CN112119648A

CN112119648A - Control method, remote server, control station, and storage medium

Info

Publication number: CN112119648A
Application number: CN201980030362.6A
Authority: CN
Inventors: 陈文月; 尹小俊; 饶雄斌
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2019-08-29
Filing date: 2019-08-29
Publication date: 2020-12-22
Also published as: WO2021035641A1

Abstract

A control method, a remote server, a control station, and a storage medium, wherein a control method may include: sending uplink control data to the selected control station to enable the selected control station to control the unmanned aerial vehicle according to the uplink control data; receiving first signal receiving intensity sent by a selected control station, wherein the first signal receiving intensity is determined according to downlink service data of the unmanned aerial vehicle received by the selected control station; receiving second signal receiving intensity sent by the candidate control station, wherein the second signal receiving intensity is determined according to downlink service data of the unmanned aerial vehicle received by the candidate control station; generating a switching instruction according to the first signal receiving intensity and the second signal receiving intensity; and sending a switching instruction to the selected control station to enable the selected control station to control the unmanned aerial vehicle to disconnect the bidirectional data interaction with the selected control station and control the unmanned aerial vehicle to establish the bidirectional data interaction with the candidate control station. The method can realize long-distance navigation of the unmanned aerial vehicle.

Description

Control method, remote server, control station, and storage medium

Technical Field

The present invention relates to the field of communications technologies, and in particular, to a control method, a remote server, a control station, and a storage medium.

Background

With the development of the information age, more advanced information processing and communication technologies are applied to mobile platforms, so that the variety of the mobile platforms is continuously increased, and the application fields are more and more extensive. Taking unmanned aerial vehicle as an example, present unmanned aerial vehicle can be used in a great deal of fields such as taking photo by plane, petroleum pipeline patrols and examines, electric power is patrolled and examined and border is patrolled and patrol. When unmanned aerial vehicle was applied to above-mentioned field, the user passed through the remote controller and controlled unmanned aerial vehicle executive task, and the data that unmanned aerial vehicle gathered at executive task in-process can be received to the remote controller. But be subject to on the unmanned aerial vehicle receiver self sensitivity limited to and factors such as radio management regulation to the restriction of power and remote controller self antenna volume, the limit communication distance that unmanned aerial vehicle generally reached under the ideal environment is about 10 kilometers, if meet electromagnetic environment interference, influence such as topography shelters from, communication distance can greatly reduced.

Based on above-mentioned reason, unmanned aerial vehicle often appears because the communication distance between remote controller and the unmanned aerial vehicle can not reach the coverage and patrols and examines the region in the long distance field of cruising, and lead to the problem that unmanned aerial vehicle is out of control or blind flight. At present, the unmanned aerial vehicle can be carried by people to fly to different positions to perform routing inspection, the range of the unmanned aerial vehicle is shortened, and the working efficiency of the unmanned aerial vehicle is reduced to a certain extent by the method. Therefore, how to ensure that the unmanned aerial vehicle can effectively work for a long distance becomes a hot problem in the field research of the current unmanned aerial vehicle.

Disclosure of Invention

The embodiment of the invention provides a control method, a remote server, a control station and a storage medium, wherein the remote server can control an unmanned aerial vehicle to switch the control station connected with the unmanned aerial vehicle in the flight process according to the signal receiving intensity of a plurality of control stations, and the unmanned aerial vehicle can effectively carry out long-distance communication by connecting with different control stations for flight.

In a first aspect, an embodiment of the present invention provides a control method, where the control method is applied to a remote server, where the remote server is in communication connection with a selected control station and a candidate control station, and the selected control station performs bidirectional data interaction with an unmanned aerial vehicle, where the method includes:

sending uplink control data to the selected control station to enable the selected control station to control the unmanned aerial vehicle according to the uplink control data;

receiving a first signal receiving intensity sent by the selected control station, wherein the first signal receiving intensity is determined according to downlink service data received by the selected control station from the unmanned aerial vehicle;

receiving a second signal receiving intensity sent by the candidate control station, wherein the second signal receiving intensity is determined according to the downlink service data received by the candidate control station from the unmanned aerial vehicle;

generating a switching instruction according to the first signal receiving intensity and the second signal receiving intensity;

and sending the switching instruction to the selected control station to enable the selected control station to control the unmanned aerial vehicle to disconnect the bidirectional data interaction with the selected control station and control the unmanned aerial vehicle to establish the bidirectional data interaction with the candidate control station.

In a second aspect, an embodiment of the present invention provides another control method, where the control method is applied to a selected control station that has established bidirectional data interaction with an unmanned aerial vehicle, and the selected control station is in communication connection with a remote server, and the method includes:

acquiring downlink service data sent by the unmanned aerial vehicle and first signal receiving strength of the selected control station on the downlink service data;

sending the first signal reception strength to the remote server;

acquiring a switching instruction sent by the remote server, wherein the switching instruction is generated by the remote server according to the first signal receiving strength and a second signal receiving strength received by the remote server and sent by the candidate control station, and the second signal receiving strength is determined by the candidate control station according to downlink service data received by the candidate control station from the unmanned aerial vehicle;

and controlling the unmanned aerial vehicle to disconnect the bidirectional data interaction with the selected control station according to the switching instruction so as to enable the unmanned aerial vehicle to establish the bidirectional data interaction with the candidate control station.

In a third aspect, an embodiment of the present invention provides a remote server, where,

the remote server is in communication connection with a selected control station and a candidate control station, the selected control station performs bidirectional data interaction with the unmanned aerial vehicle, the remote server comprises a memory and a processor:

the memory is used for storing program codes;

the processor, invoking the program code, when executed, is configured to:

receiving first signal receiving intensity sent by the selected control station, wherein the first signal receiving intensity is determined according to downlink service data received by the selected control station from the unmanned aerial vehicle;

and sending the switching instruction to the selected control station to enable the selected control station to control the unmanned aerial vehicle to disconnect the bidirectional data interaction with the selected control station and establish the bidirectional data interaction with the candidate control station.

In a fourth aspect, an embodiment of the present invention provides a control station, which is characterized in that,

the control station is a selected control station that establishes bidirectional data interaction with the UAV, the selected control station is communicatively coupled to a remote server, the remote server is further communicatively coupled to a candidate control station, the control station includes a memory and a processor:

the memory for storing program code;

the processor, invoking the program code, when executed, is configured to:

sending the first signal reception strength to the remote server;

and controlling the unmanned aerial vehicle to disconnect the bidirectional data interaction with the selected control station according to the switching execution so that the unmanned aerial vehicle establishes the bidirectional data interaction with the candidate control station.

