CN111880551A - Unmanned aerial vehicle signal transmission method, system, equipment and storage medium - Google Patents
Unmanned aerial vehicle signal transmission method, system, equipment and storage medium Download PDFInfo
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
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- G—PHYSICS
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- 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
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Abstract
The invention relates to the technical field of unmanned aerial vehicle signal transmission, in particular to an unmanned aerial vehicle signal transmission method, system, equipment and storage medium. When the strength or the distance between the unmanned aerial vehicle and the control end reaches a set first threshold value, establishing cellular mobile communication connection with a cloud server; when the radio signal intensity or the distance between the unmanned aerial vehicle and the control end is judged to be between a set first threshold value and a set second threshold value, image information transmission between the unmanned aerial vehicle and the control end is cut off, and the image information is uploaded to a cloud server through a cellular network; when the radio signal intensity or the distance between the unmanned aerial vehicle and the control end reaches a set second threshold value, the flight parameters of the unmanned aerial vehicle and the acquired image information are uploaded to the cloud server through the cellular network, and the control signal of the control end is received through the cloud server. The invention can effectively solve the problem that the long-distance signal transmission cannot be stably carried out between the unmanned aerial vehicle and the control end due to the limitation of the radio transmission distance.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle signal transmission, in particular to an unmanned aerial vehicle signal transmission method, system, equipment and storage medium.
Background
Unmanned planes (short for unmanned aircraft) are unmanned aerial vehicles operated by radio remote control devices and self-contained program control devices. The unmanned aerial vehicle is a general name of the unmanned aerial vehicle, and compared with a manned aircraft, the unmanned aerial vehicle has the advantages of small volume, low manufacturing cost, convenience in use and the like. Unmanned aerial vehicles can be classified into military and civil applications according to the application field. For military use, unmanned aerial vehicles divide into reconnaissance aircraft and target drone. In the civil aspect, the unmanned aerial vehicle + the industry application is really just needed by the unmanned aerial vehicle; at present, the unmanned aerial vehicle is applied to the fields of aerial photography, agriculture, plant protection, miniature self-timer, express transportation, disaster relief, wild animal observation, infectious disease monitoring, surveying and mapping, news reporting, power inspection, disaster relief, film and television shooting, romantic manufacturing and the like, the application of the unmanned aerial vehicle is greatly expanded, and countries in the world also actively expand the industrial application and develop the unmanned aerial vehicle technology.
At present, an information transmission mode of an unmanned aerial vehicle is mainly based on an end-to-end radio transmission technology between an unmanned aerial vehicle end and a control end, and the technology must additionally use ground station receiving end equipment to receive data transmitted by radio from the unmanned aerial vehicle. But this approach requires that the ground station must be kept a short distance from the drone. If the unmanned aerial vehicle flies away from the coverage area of the radio signal, the ground station can not receive the signal of the unmanned aerial vehicle, the control capability of the unmanned aerial vehicle is lost, and corresponding image or video transmission information can not be obtained from the unmanned aerial vehicle.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a signal transmission method, a signal transmission system, signal transmission equipment and a storage medium for an unmanned aerial vehicle, and when the signal transmission system is applied, the problem that long-distance signal transmission cannot be stably carried out between the unmanned aerial vehicle and a control end due to the limitation of a radio transmission distance can be effectively solved.
In a first aspect, the present invention provides a method for transmitting signals of an unmanned aerial vehicle, including:
acquiring the radio signal intensity of the unmanned aerial vehicle and the control end in real time;
when the radio signal intensity of the unmanned aerial vehicle and the control end reaches a first threshold value, establishing cellular mobile communication connection with a cloud server;
when the radio signal intensity of the unmanned aerial vehicle and the control end is judged to be between the first threshold value and the second threshold value, image information transmission between the unmanned aerial vehicle and the control end is cut off, transmission of control signals is reserved, and image information acquired by the unmanned aerial vehicle is uploaded to a cloud server through a cellular network;
when the radio signal intensity of the unmanned aerial vehicle and the control end reaches the second threshold value, the flight parameters of the unmanned aerial vehicle and the acquired image information are uploaded to the cloud server through the cellular network, and the control signal of the control end is received through the cloud server.
