion, and when the formation number of the unmanned aerial vehicles is large, the correctness and the real-time performance of communication cannot be ensured.
Therefore, in the course of implementing the disclosed concept, the inventors found that there are at least the following problems in the related art: when adopting correlation technique control unmanned aerial vehicle, unmanned aerial vehicle communication is unstable, and the real-time effect is poor, leads to being difficult to control unmanned aerial vehicle effectively.
Disclosure of Invention
In view of this, the present disclosure provides an unmanned aerial vehicle system, including a plurality of wireless access points in the same local area network, where network addresses of different wireless access points are different, and a working frequency band of each wireless access point includes a first frequency band and a second frequency band, where each wireless access point can access a predetermined number of unmanned aerial vehicles, and the unmanned aerial vehicle accessed by each wireless access point communicates with a control device in the first frequency band and the second frequency band; and the control equipment is in communication connection with the plurality of wireless access points and is used for controlling the unmanned aerial vehicle connected under the plurality of wireless access points.
According to an embodiment of the present disclosure, wherein: each wireless access point is configured with a corresponding channel in the first frequency band; each wireless access point is configured with a corresponding channel in the second frequency band.
According to the embodiment of the disclosure, the channels corresponding to the first frequency band and the channels corresponding to the second frequency band of two wireless access points adjacent to each other in the spatial position are different.
According to the embodiment of the present disclosure, the wireless access point management system further includes a switch configured to connect the plurality of wireless access points and the control device, so that the control device is in communication connection with the plurality of wireless access points based on the switch.
According to the embodiment of the present disclosure, the unmanned aerial vehicle system further comprises a plurality of unmanned aerial vehicle clusters, wherein different unmanned aerial vehicle clusters are connected under different wireless access points, and each unmanned aerial vehicle cluster comprises one or more unmanned aerial vehicles.
According to the embodiment of the present disclosure, the control device communicates with the unmanned aerial vehicle based on a UDP protocol.
According to an embodiment of the present disclosure, after the control device transmits information to the drone based on a UDP protocol, the drone may transmit acknowledgement information to the control device when the drone receives the information.
Another aspect of the present disclosure provides an unmanned aerial vehicle control method, applied to a control device, the method including: the method comprises the steps that control information is sent to the unmanned aerial vehicles through one or more wireless access points in the same local area network, wherein the network addresses of different wireless access points are different, the working frequency band of each wireless access point comprises a first frequency band and a second frequency band, each wireless access point can access a preset number of unmanned aerial vehicles, and the unmanned aerial vehicles accessed by each wireless access point are communicated with the control equipment under the first frequency band and the second frequency band; and receiving feedback information, wherein the feedback information is sent by the unmanned aerial vehicle and transmitted based on a corresponding wireless access point.
According to an embodiment of the present disclosure, wherein: each wireless access point is configured with a corresponding channel in the first frequency band; and each wireless access point is configured with a corresponding channel in the second frequency band.
According to the embodiment of the present disclosure, the control device communicates with the unmanned aerial vehicle based on a UDP protocol.
Another aspect of the present disclosure provides a computer-readable storage medium storing computer-executable instructions for implementing the method as described above when executed.
Another aspect of the present disclosure provides a computer program comprising computer executable instructions for implementing the method as described above when executed.
According to the embodiment of the present disclosure, through the wireless access point with different network addresses respectively access predetermined number of unmanned aerial vehicles, unmanned aerial vehicle communicates with controlgear under two kinds of operating frequency channels, can solve unmanned aerial vehicle communication unstability at least, and the real-time effect is poor, leads to being difficult to effectively control unmanned aerial vehicle's technical problem, has reached the technological effect of stable control unmanned aerial vehicle operation, can realize commercial extensive unmanned aerial vehicle formation performance real-time communication at least simultaneously.