Accordingly, an embodiment of the present invention further provides a computer-readable storage medium, which is characterized by storing a first computer program comprising first program instructions, which, when executed by a processor, cause the processor to execute the control method of the first aspect, or storing a second computer program comprising second program instructions, which, when executed by a processor, cause the processor to execute the control method of the second aspect.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a block diagram of a control system according to an embodiment of the present invention;

FIG. 2 is a diagram of an application scenario of an unmanned aerial vehicle according to an embodiment of the present invention;

FIG. 3 is a flow chart of a control method according to an embodiment of the present invention;

fig. 4a is a schematic diagram of a selected control station acquiring uplink control data according to an embodiment of the present invention;

fig. 4b is a schematic diagram of another selected control station acquiring uplink control data according to an embodiment of the present invention;

FIG. 5 is a schematic flow chart of another control method provided by the embodiment of the invention;

fig. 6 is a schematic structural diagram of a remote server according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a control station according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The embodiment of the invention provides a control scheme which can be applied to an application scene of long-distance navigation of an unmanned aerial vehicle, and specifically comprises the following steps: when bidirectional data interaction between a selected control station of the plurality of preset control stations and the unmanned aerial vehicle is established, the remote server can send uplink control data to the selected control station, so that the selected control station sends the uplink control data to the unmanned aerial vehicle to control the unmanned aerial vehicle to fly or execute tasks; the unmanned aerial vehicle can generate downlink service data in the process of flying or executing a task according to the uplink control data of the selected control station, the unmanned aerial vehicle sends the downlink service data to the selected control station, and the selected control station determines the first signal receiving strength according to the receiving condition of the downlink service data. In addition, when the unmanned aerial vehicle sends downlink service data to the selected control station, the candidate control stations in the plurality of preset control stations also detect the downlink service data, and determine the second signal receiving strength according to the receiving condition of the downlink service data. The remote server receives first signal receiving intensity sent by the selected control station and second signal receiving intensity sent by the candidate control station, generates a switching instruction according to the first signal receiving intensity and the second signal receiving intensity, and sends the switching instruction to the selected control station, so that the selected control station controls the unmanned aerial vehicle to disconnect bidirectional data interaction with the selected control station, and controls the unmanned aerial vehicle to establish bidirectional data interaction with the candidate control station.

In the control scheme shown in the embodiment of the invention, the remote server can control the unmanned aerial vehicle to switch the connection with different preset control stations in the flight process according to the signal receiving intensity of the plurality of preset control stations, and the uplink control data for controlling the flight of the unmanned aerial vehicle is obtained by connecting with different preset control stations, so that the phenomenon of blind flight caused by the long distance between the unmanned aerial vehicle and the corresponding control terminal or remote terminal is avoided, and the effective long-distance flight of the unmanned aerial vehicle can be realized.

Based on the control scheme provided by the embodiment of the invention, the embodiment of the invention also provides a control system, and a schematic structural diagram of the control system provided by the embodiment of the invention is shown in reference to fig. 1. The control system shown in fig. 1 may include a remote server 101, an unmanned aerial vehicle 102, a preset control station 103, and a smart device 104 corresponding to the unmanned aerial vehicle 102, where the smart device 104 may be a control terminal such as a remote controller, or the smart device 104 may also be a remote terminal such as a mobile phone or a computer. The unmanned aerial vehicle 102 may include an unmanned aerial vehicle, and the preset control station 103 includes at least two preset control stations, and it is assumed that the preset control station 103 shown in fig. 1 includes a preset control station a, a preset control station B, and a preset control station C. Each preset control station corresponds to a signal coverage range, and all signals or data falling into the signal coverage range can be collected by the preset control station. The signal coverage range of each preset control station can be the same or different.

In one embodiment, the preset control station 103 in the control system shown in fig. 1 may be set by the relevant personnel in the selected operation area of the unmanned aerial vehicle 102. Specifically, assuming that the signal coverage ranges of the preset control stations are the same, in the selected operation area, determining the number of the preset control stations required to be arranged in the operation area and the deployment site of each preset control station according to the signal coverage ranges of the preset control stations and the total area of the operation area; at each deployment site, preset control stations, such as a preset control station a, a preset control station B, and a preset control station C in fig. 1, are deployed at the same or similar distances from each other.

It should be understood that, in an application scenario in which the unmanned aerial vehicle performs a flight mission in a general situation, as shown in fig. 2, in the application scenario shown in fig. 2, a user may input a control instruction for the unmanned aerial vehicle 102 through the intelligent device 104, and then the intelligent device 104 carries the control instruction in the uplink control data and sends the control instruction to the unmanned aerial vehicle 102, so that the unmanned aerial vehicle 102 performs the flight mission according to the control instruction in the uplink control data; meanwhile, the unmanned aerial vehicle 102 sends downlink service data generated in the process of executing the flight task to the intelligent device 104, so that a user can detect the task execution condition of the unmanned aerial vehicle through the intelligent device 104 conveniently.

However, the above control method for the unmanned aerial vehicle 102 may have the following problems in practical applications: the distance between the unmanned aerial vehicle 102 and the intelligent device 104 is long, the uplink control data of the intelligent device 104 cannot be sent to the unmanned aerial vehicle 102, and similarly, the downlink service data generated by the unmanned aerial vehicle 102 cannot be sent to the intelligent device 104. As a result, the unmanned aerial vehicle may fly blind, which may cause safety hazard to the unmanned aerial vehicle 102.

The control system provided by the embodiment of the present invention can solve the above problem, in the control system illustrated in fig. 1, the remote server 101 serves as a transfer device between the unmanned aerial vehicle 102, the intelligent device 104, and the preset control station 103. The intelligent device 104 may send the uplink control data to the remote server 101, the remote server 101 sends the uplink control data to a selected control hypothesis in a preset control station as a (selection of the selected control station will be described in detail later), and the selected control station a implements bidirectional data interaction with the unmanned aerial vehicle, that is, the selected control station a sends the uplink control data to the unmanned aerial vehicle 102, and the unmanned aerial vehicle 102 sends the downlink service data to the selected control station a. The selected control station a may directly send the downlink service data to the intelligent device 104, or the selected control station a may also send the downlink service data to the remote server 101, and the remote server 101 sends the downlink service data to the intelligent device 104 for the user to view.

In one embodiment, during the process of controlling the unmanned aerial vehicle to perform the mission, the remote server 101 may determine a selected control station, say a, from a plurality of preset control stations 103 and notify the unmanned aerial vehicle 102 to establish a two-way data interaction with the selected control station a. In addition, since the signal coverage area of each control station is limited, in order to enable the unmanned aerial vehicle to navigate in a long distance, the remote server 101 further needs to determine a candidate control station, which is assumed to be B, from the preset control stations 103, so that when the flight distance of the unmanned aerial vehicle 102 exceeds the signal coverage area of the selected control station a or the transmission quality of the bidirectional data interaction between the selected control station a and the unmanned aerial vehicle 102 is weak, the unmanned aerial vehicle 102 can be controlled to disconnect the bidirectional data interaction with the selected control station a and establish the bidirectional data interaction with the candidate control station B to continue to perform the flight mission.