Based on the content of the invention, the signal transmission channels of the unmanned aerial vehicle and the control end can be adaptively adjusted according to the radio signal intensity of the unmanned aerial vehicle and the control end, and when the radio signal intensity of the unmanned aerial vehicle and the control end reaches a set first threshold value, cellular mobile communication connection can be established with a cloud server to prepare for channel adjustment; when the intensity of the radio signal is between the first threshold value and the second threshold value, the transmission of flight parameters, control signals and the like between the unmanned aerial vehicle and the control end continues to adopt the original radio signal transmission channel, but the image information acquired by the unmanned aerial vehicle is uploaded to the cloud server through the cellular network for storage, so that the control end can check the cloud server, the transmission burden of the original radio signal transmission channel is reduced, and the smooth transmission of the control signals is ensured; when the radio signal intensity reaches the second threshold value, the flight parameters of the unmanned aerial vehicle and the acquired image information are all uploaded to the cloud server through the cellular network, the control end is connected to the cloud server, the control signal of the control end is received through the cloud server, so that an original radio signal transmission channel is abandoned, the cellular network channel and the cloud server are used for signal transmission between the unmanned aerial vehicle and the control end, and the problem that long-distance signal transmission cannot be stably carried out due to the fact that the radio signal coverage is limited between the unmanned aerial vehicle and the control end is solved.
In one possible design, the process of establishing the cellular mobile communication connection with the cloud server includes:
opening a signal search channel to search a cellular network;
connecting to a cloud server through a cellular network after the cellular network is searched;
and the identity authentication of the cloud server is completed according to the identification code of the unmanned aerial vehicle and the preset password, the cloud server is logged in, and login information is fed back to the control terminal after the login is successful.
Based on the content of the invention, when the cellular mobile communication connection is established with the cloud server for the first time, the cellular network is required to be searched first and then connected to the cloud server through the cellular network, the identity authentication is required to be completed according to the identification code of the unmanned aerial vehicle and the preset password, the cloud server can be logged in after the authentication is passed, and the login information is fed back to the control end after the login is successful, so that the control end can log in the cloud server in time according to the corresponding login information.
In one possible design, the cutting off of the image information transmission between the unmanned aerial vehicle and the control end and the uploading of the image information collected by the unmanned aerial vehicle to the cloud server through the cellular network include:
closing an image information transmission channel pre-established between the unmanned aerial vehicle and the control end;
intercepting image information acquired by an unmanned aerial vehicle;
and stamping a time stamp on the intercepted image information, encrypting the image information and uploading the encrypted image information to a cloud server for storage.
Based on the content of the invention, the image information transmission between the unmanned aerial vehicle and the control terminal can be cut off by directly intercepting the image information, and when the image information is uploaded to the cloud server through the cellular network, the intercepted image information is stamped with a time stamp, so that the initial time of the image information can be conveniently judged subsequently, and the encryption processing is carried out, so that the safety of the information transmission is ensured.
In one possible design, the receiving, by the cloud server, the control signal of the control end includes:
performing handshake butt joint on the cloud server and the control end, establishing a cloud transmission channel, and completing signal synchronization with the control end;
receiving a control signal which is sent by a control terminal and encrypted by a cloud server through a cloud transmission channel;
and carrying out local decryption on the encrypted control signal to obtain a decrypted control signal.
Based on the content of the invention, a cloud transmission channel can be established between the cloud server and the control end to complete signal synchronization, and signals passing through the cloud server are encrypted to ensure the safety of signal interaction.
In a second aspect, the present invention provides a method for transmitting signals of an unmanned aerial vehicle, including:
acquiring flight parameters of the unmanned aerial vehicle in real time;
judging the real-time distance between the unmanned aerial vehicle and the control end according to the flight control parameters;
when the distance between the unmanned aerial vehicle and the control end reaches a first threshold value, establishing cellular mobile communication connection with a cloud server;
when the distance between the unmanned aerial vehicle and the control end is judged to be between the first threshold value and the second threshold value, image information transmission between the unmanned aerial vehicle and the control end is cut off, transmission of control signals is reserved, and image information acquired by the unmanned aerial vehicle is uploaded to a cloud server through a cellular network;
when the distance between the unmanned aerial vehicle and the control end reaches a second threshold value, the flight parameters of the unmanned aerial vehicle and the acquired image information are uploaded to the cloud server through the cellular network, and the control signal of the control end is received through the cloud server.
