CN115514979A - Unmanned aerial vehicle remote automatic control system and control method - Google Patents
Unmanned aerial vehicle remote automatic control system and control method Download PDFInfo
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- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
- H04N21/20—Servers specifically adapted for the distribution of content, e.g. VOD servers; Operations thereof
- H04N21/21—Server components or server architectures
- H04N21/218—Source of audio or video content, e.g. local disk arrays
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- H—ELECTRICITY
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- H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
- H04N21/20—Servers specifically adapted for the distribution of content, e.g. VOD servers; Operations thereof
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- H04N21/218—Source of audio or video content, e.g. local disk arrays
- H04N21/2181—Source of audio or video content, e.g. local disk arrays comprising remotely distributed storage units, e.g. when movies are replicated over a plurality of video servers
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- H04N21/20—Servers specifically adapted for the distribution of content, e.g. VOD servers; Operations thereof
- H04N21/23—Processing of content or additional data; Elementary server operations; Server middleware
- H04N21/231—Content storage operation, e.g. caching movies for short term storage, replicating data over plural servers, prioritizing data for deletion
- H04N21/23106—Content storage operation, e.g. caching movies for short term storage, replicating data over plural servers, prioritizing data for deletion involving caching operations
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- H04N21/20—Servers specifically adapted for the distribution of content, e.g. VOD servers; Operations thereof
- H04N21/23—Processing of content or additional data; Elementary server operations; Server middleware
- H04N21/239—Interfacing the upstream path of the transmission network, e.g. prioritizing client content requests
- H04N21/2393—Interfacing the upstream path of the transmission network, e.g. prioritizing client content requests involving handling client requests
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- H04N21/20—Servers specifically adapted for the distribution of content, e.g. VOD servers; Operations thereof
- H04N21/25—Management operations performed by the server for facilitating the content distribution or administrating data related to end-users or client devices, e.g. end-user or client device authentication, learning user preferences for recommending movies
- H04N21/262—Content or additional data distribution scheduling, e.g. sending additional data at off-peak times, updating software modules, calculating the carousel transmission frequency, delaying a video stream transmission, generating play-lists
- H04N21/26208—Content or additional data distribution scheduling, e.g. sending additional data at off-peak times, updating software modules, calculating the carousel transmission frequency, delaying a video stream transmission, generating play-lists the scheduling operation being performed under constraints
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- H04N21/41—Structure of client; Structure of client peripherals
- H04N21/4104—Peripherals receiving signals from specially adapted client devices
- H04N21/4126—The peripheral being portable, e.g. PDAs or mobile phones
- H04N21/41265—The peripheral being portable, e.g. PDAs or mobile phones having a remote control device for bidirectional communication between the remote control device and client device
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- H04N21/60—Network structure or processes for video distribution between server and client or between remote clients; Control signalling between clients, server and network components; Transmission of management data between server and client, e.g. sending from server to client commands for recording incoming content stream; Communication details between server and client
- H04N21/63—Control signaling related to video distribution between client, server and network components; Network processes for video distribution between server and clients or between remote clients, e.g. transmitting basic layer and enhancement layers over different transmission paths, setting up a peer-to-peer communication via Internet between remote STB's; Communication protocols; Addressing
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- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
Abstract
The invention discloses a remote automatic control system and a control method for an unmanned aerial vehicle, which relate to the field of unmanned aerial vehicles, and the system comprises: the system comprises a communication protocol module and a background server, wherein the communication protocol module is connected with the background server, the communication protocol module is connected with a front-end service module and a mobile phone application end, the mobile phone application end is connected with an unmanned aerial vehicle server, and the background server is connected with a user login service module, a database, a distributed cache database and a cloud live broadcast platform; a plurality of flight tasks can be rapidly configured by adopting the one-stop background server, one task can be flown for a plurality of times, the operation efficiency is greatly improved, and a data link from the unmanned aerial vehicle equipment to the background server is opened through the communication protocol module.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle remote automatic control system and a control method.
Background
Drones tend to be more suitable for tasks that are too "fool, dirty, or dangerous". The unmanned aerial vehicle is applied to civil use, unmanned aerial vehicle and industry, and is really just needed by the unmanned aerial vehicle; compared with manned aircraft, it has the advantages of small volume, low cost, convenient use, low requirement on the combat environment, strong viability and the like. Since the unmanned aircraft has important significance for the development of the current society, the research and development work of the unmanned aircraft is carried out in all countries in the world.