Specifically, after the unmanned aerial vehicle 102 establishes bidirectional data interaction with the selected control station a, the remote server 101 may send uplink control data to the selected control station a to enable the selected control station to control the unmanned aerial vehicle 102 according to the uplink control data, where the uplink control data may be data for controlling the unmanned aerial vehicle to adjust the flying speed, the flying direction, and other data for controlling the flight of the unmanned aerial vehicle. The unmanned aerial vehicle 102 may transmit the downlink traffic data collected during flight to the selected control station a. Further, in order to monitor long-distance travel of the unmanned aerial vehicle, the selected control station a may determine a first signal reception intensity from the received downlink traffic data and transmit the first signal reception intensity to the remote server 101.

As flying aircraft 102 flies, unmanned aircraft 102 may fly to an area where signal coverage of selected control station a and candidate control station B overlap, and at this time, downlink traffic data transmitted from unmanned aircraft 102 to selected control station a is also detected by candidate control station B. The candidate control station B may determine the second signal reception strength according to the received downlink traffic data, and send the second signal reception strength to the remote server 101.

The remote server 101 compares the first signal receiving strength with the second signal receiving strength, and if it is detected that the difference between the second signal receiving strength and the first signal receiving strength is greater than the preset value, it indicates that the data transmission quality during bidirectional data interaction between the unmanned aerial vehicle 102 and the candidate control station B at this time is higher than the data transmission quality between the unmanned aerial vehicle 102 and the selected control station a, the remote server 101 may generate a switching instruction for instructing the unmanned aerial vehicle 102 to disconnect the bidirectional data interaction connection with the selected control station a and establish the bidirectional data interaction connection with the candidate control station B.

It should be understood that the above-described process embodiments of the present invention are only examples of switching the connection of the unmanned aerial vehicle from the selected control station to the candidate control station during the flight of the unmanned aerial vehicle, and describe the steps performed by the various parts of the control system to implement efficient long-distance communication of the unmanned aerial vehicle. For each connection switching in the flight process of the unmanned aerial vehicle, the steps executed by each part in the control system are the same as described above, and the specific implementation manner of the connection switching is also the same as described above, which is not described again here.

Based on the above control system, referring to fig. 3, a flowchart of a control method provided in an embodiment of the present invention is shown. The control method shown in fig. 3 may be applied to a remote server, where the remote server is in communication connection with a selected control station and a candidate control station, where the selected control station performs bidirectional data interaction with the unmanned aerial vehicle, and the control method shown in fig. 3 may specifically include the following steps:

and S301, sending uplink control data to the selected control station to enable the selected control station to control the unmanned aerial vehicle according to the uplink control data.

The uplink control data can comprise setting data of basic flight such as the flight direction, the flight speed and the like of the unmanned aerial vehicle; alternatively, the uplink control data may further include setting data related to a flight mission performed by the unmanned aerial vehicle, for example, if the flight mission performed by the unmanned aerial vehicle is to acquire image data, the uplink control data may include setting data such as a shooting delay and a shooting resolution of a shooting device on the unmanned aerial vehicle.

In one embodiment, the uplink control data sent by the remote server to the selected control station may be generated by a remote terminal corresponding to the unmanned aerial vehicle and sent to the remote server. The remote terminal is a terminal device which can be used for monitoring the flight condition of the unmanned aerial vehicle and sending a control instruction to the unmanned aerial vehicle, and the terminal device can be a mobile phone or a computer.

For example, referring to fig. 4a, which is a schematic diagram of a selected control station acquiring uplink control data according to an embodiment of the present invention, in fig. 4a, it is assumed that an unmanned aerial vehicle 401 is an unmanned aerial vehicle, a remote terminal corresponding to the unmanned aerial vehicle 401 is a terminal device 402, a user may start a setting interface for setting the unmanned aerial vehicle in a user interface of the terminal device 402, and may input a control operation or a control instruction in the setting interface through an input device related to the terminal device, such as a keyboard or a microphone, where the control instruction is "setting a shooting delay of 3 seconds" or the control instruction may also be "adjusting a certain parameter of a shooting device to an XX value". The terminal device 402 generates uplink control data according to the detected control or control instruction and transmits the uplink control data to the remote server 403, and the remote server 403 transmits the uplink control data to the selected control station 404, so that the selected control station controls the flight of the unmanned aerial vehicle 401 according to the uplink control data.

In other embodiments, the selected control station may further obtain the uplink service data through a control terminal corresponding to the unmanned aerial vehicle. The control terminal can be a remote controller matched with the unmanned aerial vehicle, a user can input control operation on the control terminal corresponding to the unmanned aerial vehicle, and the control terminal generates uplink control data according to the control operation input by the user and sends the uplink control data to the remote server.

For example, referring to fig. 4b, which is a schematic diagram of a selected control station acquiring uplink control data according to an embodiment of the present invention, in fig. 4b, it is assumed that an unmanned aerial vehicle 401 is an unmanned aerial vehicle, a control terminal corresponding to the unmanned aerial vehicle 401 is a remote controller 405, and a user can control a flight direction and a flight speed of the unmanned aerial vehicle through the remote controller 405. The remote controller 405 generates uplink control data according to the detected user operation and transmits the uplink control data to the selected control station 404, so that the selected control station 404 controls the flight of the unmanned aerial vehicle according to the uplink control data.

It should be understood that if the distance between the unmanned aerial vehicle and the remote terminal or the control terminal is too large, uplink control data in the remote terminal or the control terminal may not be transmitted to the unmanned aerial vehicle, and thus, the unmanned aerial vehicle may have a blind flight state, and thus, the unmanned aerial vehicle has a flight safety problem. In the embodiment of the invention, the selected control station and the remote server are introduced between the unmanned aerial vehicle and the control terminal or the remote terminal to solve the problem, the uplink service data generated by the control terminal or the remote terminal is firstly sent to the remote server, and then the remote server forwards the uplink control data to the selected control station, so that the selected control station controls the unmanned aerial vehicle according to the uplink control data.

In one embodiment, the remote server may first determine the selected control station and the candidate control station from a plurality of preset control stations before performing step S201. Wherein, predetermine the control station can be set up in advance in unmanned vehicles's operation region, specifically: firstly, selecting an operation area of the unmanned aerial vehicle, and determining the number of preset control stations required in the operation area and the deployment site of each preset control station according to the total area of the operation area and the signal coverage range of each preset control station; on each deployment site, the respective preset control stations are deployed at the same or similar distances from each other. For example, the total area of the operation area of the selected unmanned aerial vehicle is 100, the signal coverage range of each preset control station is 18, the number of the required preset control stations in the operation area is at least 6, and 6 preset control stations or 8 preset control stations can be arranged in the operation area or any number of the preset control stations can be arranged according to requirements.

In one embodiment, the determining the selected control station and the candidate control station from the plurality of preset control stations may be: receiving control station indication information sent by a control terminal or a remote terminal of the unmanned aerial vehicle, wherein the control station indication information is determined by the control terminal or the remote terminal according to the control station selection operation of a user; and determining a selected control station and a candidate control station from a plurality of preset control stations according to the control station indication information.