Based on the content of the invention, the signal transmission channel between the unmanned aerial vehicle and the control end can be adaptively adjusted according to the real-time distance between the unmanned aerial vehicle and the control end, and when the real-time distance between the unmanned aerial vehicle and the control end reaches a set first threshold value, cellular mobile communication connection can be established with a cloud server to prepare for channel adjustment; when the real-time distance is between the first threshold and the second threshold, the transmission of flight parameters, control signals and the like between the unmanned aerial vehicle and the control end continues to adopt the original radio signal transmission channel, but image information acquired by the unmanned aerial vehicle is uploaded to the cloud server through the cellular network for storage, so that the control end can check the cloud server, the transmission burden of the original radio signal transmission channel is reduced, and the smooth transmission of the control signals is ensured; when the real-time distance reaches the second threshold value, the flight parameters of the unmanned aerial vehicle and the acquired image information are all uploaded to the cloud server through the cellular network, the control end is connected into the cloud server, the control signal of the control end is received through the cloud server, so that an original radio signal transmission channel is abandoned, the cellular network channel and the cloud server are used for signal transmission between the unmanned aerial vehicle and the control end, and the problem that long-distance signal transmission cannot be stably carried out due to the fact that the coverage of the radio signal between the unmanned aerial vehicle and the control end is limited is solved.
In one possible design, the process of establishing the cellular mobile communication connection with the cloud server includes:
opening a signal search channel to search a cellular network;
connecting to a cloud server through a cellular network after the cellular network is searched;
and the identity authentication of the cloud server is completed according to the identification code of the unmanned aerial vehicle and the preset password, the cloud server is logged in, and login information is fed back to the control terminal after the login is successful.
In one possible design, the cutting off of the image information transmission between the unmanned aerial vehicle and the control end and the uploading of the image information collected by the unmanned aerial vehicle to the cloud server through the cellular network include:
closing an image information transmission channel pre-established between the unmanned aerial vehicle and the control end;
intercepting image information acquired by an unmanned aerial vehicle;
and stamping a time stamp on the intercepted image information, encrypting the image information and uploading the encrypted image information to a cloud server for storage.
In one possible design, the receiving, by the cloud server, the control signal of the control end includes:
performing handshake butt joint on the cloud server and the control end, establishing a cloud transmission channel, and completing signal synchronization with the control end;
receiving a control signal which is sent by a control terminal and encrypted by a cloud server through a cloud transmission channel;
and carrying out local decryption on the encrypted control signal to obtain a decrypted control signal.
In a third aspect, the present invention provides an unmanned aerial vehicle signal transmission system, including:
the first acquisition unit is used for acquiring the radio signal intensity of the unmanned aerial vehicle and the control end in real time;
the first judging unit is used for establishing cellular mobile communication connection with the cloud server when the fact that the radio signal strength of the unmanned aerial vehicle and the control end reaches a first threshold value is judged;
the second judgment unit is used for cutting off image information transmission between the unmanned aerial vehicle and the control end when the radio signal strength between the unmanned aerial vehicle and the control end is judged to be between the first threshold value and the second threshold value, reserving the transmission of the control signal, and uploading the image information acquired by the unmanned aerial vehicle to the cloud server through the cellular network;
and the third judging unit is used for uploading the flight parameters of the unmanned aerial vehicle and the acquired image information to the cloud server through the cellular network when judging that the radio signal strength of the unmanned aerial vehicle and the control end reaches a second threshold value, and receiving the control signal of the control end through the cloud server.
In one possible design, the system further includes an encryption and decryption unit, where the encryption and decryption unit is configured to encrypt the image information uploaded to the cloud server and decrypt the control signal received by the cloud server.