Drawings
The above and other objects, features and advantages of the present disclosure will become more apparent from the following description of embodiments of the present disclosure with reference to the accompanying drawings, in which:
fig. 1 schematically illustrates an exemplary system architecture of a drone system according to an embodiment of the present disclosure;
fig. 2 schematically illustrates a flow diagram of a ground station and drone communication interaction, in accordance with an embodiment of the disclosure;
fig. 3 schematically illustrates a flow chart of a drone controlling method according to an embodiment of the present disclosure; and
fig. 4 schematically shows a block diagram of a control device adapted to implement the above described method according to an embodiment of the present disclosure.
Detailed Description
Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood that the description is illustrative only and is not intended to limit the scope of the present disclosure. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the disclosure. It may be evident, however, that one or more embodiments may be practiced without these specific details. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present disclosure.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The terms "comprises," "comprising," and the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.
All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It is noted that the terms used herein should be interpreted as having a meaning that is consistent with the context of this specification and should not be interpreted in an idealized or overly formal sense.
Where a convention analogous to "at least one of A, B and C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B and C" would include but not be limited to systems that have a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.). Where a convention analogous to "A, B or at least one of C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B or C" would include but not be limited to systems that have a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.).
The embodiment of the disclosure provides an unmanned aerial vehicle system and an unmanned aerial vehicle control method, wherein the unmanned aerial vehicle system comprises a plurality of wireless access points in the same local area network, wherein the network addresses of different wireless access points are different, and the working frequency band of each wireless access point comprises a first frequency band and a second frequency band, wherein each wireless access point can be accessed to a preset number of unmanned aerial vehicles, and the unmanned aerial vehicles accessed by each wireless access point are communicated with a control device under the first frequency band and the second frequency band; the control equipment is in communication connection with the wireless access points and used for controlling the unmanned aerial vehicle connected under the wireless access points.
Fig. 1 schematically illustrates an exemplary system architecture of a drone system according to an embodiment of the present disclosure. It should be noted that fig. 1 is only an example of a system architecture to which the embodiments of the present disclosure may be applied to help those skilled in the art understand the technical content of the present disclosure, and does not mean that the embodiments of the present disclosure may not be applied to other devices, systems, environments or scenarios.
As shown in fig. 1, a system architecture 100 according to this embodiment may include a plurality of wireless access points 101 (i.e., a plurality of wireless APs) and a control device 102. The wireless access point 101 (i.e., the plurality of wireless APs) and the control device 102 may be wired through a switch.
According to this disclosed embodiment, use 2000 unmanned aerial vehicle formations as an example, can divide into ten groups 2000 unmanned aerial vehicles, 200 unmanned aerial vehicles of every group, unmanned aerial vehicle is as wireless terminal, inserts wireless AP, and every wireless AP can allow 200 unmanned aerial vehicle's access, and 2000 unmanned aerial vehicles insert ten APs, then ten APs access switch, and the ground station also inserts the switch simultaneously. The network addresses of different wireless APs are different. For example, the IP address of the wireless AP1 is configured to be 192.168.1.250, the IP address of the wireless AP2 is configured to be 192.168.2.250, and so on, and the IP address of the wireless AP10 is configured to be 192.168.10.250. After the IP address configuration is completed, the subnet masks of all the wireless APs may be configured to 255.255.240.0, and then the SSID, password, and encryption mode of the wireless AP are configured, and the configuration is performed according to the preference.
According to the embodiment of the present disclosure, every 200 drones access one AP, and 2000 drones access ten APs. In order to access a certain number of drones under each wireless AP, the IP address of the drone may be configured. For example, the wireless AP1 allows devices of segment 1, such as drones with IP addresses ranging from 192.168.1.1 to 192.168.1.200, to access. The wireless AP2 allows unmanned aerial vehicles with the IP address range of 192.168.2.1-192.168.2.200 to access, and the like, the wireless AP10 allows unmanned aerial vehicles with the IP address range of 192.168.10.1-192.168.10.200 to access. Meanwhile, the subnet mask of the drones can be configured, and the subnet masks of all the drones are configured to be 255.255.240.0. The purpose of configuring the subnet mask is to enable all the drones to be in the same local area network, if the subnet mask is configured to be 255.255.240.0, the devices with the IP addresses of 192.168.1.1-192.168.15.254 will be in the same subnet, and the configuration theoretically supports more than 3000 drones and supports scalability.