In other words, the user can set the selected control station for bidirectional data interaction with the unmanned aerial vehicle at the current moment and the candidate control station to be subjected to bidirectional data interaction with the unmanned aerial vehicle through the control terminal or the remote terminal. Optionally, the control terminal or the remote terminal may display, in the user interface, a current position of the unmanned aerial vehicle in the selected operation area and each preset control station included in the selected operation area, and the user may select the selected control station and the candidate control station according to the current position of the unmanned aerial vehicle.

For example, a selected work area map is displayed in a user interface of the remote terminal, and the work area map includes a position identifier corresponding to a current position of the unmanned aerial vehicle in the work area, and a control station identifier corresponding to each preset control station identifier, such as (a, 1, 1 kilometer). In an embodiment, the control station identifier corresponding to each preset control station may include a name, such as a, and a number, such as 1, of the corresponding preset control station, and may even further include a distance, such as 1 km, between the preset control station and the unmanned aerial vehicle, and the user may select, according to the control station identifier of each preset control station, the preset control station closest to the unmanned aerial vehicle as the selected control station, and then select, from other preset control stations excluding the selected control station, the preset control station closest to the selected control station as the candidate control station.

In another embodiment, the method for determining the selected control station and the candidate control station from the plurality of preset control stations may further include: and receiving the position information of the unmanned aerial vehicle sent by the control terminal of the unmanned aerial vehicle, and determining the selected control station and the candidate control from the plurality of preset control stations according to the position information. The remote server can record the position information of each preset control station when a plurality of preset control stations are deployed in the operation area, and after the position information of the unmanned aerial vehicle is acquired from the control terminal, the distance between the unmanned aerial vehicle and each preset control station can be determined according to the position information of the unmanned aerial vehicle and the position information of each preset control station, and the selected controller is selected according to the calculated distance.

In another embodiment, the remote server may receive uplink control data from the control terminal or the remote terminal, where the uplink control data may include route data of the unmanned aerial vehicle, and the determining the selected control station and the candidate control from the plurality of preset control stations may further be implemented by: and determining the selected control station and the candidate control station from a plurality of preset control stations according to the position information of the waypoint in the route data. Optionally, the specific manner for determining the selected control station and the candidate control station from the plurality of preset control stations according to the waypoint position information in the route data may be; the method comprises the steps of setting a corresponding preset control station for each waypoint in advance, determining the current waypoint of the unmanned aerial vehicle according to the position information of the waypoint at the current moment, finding the preset control station corresponding to the waypoint as a determined selected control station, then obtaining the next waypoint of the waypoint and the preset control station corresponding to the next waypoint, and determining the preset control station corresponding to the next waypoint as a candidate control station of the unmanned aerial vehicle at the current moment.

Step S302, receiving the first signal receiving strength sent by the selected control station.

Step S303, receiving the second signal reception strength transmitted by the candidate control station.

In one embodiment, after the bidirectional data interaction is established between the selected control station and the unmanned aerial vehicle, the selected control station can send the received uplink control data sent by the remote server to the unmanned aerial vehicle, and the unmanned aerial vehicle controls the unmanned aerial vehicle to fly according to the uplink control data; and when the unmanned aerial vehicle flies according to the uplink control data, the generated downlink service data is sent to the selected control station.

In one embodiment, the selected control station determines a first signal reception strength for receiving the downlink traffic data and transmits the first signal reception strength to the remote server in step S202. The first signal receiving strength reflects the data transmission quality of downlink service data between the selected control station and the unmanned aerial vehicle, and the higher the first signal receiving strength is, the higher the data transmission quality is, otherwise, the lower the data transmission quality is.

In one embodiment, the unmanned aerial vehicle is located farther from the selected control station and closer to the candidate control station as the unmanned aerial vehicle flies. If the unmanned aerial vehicle flies to the overlapping area between the signal coverage of the selected control station and the signal coverage of the candidate control station, the downlink service data sent to the selected control station by the unmanned aerial vehicle is also detected by the candidate control station, and in step S203, the candidate control station determines the second signal reception strength of the detected downlink service data and sends the second signal reception strength to the remote server. The second signal receiving strength reflects the data transmission quality of downlink service data between the candidate control station and the unmanned aerial vehicle, and the higher the second signal receiving strength is, the higher the data transmission quality is, otherwise, the lower the data transmission quality is.

And step S304, generating a switching instruction according to the first signal receiving intensity and the second signal receiving intensity.

And S305, sending a switching instruction to the selected control station to enable the selected control station to control the unmanned aerial vehicle to disconnect the bidirectional data interaction with the selected control station, and control the unmanned aerial vehicle to establish the bidirectional data interaction with the candidate control station.

In step S304, the switching instruction is used to instruct the selected controller to control the unmanned aerial vehicle to disconnect the bidirectional data interaction with the selected control station, and control the unmanned aerial vehicle to establish the bidirectional data interaction with the candidate control station.

In one embodiment, the step S304 of generating the switching instruction according to the first signal reception strength and the second signal reception strength may be implemented by: and when the first signal receiving strength is smaller than the second signal receiving strength, generating a switching instruction. The first signal reception strength being less than the second signal reception strength indicates that the transmission quality of the downlink traffic data between the unmanned aerial vehicle and the selected control station is lower than the transmission quality of the downlink traffic data between the unmanned aerial vehicle and the candidate control station. It can be concluded that the selected control station is further away from the UAV and the UAV is closer to the candidate control station, and the remote server can generate a switch command to instruct the UAV to disconnect from the selected control station and establish a connection with the candidate control station.

Further, after detecting that the first signal reception strength is smaller than the second signal reception strength and before generating the switching instruction, the remote server may further detect whether a strength difference between the second signal reception strength and the first signal reception strength is greater than a preset value, and generate the switching instruction when the strength difference is greater than the preset value. If the intensity difference value is not greater than the preset value, no switching instruction is generated; when the intensity difference is not greater than the preset value, the switching instruction may not be generated.

In one embodiment, after the remote server sends the switching instruction to the selected control station, the selected control station notifies the unmanned aerial vehicle to disconnect from the selected control station and establish a connection with the candidate control station. Optionally, after the unmanned aerial vehicle establishes bidirectional data interaction with the candidate control station, the remote server sends the uplink control data received in step S301 to the candidate control station, so that the candidate control station controls the unmanned aerial vehicle according to the uplink control data. Meanwhile, after the unmanned aerial vehicle establishes bidirectional data interaction with the candidate control station, downlink service data sent by the candidate control station is received, wherein the downlink service data is sent to the candidate control station by the unmanned aerial vehicle.

In one embodiment, the bidirectional data interaction between the unmanned aerial vehicle and the selected control station is determined based on first communication verification information of the unmanned aerial vehicle and second communication verification information of the selected control station. The first communication verification information may include an identity of the unmanned aerial vehicle and/or a communication key, where the identity of the unmanned aerial vehicle may be a Serial Number (SN) code of the unmanned aerial vehicle, and the communication key of the unmanned aerial vehicle may be a communication identity and/or a communication password of the unmanned aerial vehicle; similarly, the second communication verification information may include an identification of the selected control station, which may be a product Serial Number (SN) code of the selected control station, and/or a communication key of the selected control station, which may be a communication identification and/or a communication password of the selected control station.