In a fourth aspect, the present invention provides an unmanned aerial vehicle signal transmission system, including:
the second acquisition unit is used for acquiring flight parameters of the unmanned aerial vehicle in real time;
the distance measurement unit is used for judging the real-time distance between the unmanned aerial vehicle and the control end according to the flight control parameters;
the fourth judging unit is used for establishing cellular mobile communication connection with the cloud server when judging that the distance between the unmanned aerial vehicle and the control end reaches the first threshold value;
the fifth judging unit is used for cutting off image information transmission between the unmanned aerial vehicle and the control end when the distance between the unmanned aerial vehicle and the control end is judged to be between the first threshold value and the second threshold value, reserving transmission of control signals, and uploading image information acquired by the unmanned aerial vehicle to the cloud server through the cellular network;
and the sixth judging unit is used for uploading the flight parameters of the unmanned aerial vehicle and the acquired image information to the cloud server through the cellular network when judging that the distance between the unmanned aerial vehicle and the control end reaches a second threshold value, and receiving the control signal of the control end through the cloud server.
In one possible design, the system further includes an encryption and decryption unit, where the encryption and decryption unit is configured to encrypt the image information uploaded to the cloud server and decrypt the control signal received by the cloud server.
In a fifth aspect, the present invention provides an unmanned aerial vehicle signal transmission device, including:
the cellular communication module is used for establishing cellular mobile communication connection with the cloud server;
a memory to store instructions;
a processor configured to read the instructions stored in the memory and execute the method according to any one of the first and second aspects.
In a sixth aspect, the present invention provides a computer-readable storage medium having stored thereon instructions which, when run on a computer, cause the computer to perform the method of any of the first and second aspects described above.
In a seventh aspect, the present invention provides a computer program product comprising instructions which, when run on a computer, cause the computer to perform the method of any of the first and second aspects described above.
The invention has the beneficial effects that:
according to the invention, a signal transmission channel formed by a cellular network and a cloud server is added on the basis of an original radio signal transmission channel, so that the signal transmission channel between the unmanned aerial vehicle and the control terminal is combined and selected according to the real-time radio signal intensity or distance between the unmanned aerial vehicle and the control terminal, and the problem that long-distance signal transmission cannot be stably carried out due to the radio signal coverage limitation between the unmanned aerial vehicle and the control terminal is solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow diagram of a first method of the present invention;
FIG. 2 is a schematic flow diagram of a second method of the present invention;
FIG. 3 is a schematic diagram of a first system of the present invention;
FIG. 4 is a schematic diagram of a second system of the present invention;
FIG. 5 is a schematic diagram of the apparatus of the present invention.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. Specific structural and functional details disclosed herein are merely illustrative of example embodiments of the invention. This invention may, however, be embodied in many alternate forms and should not be construed as limited to the embodiments set forth herein.
It should be understood that the terms first, second, etc. are used merely for distinguishing between descriptions and are not intended to indicate or imply relative importance. Although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of example embodiments of the present invention.
It should be understood that the term "and/or" herein is merely one type of association relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, B exists alone, and A and B exist at the same time, and the term "/and" is used herein to describe another association object relationship, which means that two relationships may exist, for example, A/and B, may mean: a alone, and both a and B alone, and further, the character "/" in this document generally means that the former and latter associated objects are in an "or" relationship.
It is to be understood that in the description of the present invention, the terms "upper", "vertical", "inside", "outside", and the like, refer to an orientation or positional relationship that is conventionally used for placing the product of the present invention, or that is conventionally understood by those skilled in the art, and are used merely for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be considered as limiting the present invention.
It will be understood that when an element is referred to as being "connected," "connected," or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present. In contrast, when an element is referred to as being "directly adjacent" or "directly coupled" to another element, there are no intervening elements present. Other words used to describe the relationship between elements should be interpreted in a similar manner (e.g., "between … …" versus "directly between … …", "adjacent" versus "directly adjacent", etc.).
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes," and/or "including," when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, numbers, steps, operations, elements, components, and/or groups thereof.
It should also be noted that, in some alternative implementations, the functions/acts noted may occur out of the order noted in the figures. For example, two figures shown in succession may, in fact, be executed substantially concurrently, or the figures may sometimes be executed in the reverse order, depending upon the functionality/acts involved.
In the following description, specific details are provided to facilitate a thorough understanding of example embodiments. However, it will be understood by those of ordinary skill in the art that the example embodiments may be practiced without these specific details. For example, systems may be shown in block diagrams in order not to obscure the examples in unnecessary detail. In other instances, well-known processes, structures and techniques may be shown without unnecessary detail in order to avoid obscuring example embodiments.