According to an embodiment of the present disclosure, the IP address of the control device 102 on the ground station may also be configured to be 192.168.11.11 (note: may be configured to be any non-conflicting IP address within the subnet), and the subnet mask is configured to be 255.255.240.0.
According to an embodiment of the present disclosure, the operating frequency band of each wireless access point includes a first frequency band and a second frequency band. For example, the WIFI frequency bands of 2.4GHZ and 5.8GHZ are adopted, so that the problems of channel congestion, poor signal-to-noise ratio and the like caused by singly adopting the 2.4GHZ frequency band can be solved.
According to the embodiment of the present disclosure, through the wireless access point with different network addresses respectively access predetermined number of unmanned aerial vehicles, unmanned aerial vehicle communicates with controlgear under two kinds of operating frequency channels, can solve unmanned aerial vehicle communication unstability at least, and the real-time effect is poor, leads to being difficult to effectively control unmanned aerial vehicle's technical problem, has reached the technological effect of stable control unmanned aerial vehicle operation, can realize commercial extensive unmanned aerial vehicle formation performance real-time communication at least simultaneously.
It should be understood that the number of wireless access points, control devices and drones in fig. 1 is merely illustrative. There may be any number of wireless access points, control devices, and drones, as desired for implementation.
According to the embodiment of the disclosure, each wireless access point is configured with a corresponding channel in a first frequency band; each wireless access point is configured with a corresponding channel in the second frequency band.
According to an embodiment of the present disclosure, for example, the wireless AP1 configures a 1 channel at 2.4GHZ and a 149 channel at 5.8 GHZ. The wireless AP2 configures a 6 channel at 2.4GHZ, configures a 153 channel at 5.8GHZ, and configures a corresponding channel at both the first frequency band and the second frequency band for each wireless access point, which is not described herein again, and may refer to the channel configuration of the wireless AP in table 1. It should be noted that the channel division may be a channel already divided in the industry at present, or a channel newly divided in the future.
If the same channel is used in different wireless APs, the channel environment is seriously deteriorated, and network congestion is caused.
According to the embodiment of the disclosure, the channels corresponding to the first frequency band and the channels corresponding to the second frequency band of two wireless access points adjacent to each other in the spatial position are different.
According to the embodiment of the present disclosure, for example, the wireless AP3 and the wireless AP4 are two wireless access points adjacent in space, and the wireless AP3 configures 11 channels at 2.4GHZ and 157 channels at 5.8 GHZ. The wireless AP4 configures a 2 channel at 2.4GHZ and a 161 channel at 5.8 GHZ. Specifically, the channel configuration of the wireless AP in table 1 may be referred to, and two wireless APs adjacent to each other in spatial position communicate through different channels, so that the problems of channel congestion, delay, even incapability of communication and the like may be solved.
According to the embodiment of the disclosure, the configuration of the channel can be configured according to the position of the drone and the position of the wireless AP, and a default channel cannot be used, because the default channel of the wireless AP in the same batch is generally the same, if a plurality of APs use the same channel, the channel environment is seriously deteriorated, and the problems of network congestion, time delay, even communication incapability and the like are caused.
Table 1-channel configuration of wireless AP
According to an embodiment of the present disclosure, the drone system may further include a switch for connecting the plurality of wireless access points and the control device, such that the control device is in communication connection with the plurality of wireless access points based on the switch.
With embodiments of the present disclosure, bridging of multiple wireless access points may be achieved by a switch. It should be noted that the connection mode between the wireless access point and the control device is not limited to the connection via the switch, and may also include a router, for example.
According to an embodiment of the present disclosure, the drone system may further include a plurality of drone clusters, wherein different drone clusters are connected under different wireless access points, each drone cluster including one or more drones.