In one embodiment, the bidirectional data interaction between the unmanned aerial vehicle and the candidate control station is determined based on the first communication verification information of the unmanned aerial vehicle and the third communication verification information of the candidate control station. The third communication verification information may include an identity and/or a communication key of the candidate control station, the identity may be an SN code of the candidate control station, and the communication key may be a communication identity and/or a communication password of the candidate control station.

It should be appreciated that in order to establish a two-way data interaction between the unmanned aerial vehicle and the selected control station based on the first communication verification information and the second communication verification information, and to establish a two-way data interaction between the unmanned aerial vehicle and the candidate control station based on the first communication verification information and the third communication verification information, the unmanned aerial vehicle needs to know the second communication verification information and the third communication verification information, and the selected control station and the candidate control station need to know the first communication verification information.

In one embodiment, the unmanned aerial vehicle and the selected control station may interact with respective communication verification information via a remote server, specifically: the remote server receives first communication verification information of the unmanned aerial vehicle sent by a planting terminal of the unmanned aerial vehicle, and sends the first communication verification information to the selected control station and the candidate control station; acquiring second communication verification information of the selected control station and third communication verification information of the candidate control station, and sending the second communication verification information and the third communication verification information to the control terminal, so that the control terminal sends the second communication verification information and the third communication verification information to the unmanned aerial vehicle; the first communication verification information and the second communication verification information are used for establishing bidirectional data interaction between the unmanned aerial vehicle and the selected control station, and the first communication verification information and the third communication verification information are used for establishing bidirectional data interaction between the unmanned aerial vehicle and the candidate control station.

In one embodiment, the method for receiving the first communication verification information of the unmanned aerial vehicle sent by the control terminal of the unmanned aerial vehicle by the remote server can comprise the following steps: and receiving first communication verification information of the unmanned aerial vehicle, which is sent by the control terminal, through the mobile communication network. The embodiment of the remote server sending the second communication verification information and the third communication verification information to the control terminal may be: and sending the second communication verification information and the third communication verification information to the control terminal through the mobile communication network.

In one embodiment, the obtaining, by the remote server, the second communication verification information of the selected control station and the third communication verification of the candidate control station includes: acquiring the second communication verification information from the selected control station; or, obtaining second communication verification information of the selected control station from a local storage device; acquiring the third communication verification information from the candidate control station; or, third communication verification information of the candidate control station is acquired from the local storage device. It should be understood that if the remote server has previously acquired the second communication authentication information of the selected control station through interaction with the selected control station or the third communication authentication information of the candidate control station through interaction with the candidate control station, the remote server may store the acquired second communication authentication information or the third communication authentication information in the local storage means. When detecting that the remote server needs to acquire the second communication verification information and the third communication verification information, the remote server can directly acquire the second communication verification information and the third communication verification information from the local storage device, so that frequent interaction between the remote server and a selected control station is avoided.

In one embodiment, the unmanned aerial vehicle may store the second communication verification information and the third communication verification information in pairing information of the unmanned aerial vehicle after receiving the second communication verification information and the third communication verification information transmitted by the remote server; after the selected control station and the candidate control station receive the first communication verification information, the first communication verification information may be stored in the respective pairing information. In one embodiment, the implementation of establishing the bidirectional data interaction between the unmanned aerial vehicle and the selected control station based on the first communication verification information and the second communication verification information may be: the unmanned aerial vehicle can send the first communication verification information and the second communication verification information of the unmanned aerial vehicle to the selected control station; the selected control station receives and verifies the received second communication verification information, and if the received second communication verification information is the same as the second communication verification information of the selected control station, the selected control station further verifies whether the received first communication verification information is the same as the first communication verification information stored in the pairing information; and if so, establishing bidirectional data interaction between the unmanned aerial vehicle and the selected control station. In other embodiments, the implementation manner of establishing the bidirectional data interaction between the unmanned aerial vehicle and the candidate control station based on the first communication verification information and the third communication verification information is the same as the manner of establishing the bidirectional data interaction between the unmanned aerial vehicle and the selected control station based on the first communication verification information and the second communication verification information, and is not described herein again.

The second communication verification information and the third communication verification information may be the same or different. In order to facilitate management of pairing information by the unmanned aerial vehicle, in the embodiment of the present invention, the second communication verification information and the third communication verification information may be set to be the same.

In the embodiment of the invention, the remote server sends uplink control data to the selected control station so that the selected control station controls the unmanned aerial vehicle according to the uplink control data; receiving first signal receiving intensity sent by a selected control station, wherein the first signal receiving intensity is determined by the selected control station according to received downlink service data sent by the unmanned aerial vehicle in the process of controlling the unmanned aerial vehicle; meanwhile, the remote server also receives second signal receiving intensity sent by the candidate control station, wherein the second signal receiving intensity is determined by the candidate control station according to the received downlink service data from the unmanned aerial vehicle; generating a switching instruction according to the first signal receiving intensity and the second signal receiving intensity; and sending the switching instruction to the selected control station so that the selected control station controls the unmanned aerial vehicle to disconnect the bidirectional data interaction with the selected control station and establish the bidirectional data interaction with the candidate control station. In the process, the remote server can control the unmanned aerial vehicle to switch and be connected with different control stations in the flight process according to the signal receiving strength of the control stations, and the unmanned aerial vehicle can effectively carry out long-distance communication by being connected with different control stations to navigate.

Referring to fig. 5, another control method provided for an embodiment of the present invention is applied to a selected control station for establishing bidirectional data interaction with an unmanned aerial vehicle, the selected control station being communicatively coupled to a remote server, the remote server also being communicatively coupled to a candidate control station, and the method shown in fig. 5 may be performed by the selected control station, and in particular may be performed by a processor of the selected control station. The control scheme shown in fig. 5 may include the following steps:

step S501, downlink service data sent by the unmanned aerial vehicle and first signal receiving intensity of the selected control station about the downlink service data are obtained.

And step S502, sending the first signal strength to a remote server.

In one embodiment, the selected control station may receive the uplink control data transmitted by the remote server and control the flight of the UAV based on the uplink control data. In one embodiment, the uplink control data received by the selected control station may be generated by the drone corresponding to the remote terminal. In order to avoid the phenomenon that the unmanned aerial vehicle flies blind due to the fact that the distance between the unmanned aerial vehicle and the remote terminal is too large, in the embodiment of the invention, the remote server can be in communication connection with the unmanned aerial vehicle remote terminal and a selected control station, the selected control station can perform bidirectional data interaction with the unmanned aerial vehicle, the remote terminal generates uplink control data according to an operation instruction of a user, then the uplink control data are sent to the remote server, the remote server sends the uplink control data to the selected control station, and further the selected control station sends the uplink control data to the unmanned aerial vehicle to control the unmanned aerial vehicle to fly.

In other embodiments, the selected control station may also receive uplink service data sent by the control terminal corresponding to the unmanned aerial vehicle. Specifically, the control terminal generates uplink control data according to a control instruction of a user; and directly transmitting the uplink control data to the selected control station.