Example 1:
the embodiment provides an unmanned aerial vehicle signal transmission method, as shown in fig. 1, including the following steps:
s101, acquiring the radio signal intensity of the unmanned aerial vehicle and the control end in real time.
Specifically, the radio signal intensity of unmanned aerial vehicle and control end can directly acquire through unmanned aerial vehicle's flight control module group of taking oneself, and radio signal intensity contains in the relevant flight parameter that flight control module group gave, and flight parameter still generally contains unmanned aerial vehicle longitude and latitude, attitude information and state information etc..
S102, when the radio signal strength of the unmanned aerial vehicle and the radio signal strength of the control end reach a first threshold value, cellular mobile communication connection is established with the cloud server.
Specifically, the process of establishing the cellular mobile communication connection with the cloud server comprises the following steps:
opening a signal search channel to search for a cellular network, wherein the cellular network can be but is not limited to a 4G network, a 5G network and the like;
connecting to a cloud server through a cellular network after the cellular network is searched;
the identity authentication of the cloud server is completed according to the identification code of the unmanned aerial vehicle and the preset password, the unmanned aerial vehicle logs in the cloud server, and the login information is fed back to the control end after the login is successful, so that the control end can log in the cloud server to be docked according to the corresponding login information in time.
S103, when the radio signal strength of the unmanned aerial vehicle and the control end is judged to be between the first threshold value and the second threshold value, image information transmission between the unmanned aerial vehicle and the control end is cut off, transmission of control signals is reserved, and image information collected by the unmanned aerial vehicle is uploaded to a cloud server through a cellular network.
Specifically, the first threshold value can be set to-50 dbm, and the second threshold value can be set to-70 dbm, so that the signal transmission between the unmanned aerial vehicle and the control end is ensured to be unimpeded.
Cut off the image information transmission between unmanned aerial vehicle and the control end, the process of uploading the image information of unmanned aerial vehicle collection to the cloud ware through cellular network includes:
closing an image information transmission channel pre-established between the unmanned aerial vehicle and the control end;
the image information acquired by the unmanned aerial vehicle is intercepted, and the image information acquired by the unmanned aerial vehicle can be intercepted in a mode of directly butting an image collector of the unmanned aerial vehicle;
and stamping a timestamp on the intercepted image information, encrypting the image information, and uploading the image information to a cloud server for storage, wherein the image information comprises a photo and a video stream.
And S104, when the radio signal strength of the unmanned aerial vehicle and the control end reaches a second threshold value, uploading the flight parameters of the unmanned aerial vehicle and the acquired image information to a cloud server through a cellular network, and receiving the control signal of the control end through the cloud server.
The process of receiving the control signal of the control terminal through the cloud server includes:
performing handshake butt joint on the cloud server and the control end, establishing a cloud transmission channel, and completing signal synchronization with the control end;
receiving a control signal which is sent by a control terminal and encrypted by a cloud server through a cloud transmission channel;
and carrying out local decryption on the encrypted control signal to obtain a decrypted control signal.
Example 2:
the embodiment provides an unmanned aerial vehicle signal transmission method, as shown in fig. 2, including the following steps:
s201, acquiring flight parameters of the unmanned aerial vehicle in real time, and judging the real-time distance between the unmanned aerial vehicle and a control end according to the flight control parameters;
s202, when the distance between the unmanned aerial vehicle and the control end is judged to reach a first threshold value, cellular mobile communication connection is established with a cloud server;
s203, when the distance between the unmanned aerial vehicle and the control end is judged to be between the first threshold value and the second threshold value, image information transmission between the unmanned aerial vehicle and the control end is cut off, transmission of control signals is reserved, and image information acquired by the unmanned aerial vehicle is uploaded to a cloud server through a cellular network;
and S204, when the distance between the unmanned aerial vehicle and the control end is judged to reach a second threshold value, uploading the flight parameters of the unmanned aerial vehicle and the acquired image information to a cloud server through a cellular network, and receiving a control signal of the control end through the cloud server.