According to the embodiment of the disclosure, different unmanned aerial vehicle clusters are connected under different wireless access points, so that the unmanned aerial vehicle system is suitable for controlling large-scale unmanned aerial vehicle clusters, and commercial large-scale unmanned aerial vehicle formation performance real-time communication can be realized at least.
According to an embodiment of the disclosure, the control device communicates with the drone based on a UDP protocol.
According to the embodiment of the disclosure, UDP is a short name of User Datagram Protocol, a Chinese name is a User Datagram Protocol, and is a connectionless transport layer Protocol in an OSI (Open System Interconnection) reference model, which provides a transaction-oriented simple unreliable information transfer service, and IETF RFC 768 is a formal specification of UDP. Based on the protocol design of UDP, broadcast, multicast and unicast mode through the UDP protocol communicate with unmanned aerial vehicle, and is practical and high-efficient, can solve the redundancy problem that adopts the TCP scheme and cause, the bandwidth problem and the communication unstability problem and the real-time nature problem that are not good in channel environment, and the communication that leads to is retransmitted to the time-out under the lower condition of SNR, wrong retransmission.
According to the embodiment of the disclosure, for example, the control device needs to control 2000 airplanes to start, and since the TCP has no broadcast and multicast functions, if the push-to-take function is to be implemented, the control device needs to communicate with 2000 airplanes one by one, which causes problems of delay, inefficiency, channel deterioration, and the like. And the UDP protocol has a broadcast and multicast mode, and for the one-key takeoff function, the control equipment only needs to broadcast to all unmanned aerial vehicles, and if the information is required to be sent to a specific group, the information is directly multicast to a corresponding IP group.
According to an embodiment of the present disclosure, after the control device transmits information to the drone based on the UDP protocol, the drone can transmit acknowledgement information to the control device in the case where the drone receives the information.
Fig. 2 schematically shows a flow diagram of a ground station and drone communication interaction, in accordance with an embodiment of the present disclosure.
According to the embodiment of the disclosure, since the UDP protocol is not connection-oriented communication, although broadcasting, multicasting and unicasting are practical and efficient, since the UDP protocol is not connection-oriented, it is unknown whether the receiver correctly receives information, in order to solve this problem, an ACK mechanism may be added, and after the ground station sends data to the drone through the UDP protocol, the drone is required to perform ACK reply, that is, to receive acknowledgement information.
According to the embodiment of the present disclosure, the confirmation information replied by the unmanned aerial vehicle can only need a simple response, the ground station can maintain an information list, and whether all unmanned aerial vehicles receive the information or not is detected according to the confirmation information.
In the prior art, transmission is performed by using a TCP protocol, and once packet loss occurs, the TCP protocol buffers subsequent packets, and delays are increased when the former packets are retransmitted and received and then continuously transmitted. The UDP protocol is adopted in the method, the retransmission strategy can be defined according to the requirement, and the method has better flexibility, thereby ensuring the real-time property.
Through the embodiment of the disclosure, because the UDP protocol is not connection-oriented, the receiver is not known whether to correctly receive the information, and after the control equipment of the ground station sends data to the unmanned aerial vehicle through the UDP, whether the unmanned aerial vehicle end normally controls can be determined by adding an ACK mechanism. In the case of control abnormality, control information may be sent again, or other remedial measures may be taken to improve communication stability.
Fig. 3 schematically shows a flow chart of a drone control method according to an embodiment of the present disclosure.
As shown in fig. 3, the method includes operations S301 to S302.
In operation S301, control information is sent to the drones through one or more wireless access points in the same local area network, where network addresses of different wireless access points are different, and a working frequency band of each wireless access point includes a first frequency band and a second frequency band, where each wireless access point can access a predetermined number of drones, and the drones accessed by each wireless access point communicate with the control device in the first frequency band and the second frequency band.