The unmanned aerial vehicle generates downlink service data under the control of the selected control station, the downlink service data can comprise image data or other data acquired by the unmanned aerial vehicle, the unmanned aerial vehicle sends the downlink service data to the selected control station, and the selected control station evaluates the first signal receiving strength of the received downlink service data.

In one embodiment, after the selected control obtains the downlink service data, the selected control may also send the downlink service data to a remote server, and the remote server sends the downlink service data to the control terminal or the remote terminal for the user to view. Or, in other embodiments, if the distance between the selected control station and the control terminal or the remote terminal is short, the selected control station may also directly send the downlink traffic data to the control terminal or the remote terminal for the user to view.

In one embodiment, the selected control station also receives first communication verification information of the unmanned aerial vehicle, which is sent by the remote server, and the first communication verification information is sent by the control terminal of the unmanned aerial vehicle to the remote controller; the selected control station acquires second communication verification information of the selected control station and sends the second communication verification information to the remote server, so that the remote server sends the second communication verification information to the control terminal of the unmanned aerial vehicle to be stored in pairing information of the unmanned aerial vehicle, and bidirectional data interaction between the unmanned aerial vehicle and the selected control station is established subsequently. For an implementation manner in which the control terminal sends the first communication verification information to the remote server, reference may be made to the description in the related embodiment in the embodiment of fig. 2, which is not described herein again.

Similarly, the candidate control station may also obtain third communication verification information of the candidate control station, and send the third communication verification information to the remote server, and the remote server sends the third communication verification information to the control terminal of the unmanned aerial vehicle to be stored in pairing information of the unmanned aerial vehicle, so as to establish bidirectional data interaction between the unmanned aerial vehicle and the candidate control station subsequently.

Step S503, acquiring a switching instruction sent by the remote server.

The switching instruction is generated by the remote server according to the first signal receiving strength and a second signal receiving strength sent by the candidate control station and received by the remote server, and the second signal receiving strength is determined by the candidate control station according to the downlink service data received by the candidate control station from the unmanned aerial vehicle.

With the flying of the unmanned aerial vehicle, the distance between the unmanned aerial vehicle and the selected control station is longer and shorter, and the distance between the unmanned aerial vehicle and the candidate control station is shorter and shorter, when the unmanned aerial vehicle flies to an overlapping area of signal coverage areas of the selected control station and the candidate control station, downlink service data sent to the selected control station by the unmanned aerial vehicle can also be detected by the candidate control station, the candidate control station determines second signal receiving intensity according to the detected downlink service data, sends the second signal receiving intensity to the remote server, and the remote server generates a switching instruction according to the first signal receiving intensity and the second signal receiving intensity.

And step S504, controlling the unmanned aerial vehicle to disconnect the bidirectional data interaction with the selected control station according to the switching instruction so that the unmanned aerial vehicle establishes the bidirectional data interaction with the candidate control station.

In one embodiment, the switching instruction sent by the remote server may include a candidate control station identifier, and the selected control station sends a switching instruction to the unmanned aerial vehicle according to the candidate control station identifier, so that the unmanned aerial vehicle actively disconnects bidirectional data interaction with the selected control station and establishes bidirectional data interaction with the candidate control station identified by the candidate control station identifier.

In the embodiment of the invention, the selected control station controls the unmanned aerial vehicle to fly according to the received uplink control data sent by the remote server method; the method comprises the steps that downlink service data are generated by the unmanned aerial vehicle in the flight process, a selected controller receives the downlink service data sent by the unmanned aerial vehicle and determines first signal receiving strength related to the downlink service data; sending the first signal receiving strength to a remote server so that the remote server can generate a switching instruction according to the first signal receiving strength and a second signal receiving strength from a candidate control station; and the selected control station receives the switching instruction, controls the unmanned aerial vehicle to disconnect the bidirectional data interaction with the selected control station according to the switching instruction, and establishes the bidirectional data interaction between the unmanned aerial vehicle and the candidate control station. In the process, the remote server can control the unmanned aerial vehicle to switch and different connections between the preset control stations in the flight process according to the signal receiving intensity of the preset control stations, and the unmanned aerial vehicle can effectively carry out long-distance communication by being connected with the different preset control stations for navigation.

Based on the control method, the embodiment of the present invention further provides a remote server, and fig. 6 is a schematic structural diagram of a remote server according to an embodiment of the present invention, where the remote server is communicatively connected to the selected control station and the candidate control station, the selected control station performs bidirectional data interaction with the unmanned aerial vehicle, and the remote server may include a processor 601 and a memory 602, and the processor 601 and the memory 602 may be connected through a bus 603.

In one embodiment, the memory 602 stores program code therein, and the processor 601 invokes the program code to, when executed, perform: sending uplink control data to the selected control station to enable the selected control station to control the unmanned aerial vehicle according to the uplink control data; receiving first signal receiving intensity sent by the selected control station, wherein the first signal receiving intensity is determined according to downlink service data received by the selected control station from the unmanned aerial vehicle; receiving a second signal receiving intensity sent by the candidate control station, wherein the second signal receiving intensity is determined according to the downlink service data received by the candidate control station from the unmanned aerial vehicle; generating a switching instruction according to the first signal receiving intensity and the second signal receiving intensity; and sending the switching instruction to the selected control station to enable the selected control station to control the unmanned aerial vehicle to disconnect the bidirectional data interaction with the selected control station and control the unmanned aerial vehicle to establish the bidirectional data interaction with the candidate control station.

In one embodiment, the processor 601, when generating the switching instruction according to the first signal reception strength and the second signal reception strength, performs the following operations: and when the first signal receiving strength is smaller than the second signal receiving strength, generating a switching instruction.

In one embodiment, the processor 601, when generating the switching instruction when the first signal reception strength is smaller than the second signal reception strength, performs the following operations: and when the strength difference value between the second signal receiving strength and the first signal receiving strength is greater than a preset value, generating a switching instruction.

In one embodiment, the processor 601 is further configured to perform the following operations: and receiving downlink service data sent by the selected control station in the bidirectional data interaction process of the unmanned aerial vehicle and the selected control station, wherein the downlink service data is sent to the selected control station by the unmanned aerial vehicle.

In one embodiment, the processor 601 is further configured to perform the following operations: and after the unmanned aerial vehicle establishes bidirectional data interaction with the candidate control station, sending uplink control data to the candidate control station to enable the candidate control station to control the unmanned aerial vehicle according to the uplink control data.

In one embodiment, the processor 601 is further configured to perform the following operations: and after the unmanned aerial vehicle establishes bidirectional data interaction with the candidate control station, receiving downlink service data sent by the candidate control station, wherein the downlink service data is sent to the candidate control station by the unmanned aerial vehicle.