Example 3:
this implementation provides an unmanned aerial vehicle signal transmission system, as shown in fig. 3, include:
the first acquisition unit is used for acquiring the radio signal intensity of the unmanned aerial vehicle and the control end in real time;
the first judging unit is used for establishing cellular mobile communication connection with the cloud server when the fact that the radio signal strength of the unmanned aerial vehicle and the control end reaches a first threshold value is judged;
the second judgment unit is used for cutting off image information transmission between the unmanned aerial vehicle and the control end when the radio signal strength between the unmanned aerial vehicle and the control end is judged to be between the first threshold value and the second threshold value, reserving the transmission of the control signal, and uploading the image information acquired by the unmanned aerial vehicle to the cloud server through the cellular network;
and the third judging unit is used for uploading the flight parameters of the unmanned aerial vehicle and the acquired image information to the cloud server through the cellular network when judging that the radio signal strength of the unmanned aerial vehicle and the control end reaches a second threshold value, and receiving the control signal of the control end through the cloud server.
In one possible design, the system further includes an encryption and decryption unit, where the encryption and decryption unit is configured to encrypt the image information uploaded to the cloud server and decrypt the control signal received by the cloud server.
Example 4:
this implementation provides an unmanned aerial vehicle signal transmission system, as shown in fig. 4, include:
the second acquisition unit is used for acquiring flight parameters of the unmanned aerial vehicle in real time;
the distance measurement unit is used for judging the real-time distance between the unmanned aerial vehicle and the control end according to the flight control parameters;
the fourth judging unit is used for establishing cellular mobile communication connection with the cloud server when judging that the distance between the unmanned aerial vehicle and the control end reaches the first threshold value;
the fifth judging unit is used for cutting off image information transmission between the unmanned aerial vehicle and the control end when the distance between the unmanned aerial vehicle and the control end is judged to be between the first threshold value and the second threshold value, reserving transmission of control signals, and uploading image information acquired by the unmanned aerial vehicle to the cloud server through the cellular network;
and the sixth judging unit is used for uploading the flight parameters of the unmanned aerial vehicle and the acquired image information to the cloud server through the cellular network when judging that the distance between the unmanned aerial vehicle and the control end reaches a second threshold value, and receiving the control signal of the control end through the cloud server.
In one possible design, the system further includes an encryption and decryption unit, where the encryption and decryption unit is configured to encrypt the image information uploaded to the cloud server and decrypt the control signal received by the cloud server.
Example 5:
this embodiment provides an unmanned aerial vehicle signal transmission equipment, as shown in fig. 5, includes:
the cellular communication module is used for establishing cellular mobile communication connection with the cloud server;
a memory to store instructions;
and the processor is used for reading the instruction stored in the memory and executing the unmanned aerial vehicle signal transmission method in the embodiment 1 or the embodiment 2 according to the instruction.
The cellular communication module can be but is not limited to a 4G module, a 5G module and the like; the Memory may include, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Flash Memory (Flash Memory), a First In First Out (FIFO), a First In Last Out (FILO), and/or the like; the processor may include, but is not limited to, a raspberry pi processor, a single chip, an ARM processor, and the like. Cellular communication module, memory and treater all set up on unmanned aerial vehicle.