In operation S302, feedback information is received, where the feedback information is sent by the drone and transmitted based on a corresponding wireless access point.
According to the embodiment of the present disclosure, through the wireless access point with different network addresses respectively access predetermined number of unmanned aerial vehicles, unmanned aerial vehicle communicates with controlgear under two kinds of operating frequency channels, can solve unmanned aerial vehicle communication unstability at least, and the real-time effect is poor, leads to being difficult to effectively control unmanned aerial vehicle's technical problem, has reached the technological effect of stable control unmanned aerial vehicle operation, can realize commercial extensive unmanned aerial vehicle formation performance real-time communication at least simultaneously.
According to the embodiment of the disclosure, each wireless access point is configured with a corresponding channel in a first frequency band; each wireless access point is configured with a corresponding channel in the second frequency band.
If the same channel is used in different wireless APs, the channel environment is seriously deteriorated, and network congestion is caused.
According to an embodiment of the disclosure, the control device communicates with the drone based on a UDP protocol.
Through the embodiment of the disclosure, based on the protocol design of the UDP, the communication with the unmanned aerial vehicle can be realized in the broadcasting, multicasting and unicasting modes of the UDP protocol, the communication device is practical and efficient, the redundancy problem caused by the adoption of the TCP scheme can be solved, the bandwidth problem and the unstable communication problem and the instantaneity problem caused by the poor channel environment, the overtime retransmission and the error retransmission under the condition of low signal-to-noise ratio can be solved.
According to the embodiment of the disclosure, for example, the control device needs to control 2000 airplanes to start, and since the TCP has no broadcast and multicast functions, if the push-to-take function is to be implemented, the control device needs to communicate with 2000 airplanes one by one, which causes problems of delay, inefficiency, channel deterioration, and the like. And the UDP has a broadcast and multicast mode, for the one-key takeoff function, the control equipment only needs to broadcast to all unmanned aerial vehicles, and if the information is sent to a specific group, the information is directly multicast to a corresponding IP group.
Fig. 4 schematically shows a block diagram of a control device adapted to implement the above described method according to an embodiment of the present disclosure. The control apparatus shown in fig. 4 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.
As shown in fig. 4, the control device 400 according to the embodiment of the present disclosure includes a processor 401 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)402 or a program loaded from a storage section 408 into a Random Access Memory (RAM) 403. Processor 401 may include, for example, a general purpose microprocessor (e.g., a CPU), an instruction set processor and/or associated chipset, and/or a special purpose microprocessor (e.g., an Application Specific Integrated Circuit (ASIC)), among others. The processor 401 may also include onboard memory for caching purposes. Processor 401 may include a single processing unit or multiple processing units for performing the different actions of the method flows in accordance with embodiments of the present disclosure.
In the RAM 403, various programs and data necessary for controlling the operation of the apparatus 400 are stored. The processor 401, ROM402 and RAM 403 are connected to each other by a bus 404. The processor 401 performs various operations of the method flows according to the embodiments of the present disclosure by executing programs in the ROM402 and/or the RAM 403. Note that the programs may also be stored in one or more memories other than the ROM402 and RAM 403. The processor 401 may also perform various operations of the method flows according to embodiments of the present disclosure by executing programs stored in the one or more memories.
According to an embodiment of the present disclosure, the control device 400 may also include an input/output (I/O) interface 405, the input/output (I/O) interface 405 also being connected to the bus 404. The control device 400 may also include one or more of the following components connected to the I/O interface 405: an input section 406 including a keyboard, a mouse, and the like; an output section 407 including a display device such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage section 408 including a hard disk and the like; and a communication section 409 including a network interface card such as a LAN card, a modem, or the like. The communication section 409 performs communication processing via a network such as the internet. A driver 410 is also connected to the I/O interface 405 as needed. A removable medium 411 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 410 as necessary, so that a computer program read out therefrom is mounted into the storage section 408 as necessary.