In one embodiment, the processor 601 is further configured to perform the following operations: receiving first communication verification information of the unmanned aerial vehicle, which is sent by a control terminal of the unmanned aerial vehicle, and sending the first communication verification information to the selected control station and the candidate control station; and acquiring second communication verification information of the selected control station and third communication verification information of the candidate control station, and sending the second communication verification information and the third communication verification information to the control terminal, so that the control terminal sends the second communication verification information and the third communication verification information to the unmanned aerial vehicle, wherein the first communication verification information and the second communication verification information are used for establishing bidirectional data interaction between the unmanned aerial vehicle and the selected control station, and the first communication verification information and the third communication verification information are used for establishing bidirectional data interaction between the unmanned aerial vehicle and the candidate control station.

In one embodiment, the processor 601, when receiving the first communication verification information of the unmanned aerial vehicle sent by the control terminal of the unmanned aerial vehicle, performs the following operations: receiving first communication verification information of the unmanned aerial vehicle sent by the control terminal through a mobile communication network; the processor 601, when sending the second communication verification information and the third communication verification information to the control terminal, performs the following operations: and sending the second communication verification information and the third communication verification information to the control terminal through a mobile communication network.

In one embodiment, the processor 601, when acquiring the second communication verification information of the selected control station and the third communication verification information of the candidate control station, performs the following operations: acquiring the second communication verification information from the selected control station; or, obtaining second communication verification information of the selected control station from a local storage device; acquiring the third communication verification information from the candidate control station; or, third communication verification information of the candidate control station is acquired from the local storage device.

In one embodiment, the processor 601 is further configured to perform the following operations: the selected control station and the candidate control station are determined from a plurality of preset control stations.

In one embodiment, the processor 601, when determining the selected control station and the candidate control station from a plurality of preset control stations, performs the following operations: receiving control station indication information sent by a control terminal or a remote terminal of the unmanned aerial vehicle, wherein the control station indication information is determined by the control terminal or the remote terminal according to detected control station selection operation of a user; and determining the selected control station and the candidate control station from a plurality of preset control stations according to the control station indication information.

In one embodiment, the processor 601, when determining the selected control station and the candidate control station from a plurality of preset control stations, performs the following operations: receiving position information of the unmanned aerial vehicle sent by a control terminal of the unmanned aerial vehicle; and determining the selected control station and the candidate control station from the plurality of preset control stations according to the position information.

In one embodiment, the uplink control data includes route data, and the processor 601, when determining the selected control station and the candidate control station from a plurality of preset control stations, performs the following: and determining the selected control station and the candidate control station from a plurality of preset control stations according to the position information of the waypoint in the route data.

In one embodiment, the first communication verification information includes an identification and/or a communication key of the unmanned aerial vehicle, the second communication verification information includes an identification and/or a communication key of the selected control station, and the third communication verification information includes an identification and/or a communication key of the candidate control station.

An embodiment of the present invention further provides a control station, and fig. 7 is a schematic structural diagram of the control station provided in the embodiment of the present invention, where the control station shown in fig. 7 corresponds to the selected control station. The control station shown in fig. 7 may include a processor 701 and a memory 702, and the processor 701 and the memory 702 may be connected via a bus 703.

In one embodiment, the memory 702 has program code stored therein, which is called by the processor 701 and when executed, performs the following: acquiring downlink service data sent by the unmanned aerial vehicle and first signal receiving strength of the selected control station on the downlink service data; sending the first signal reception strength to the remote server; acquiring a switching instruction sent by the remote server, wherein the switching instruction is generated by the remote server according to the first signal receiving strength and a second signal receiving strength received by the remote server and sent by the candidate control station, and the second signal receiving strength is determined by the candidate control station according to downlink service data received by the candidate control station from the unmanned aerial vehicle; and controlling the unmanned aerial vehicle to disconnect the bidirectional data interaction with the selected control station according to the switching execution so that the unmanned aerial vehicle establishes the bidirectional data interaction with the candidate control station.

In one embodiment, the processor 701 is further configured to: and in the process of bidirectional data interaction between the unmanned aerial vehicle and the selected control station, sending the received downlink service data sent by the unmanned aerial vehicle to the remote server.

In one embodiment, the processor 701 is further configured to: receiving first communication verification information of the unmanned aerial vehicle, which is sent by the remote server, wherein the first communication verification information is sent to the remote controller by a control terminal of the unmanned aerial vehicle; acquiring second communication verification information of the selected control station, and sending the communication verification information to the remote server; wherein the first communication verification information and the second communication verification information are used for establishing bidirectional data interaction between the unmanned aerial vehicle and the selected control station.

In one embodiment, the first communication verification information includes an identification and/or a communication key of the unmanned aerial vehicle, and the second communication verification information includes an identification and/or a communication key of the selected control station.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.

The above disclosure is intended to be illustrative of only some embodiments of the invention, and is not intended to limit the scope of the invention.

Claims

1. A control method applied to a remote server in communication connection with a selected control station and a candidate control station, the selected control station performing bidirectional data interaction with an unmanned aerial vehicle, the method comprising:

2. The method of claim 1, wherein generating a handover command based on the first signal reception strength and the second signal reception strength comprises:

and when the first signal receiving strength is smaller than the second signal receiving strength, generating a switching instruction.

3. The method of claim 2, wherein generating a handover command when the first signal reception strength is less than the second signal reception strength comprises:

and when the strength difference value between the second signal receiving strength and the first signal receiving strength is greater than a preset value, generating a switching instruction.

4. The method of claim 1, further comprising:

and receiving downlink service data sent by the selected control station in the process of bidirectional data interaction between the unmanned aerial vehicle and the selected control station, wherein the downlink service data is sent to the selected control station by the unmanned aerial vehicle.

5. The method according to any one of claims 1-4, further comprising:

and after the unmanned aerial vehicle establishes bidirectional data interaction with the candidate control station, sending uplink control data to the candidate control station to enable the candidate control station to control the unmanned aerial vehicle according to the uplink control data.

6. The method according to any one of claims 1-5, further comprising:

and after the unmanned aerial vehicle establishes bidirectional data interaction with the candidate control station, receiving downlink service data sent by the candidate control station, wherein the downlink service data is sent to the candidate control station by the unmanned aerial vehicle.

7. The method according to any one of claims 1-6, further comprising:

receiving first communication verification information of the unmanned aerial vehicle, which is sent by a control terminal of the unmanned aerial vehicle, and sending the first communication verification information to the selected control station and the candidate control station;

acquiring second communication verification information of the selected control station and third communication verification information of the candidate control station, and sending the second communication verification information and the third communication verification information to the control terminal, so that the control terminal sends the second communication verification information and the third communication verification information to the unmanned aerial vehicle;

the first communication verification information and the second communication verification information are used for establishing bidirectional data interaction between the unmanned aerial vehicle and the selected control station, and the first communication verification information and the third communication verification information are used for establishing bidirectional data interaction between the unmanned aerial vehicle and the candidate control station.

8. The method according to claim 7, wherein the receiving the first communication verification information of the UAV sent by the UAV control terminal comprises:

receiving first communication verification information of the unmanned aerial vehicle sent by the control terminal through a mobile communication network;

the sending the second communication verification information and the third communication verification information to the control terminal includes:

and sending the second communication verification information and the third communication verification information to the control terminal through a mobile communication network.