Use 4G module and raspberry group treater as the example here, provide unmanned aerial vehicle signal transmission implementation mode based on 4G module and raspberry group treater:
starting an unmanned aerial vehicle flight control module, starting a raspberry group processor and starting an unmanned aerial vehicle airborne image collector;
the raspberry pi processor drives a serial port TTL to read flight parameters of an unmanned aerial vehicle flight control module by using a mavlin protocol (micro air vehicle link communication protocol), wherein the flight parameters comprise longitude and latitude information of a current unmanned aerial vehicle, flight attitude and state information, current flight task route information, signal intensity of the unmanned aerial vehicle and a control end, distance between the unmanned aerial vehicle and the control end and the like, and whether a 4G module is started to be connected with a cloud server is determined according to the signal intensity of the unmanned aerial vehicle and the control end or the distance between the unmanned aerial vehicle and the control end;
when the fact that the cloud server needs to be connected is determined, the raspberry pi processor creates an MQTT (message queue telemetry transmission) client through driving the 4G module, and corresponding data information taken from the flight control module is transmitted to the cloud server through a 4G network;
the cloud server builds an MQTT server, monitors messages transmitted by an MQTT client in real time, realizes high concurrency and high-efficiency data processing, and then pushes the information to a control end;
the control end is connected with the cloud server, an MQTT client is created, data information of the unmanned aerial vehicle is obtained through subscription from the cloud server and displayed on an interface;
the raspberry pi processor drives an unmanned aerial vehicle onboard image collector through an HDMI (high-definition multimedia interface) to realize video image collection, and the collected video image information is pushed to a cloud server through a 4G network in a Real Time Messaging Protocol (RTMP) push flow mode; the method comprises the steps that RTMP service is built on a cloud server, video image plug flow is received in real time, and an RTMP client access interface is provided for client access; the control end is connected to the RTMP service of the cloud server, and the unmanned aerial vehicle video plug flow is obtained in real time by the identity of the RTMP client, so that the real-time video transmission function is realized;
the control end sends an operation instruction to the cloud server in an MQTT mode; the cloud server receives the operation instruction through the built MQTT server and forwards the operation instruction to the 4G module at the unmanned aerial vehicle end; the raspberry of unmanned aerial vehicle end is sent the treater and is connected to the MQTT server on the cloud server through the 4G module, obtains corresponding instruction from the MQTT server, passes through the serial ports with the instruction and transmits the flight control module group for unmanned aerial vehicle according to mavlik agreement, and flight control module group carries out this order, changes unmanned aerial vehicle flight state.
Example 6:
the present embodiment provides a computer-readable storage medium having stored thereon instructions that, when executed on a computer, cause the computer to execute the unmanned aerial vehicle signal transmission method of embodiment 1 or embodiment 2. The computer-readable storage medium refers to a carrier for storing data, and may include, but is not limited to, floppy disks, optical disks, hard disks, flash memories, flash disks and/or Memory sticks (Memory sticks), etc., and the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.
Example 7:
the present embodiment provides a computer program product comprising instructions that, when run on a computer, cause the computer to perform the method of drone signal transmission of embodiment 1 or embodiment 2. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable devices.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the embodiments of the method may be implemented by hardware related to program instructions, the program may be stored in a computer-readable storage medium, and when executed, the program performs the steps including the embodiments of the method, and the storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus, devices and computer program products of embodiments. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The present invention is not limited to the above-described alternative embodiments, and various other forms of products can be obtained by anyone in light of the present invention. The above detailed description should not be taken as limiting the scope of the invention, which is defined in the claims, and which the description is intended to be interpreted accordingly.
Claims (10)
1. An unmanned aerial vehicle signal transmission method is characterized by comprising the following steps:
acquiring the radio signal intensity of the unmanned aerial vehicle and the control end in real time;
when the radio signal intensity of the unmanned aerial vehicle and the control end reaches a first threshold value, establishing cellular mobile communication connection with a cloud server;
when the radio signal intensity of the unmanned aerial vehicle and the control end is judged to be between the first threshold value and the second threshold value, image information transmission between the unmanned aerial vehicle and the control end is cut off, transmission of control signals is reserved, and image information acquired by the unmanned aerial vehicle is uploaded to a cloud server through a cellular network;
when the radio signal intensity of the unmanned aerial vehicle and the control end reaches the second threshold value, the flight parameters of the unmanned aerial vehicle and the acquired image information are uploaded to the cloud server through the cellular network, and the control signal of the control end is received through the cloud server.
2. An unmanned aerial vehicle signal transmission method is characterized by comprising the following steps:
acquiring flight parameters of the unmanned aerial vehicle in real time;
judging the real-time distance between the unmanned aerial vehicle and the control end according to the flight control parameters;
when the distance between the unmanned aerial vehicle and the control end reaches a first threshold value, establishing cellular mobile communication connection with a cloud server;
when the distance between the unmanned aerial vehicle and the control end is judged to be between the first threshold value and the second threshold value, image information transmission between the unmanned aerial vehicle and the control end is cut off, transmission of control signals is reserved, and image information acquired by the unmanned aerial vehicle is uploaded to a cloud server through a cellular network;
when the distance between the unmanned aerial vehicle and the control end reaches a second threshold value, the flight parameters of the unmanned aerial vehicle and the acquired image information are uploaded to the cloud server through the cellular network, and the control signal of the control end is received through the cloud server.