According to embodiments of the present disclosure, method flows according to embodiments of the present disclosure may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable storage medium, the computer program containing program code for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 409, and/or installed from the removable medium 411. The computer program performs the above-described functions defined in the apparatus of the embodiments of the present disclosure when executed by the processor 401.
The present disclosure also provides a computer-readable storage medium, which may be contained in the apparatus/device/system described in the above embodiments; or may exist separately and not be assembled into the device/apparatus/system. The computer-readable storage medium carries one or more programs which, when executed, implement the method according to an embodiment of the disclosure.
According to an embodiment of the present disclosure, the computer-readable storage medium may be a non-volatile computer-readable storage medium. Examples may include, but are not limited to: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
For example, according to embodiments of the present disclosure, a computer-readable storage medium may include ROM402 and/or RAM 403 and/or one or more memories other than ROM402 and RAM 403 described above.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Those skilled in the art will appreciate that various combinations and/or combinations of features recited in the various embodiments and/or claims of the present disclosure can be made, even if such combinations or combinations are not expressly recited in the present disclosure. In particular, various combinations and/or combinations of the features recited in the various embodiments and/or claims of the present disclosure may be made without departing from the spirit or teaching of the present disclosure. All such combinations and/or associations are within the scope of the present disclosure.
The embodiments of the present disclosure have been described above. However, these examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although the embodiments are described separately above, this does not mean that the measures in the embodiments cannot be used in advantageous combination. The scope of the disclosure is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be devised by those skilled in the art without departing from the scope of the present disclosure, and such alternatives and modifications are intended to be within the scope of the present disclosure.
Claims (10)
1. An unmanned aerial vehicle system comprising:
the system comprises a plurality of wireless access points in the same local area network, wherein the network addresses of different wireless access points are different, and the working frequency band of each wireless access point comprises a first frequency band and a second frequency band, wherein each wireless access point can access a preset number of unmanned aerial vehicles, and the unmanned aerial vehicles accessed by each wireless access point are communicated with control equipment under the first frequency band and the second frequency band; and
and the control equipment is in communication connection with the plurality of wireless access points and is used for controlling the unmanned aerial vehicle connected under the plurality of wireless access points.
2. The system of claim 1, wherein:
each wireless access point is configured with a corresponding channel in the first frequency band;
and each wireless access point is configured with a corresponding channel in the second frequency band.
3. The system of claim 2, wherein two wireless access points that are spatially adjacent have different channels in the first frequency band and different channels in the second frequency band.
4. The system of claim 1, further comprising:
a switch to connect the plurality of wireless access points and the control device to cause the control device to communicatively connect with the plurality of wireless access points based on the switch.
5. The system of claim 1, further comprising:
a plurality of unmanned aerial vehicle clusters, wherein, different unmanned aerial vehicle clusters are connected under different wireless access point, and every unmanned aerial vehicle cluster includes one or more unmanned aerial vehicle.
6. The system of claim 5, wherein the control device communicates with the drone based on a UDP protocol.
7. The system of claim 6, wherein after the control device sends information to the drone based on a UDP protocol, the drone is able to send acknowledgement information to the control device if the drone receives the information.
8. An unmanned aerial vehicle control method is applied to control equipment, and the method comprises the following steps:
the method comprises the steps that control information is sent to the unmanned aerial vehicles through one or more wireless access points in the same local area network, wherein the network addresses of different wireless access points are different, the working frequency band of each wireless access point comprises a first frequency band and a second frequency band, each wireless access point can access a preset number of unmanned aerial vehicles, and the unmanned aerial vehicles accessed by each wireless access point are communicated with the control equipment under the first frequency band and the second frequency band; and
receiving feedback information, wherein the feedback information is sent by the unmanned aerial vehicle and transmitted based on a corresponding wireless access point.
9. The method of claim 8, wherein:
each wireless access point is configured with a corresponding channel in the first frequency band; and
and each wireless access point is configured with a corresponding channel in the second frequency band.
10. The method of claim 9, wherein the control device communicates with the drone based on a UDP protocol.
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