9. The method according to claim 7 or 8, wherein the obtaining of the second communication verification information of the selected control station and the third communication verification information of the candidate control station comprises:

acquiring the second communication verification information from the selected control station; or, obtaining second communication verification information of the selected control station from a local storage device;

acquiring the third communication verification information from the candidate control station; or, third communication verification information of the candidate control station is acquired from the local storage device.

10. The method according to any one of claims 7-9, further comprising: the selected control station and the candidate control station are determined from a plurality of preset control stations.

11. The method of claim 10, wherein said determining the selected control station and the candidate control station from a plurality of preset control stations comprises:

receiving control station indication information sent by a control terminal or a remote terminal of the unmanned aerial vehicle, wherein the control station indication information is determined by the control terminal or the remote terminal according to detected control station selection operation of a user;

and determining the selected control station and the candidate control station from a plurality of preset control stations according to the control station indication information.

12. The method of claim 10, wherein said determining the selected control station and the candidate control station from a plurality of preset control stations comprises:

receiving position information of the unmanned aerial vehicle sent by a control terminal of the unmanned aerial vehicle;

and determining the selected control station and the candidate control station from the plurality of preset control stations according to the position information.

13. The method of claim 10, wherein the uplink control data includes course data, and wherein determining the selected control station and the candidate control station from a plurality of preset control stations comprises:

and determining the selected control station and the candidate control station from a plurality of preset control stations according to the position information of the waypoint in the route data.

14. The method according to any one of claims 7 to 13, wherein the first communication verification information includes an identification and/or a communication key of the UAV, the second communication verification information includes an identification and/or a communication key of the selected control station, and the third communication verification information includes an identification and/or a communication key of the candidate control station.

15. A control method applied to a selected control station having established bidirectional data interaction with an unmanned aerial vehicle, the selected control station being communicatively coupled to a remote server, the remote server also being communicatively coupled to a candidate control station, the method comprising:

sending the first signal reception strength to the remote server;

acquiring a switching instruction sent by the remote server, wherein the switching instruction is generated by the remote server according to the first signal receiving intensity and a second signal receiving intensity received by the remote server and sent by the candidate control station, and the second signal receiving intensity is determined by the candidate control station according to downlink service data received by the candidate control station from the unmanned aerial vehicle;

16. The method of claim 15, further comprising:

and in the process of bidirectional data interaction between the unmanned aerial vehicle and the selected control station, sending the received downlink service data sent by the unmanned aerial vehicle to the remote server.

17. The method according to claim 15 or 16, characterized in that the method further comprises:

receiving first communication verification information of the unmanned aerial vehicle, which is sent by the remote server, wherein the first communication verification information is sent to the remote controller by a control terminal of the unmanned aerial vehicle;

acquiring second communication verification information of the selected control station, and sending the second communication verification information to the remote server;

wherein the first communication verification information and the second communication verification information are used for establishing bidirectional data interaction between the unmanned aerial vehicle and the selected control station.

18. The method of claim 17, wherein the first communication verification information comprises an identification and/or a communication key of the drone aircraft and the second communication verification information comprises an identification and/or a communication key of the selected control station.

19. A remote server communicatively coupled to a selected control station and a candidate control station, the selected control station for bidirectional data interaction with an unmanned aerial vehicle, the remote server comprising a memory and a processor:

the memory is used for storing program codes;

the processor, invoking the program code, when executed, is configured to:

20. The remote server of claim 19, wherein the processor, when generating the switch instruction according to the first signal reception strength and the second signal reception strength, performs the following operations:

21. The remote server of claim 20, wherein the processor, when generating the handover instruction when the first signal reception strength is less than the second signal reception strength, performs the following:

22. The remote server of claim 19, wherein the processor is further configured to:

and receiving downlink service data sent by the selected control station in the bidirectional data interaction process of the unmanned aerial vehicle and the selected control station, wherein the downlink service data is sent to the selected control station by the unmanned aerial vehicle.

23. The remote server of any of claims 19-22, wherein the processor is further configured to:

24. The remote server of any of claims 19-23, wherein the processor is further configured to:

25. The remote server of any of claims 19-24, wherein the processor is further configured to:

and acquiring second communication verification information of the selected control station and third communication verification information of the candidate control station, and sending the second communication verification information and the third communication verification information to the control terminal, so that the control terminal sends the second communication verification information and the third communication verification information to the unmanned aerial vehicle, wherein the first communication verification information and the second communication verification information are used for establishing bidirectional data interaction between the unmanned aerial vehicle and the selected control station, and the first communication verification information and the third communication verification information are used for establishing bidirectional data interaction between the unmanned aerial vehicle and the candidate control station.

26. The remote server according to claim 25, wherein the processor, when receiving the first communication verification information of the unmanned aerial vehicle sent by the control terminal of the unmanned aerial vehicle, performs the following operations:

the processor, when sending the second communication verification information and the third communication verification information to the control terminal, performs the following operations:

27. The remote server according to claim 25 or 26, wherein the processor, when acquiring the second communication authentication information of the selected control station and the third communication authentication information of the candidate control station, performs the following operations:

28. The remote server of any of claims 25-27, wherein the processor is further configured to:

the selected control station and the candidate control station are determined from a plurality of preset control stations.

29. The remote controller according to claim 28, wherein said processor, when determining said selected control station and said candidate control station from a plurality of preset control stations, performs the following:

30. The remote server of claim 28, wherein the processor, when determining the selected control station and the candidate control station from a plurality of preset control stations, performs the following:

31. The remote controller of claim 28, wherein said uplink control data includes course data, and wherein said processor, when determining said selected control station and said candidate control station from a plurality of preset control stations, performs the following:

32. The remote controller according to any one of claims 25 to 31, wherein the first communication verification information includes an identification and/or a communication key of the UAV, the second communication verification information includes an identification and/or a communication key of the selected control station, and the third communication verification information includes an identification and/or a communication key of the candidate control station.

33. A control station, wherein the control station is a selected control station that establishes a bi-directional data interaction with an unmanned aerial vehicle, the selected control station communicatively coupled to a remote server that also communicatively couples candidate control stations, the control station comprising a memory and a processor:

the memory for storing program code;

the processor, invoking the program code, when executed, is configured to:

sending the first signal reception strength to the remote server;

34. The control station of claim 33, wherein the processor is further configured to:

35. The control station of claim 33 or 34, wherein the processor is further configured to:

acquiring second communication verification information of the selected control station, and sending the communication verification information to the remote server;

36. The control station of claim 35, wherein the first communication verification information comprises an identification and/or a communication key of the drone aircraft and the second communication verification information comprises an identification and/or a communication key of the selected control station.

37. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a first computer program comprising first program instructions which, when executed by a processor, cause the processor to carry out the control method according to claims 1-14; alternatively, the computer-readable storage medium stores a second computer program comprising second program instructions which, when executed by a processor, the processor performs the control method of claims 15-18.