3. The unmanned aerial vehicle signal transmission method of claim 1 or 2, wherein the process of establishing the cellular mobile communication connection with the cloud server comprises:
opening a signal search channel to search a cellular network;
connecting to a cloud server through a cellular network after the cellular network is searched;
and the identity authentication of the cloud server is completed according to the identification code of the unmanned aerial vehicle and the preset password, the cloud server is logged in, and login information is fed back to the control terminal after the login is successful.
4. The unmanned aerial vehicle signal transmission method according to claim 1 or 2, wherein the step of cutting off transmission of image information between the unmanned aerial vehicle and the control terminal and uploading the image information acquired by the unmanned aerial vehicle to the cloud server through the cellular network comprises:
closing an image information transmission channel pre-established between the unmanned aerial vehicle and the control end;
intercepting image information acquired by an unmanned aerial vehicle;
and stamping a time stamp on the intercepted image information, encrypting the image information and uploading the encrypted image information to a cloud server for storage.
5. The unmanned aerial vehicle signal transmission method according to claim 1 or 2, wherein the receiving of the control signal of the control end through the cloud server includes:
performing handshake butt joint on the cloud server and the control end, establishing a cloud transmission channel, and completing signal synchronization with the control end;
receiving a control signal which is sent by a control terminal and encrypted by a cloud server through a cloud transmission channel;
and carrying out local decryption on the encrypted control signal to obtain a decrypted control signal.
6. An unmanned aerial vehicle signal transmission system, comprising:
the first acquisition unit is used for acquiring the radio signal intensity of the unmanned aerial vehicle and the control end in real time;
the first judging unit is used for establishing cellular mobile communication connection with the cloud server when the fact that the radio signal strength of the unmanned aerial vehicle and the control end reaches a first threshold value is judged;
the second judgment unit is used for cutting off image information transmission between the unmanned aerial vehicle and the control end when the radio signal strength between the unmanned aerial vehicle and the control end is judged to be between the first threshold value and the second threshold value, reserving the transmission of the control signal, and uploading the image information acquired by the unmanned aerial vehicle to the cloud server through the cellular network;
and the third judging unit is used for uploading the flight parameters of the unmanned aerial vehicle and the acquired image information to the cloud server through the cellular network when judging that the radio signal strength of the unmanned aerial vehicle and the control end reaches a second threshold value, and receiving the control signal of the control end through the cloud server.
7. An unmanned aerial vehicle signal transmission system, comprising:
the second acquisition unit is used for acquiring flight parameters of the unmanned aerial vehicle in real time;
the distance measurement unit is used for judging the real-time distance between the unmanned aerial vehicle and the control end according to the flight control parameters;
the fourth judging unit is used for establishing cellular mobile communication connection with the cloud server when judging that the distance between the unmanned aerial vehicle and the control end reaches the first threshold value;
the fifth judging unit is used for cutting off image information transmission between the unmanned aerial vehicle and the control end when the distance between the unmanned aerial vehicle and the control end is judged to be between the first threshold value and the second threshold value, reserving transmission of control signals, and uploading image information acquired by the unmanned aerial vehicle to the cloud server through the cellular network;
and the sixth judging unit is used for uploading the flight parameters of the unmanned aerial vehicle and the acquired image information to the cloud server through the cellular network when judging that the distance between the unmanned aerial vehicle and the control end reaches a second threshold value, and receiving the control signal of the control end through the cloud server.
8. A drone signal transmission system according to claim 6 or 7, characterised in that it further comprises:
and the encryption and decryption unit is used for encrypting the image information uploaded to the cloud server and decrypting the control signal received by the cloud server.
9. An unmanned aerial vehicle signal transmission equipment, its characterized in that includes:
the cellular communication module is used for establishing cellular mobile communication connection with the cloud server;
a memory to store instructions;
a processor for reading the instructions stored in the memory and executing the method according to the instructions as claimed in any one of claims 1 to 5.
10. A computer-readable storage medium having stored thereon instructions which, when executed on a computer, cause the computer to perform the method of any one of claims 1-5.
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| CN114584201A (en) * | 2022-03-01 | 2022-06-03 | 电子科技大学长三角研究院(湖州) | Unmanned aerial vehicle system based on 5G transmission protocol |
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