Unmanned aerial vehicle flies at every turn and needs the operation personnel to intervene and control, can't realize being similar to the type flight requirement of patrolling and examining, moreover to some data passbacks that produce in the flight process realize incomplete. Greatly affects the flight cost and the safe maintenance of data. Traditional unmanned aerial vehicle controls through the comparatively single remote controller of function, to some flight demands that need frequent multiple execution, the same operation of flyer's each time all need multiple execution like this, leads to complex operation and very big consumption cost. The existing unmanned aerial vehicle control system needs to be matched with the equipment models corresponding to the unmanned aerial vehicles, when unmanned aerial vehicle equipment of different models is carried, a great deal of instability exists, when firmware version upgrading exists in the unmanned aerial vehicle equipment, the matching degree of the system and the equipment cannot be ensured, and the system cannot normally run before the system is possibly made.
Based on the above, the invention designs an unmanned aerial vehicle remote automatic control system and a control method, so as to solve the above mentioned problems.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle remote automatic control system and a control method, a plurality of flight tasks can be rapidly configured by adopting a one-stop background server, one task can be flown for a plurality of times, the operation efficiency is greatly improved, a plurality of types of flight tasks can be set according to different service requirements, temporary emergency flight is realized, the flight is carried out within a specified time interval, different actual service requirements are rapidly and fully met at a certain time of each week/day/month, and a data link from unmanned aerial vehicle equipment to the background server is opened through a communication protocol module so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: an unmanned aerial vehicle remote automatic control system, comprising: the system comprises a communication protocol module and a background server, wherein the communication protocol module is connected with the background server, the communication protocol module is connected with a front-end service module and a mobile phone application end, the mobile phone application end is connected with an unmanned aerial vehicle server, and the background server is connected with a user login service module, a database, a distributed cache database and a cloud live broadcast platform.
Preferably, the communication protocol module adopts a webscolet communication mode to perform persistent connection in real time and perform bidirectional data transmission.
Based on the technical characteristics, the Webscoket communication mode is adopted to ensure that the persistent connection is established and bidirectional data transmission is carried out.
Preferably, the background server is independently connected with the user login service module, the database, the distributed cache database and the cloud live broadcast platform.
Based on the technical characteristics, the mutual independence of the modules is ensured.
Preferably, the distributed cache database adopts Mysql to carry Redis combination.
Based on the technical characteristics, the consistency and the integrity of the data can be confirmed by adopting the Mysql to carry the Redis combination.
Preferably, the unmanned aerial vehicle server side includes unmanned aerial vehicle and loads camera module on the unmanned aerial vehicle.
Based on the technical characteristics, the camera shooting module is installed for shooting, and real-time data transmission is guaranteed.
Preferably, the unmanned aerial vehicle server side still includes unmanned aerial vehicle self-checking module, unmanned aerial vehicle self-checking module carries out the self-checking before unmanned aerial vehicle flies.
Based on above-mentioned technical characteristics, carry out the self-checking to unmanned aerial vehicle through unmanned aerial vehicle self-checking module, guarantee the normal of unmanned aerial vehicle work.
An unmanned aerial vehicle remote automatic control method is based on the unmanned aerial vehicle remote automatic control system of any one of the above, and comprises the following steps:
s1, an operation manager configures a flight task in advance for an unmanned aerial vehicle server through a background server;
s2, the unmanned aerial vehicle server executes a flight route according to the flight task and executes related action information at a corresponding waypoint;
s3, the unmanned aerial vehicle server shoots through the carried shooting lens, and real-time data is transmitted to the background server through the communication protocol module;
and S4, the background server carries out live broadcast through the cloud live broadcast platform.
Preferably, the pre-configured mission further comprises, before the flight mission: the unmanned aerial vehicle carries out self-checking.
Preferably, the method further comprises: the distributed cache database performs distributed caching on data; the database stores all data.
Compared with the prior art, the invention has the beneficial effects that:
the invention can rapidly configure a plurality of flight tasks by adopting the one-stop background server, can realize that one task flies for a plurality of times, greatly improves the operation efficiency, can set a plurality of types of flight tasks aiming at different service requirements, realizes temporary emergency flight, flies within a specified time interval, and rapidly and fully meets different actual service requirements at a certain time of each week/day/month, and gets through the data link from the unmanned aerial vehicle equipment to the background server through the communication protocol module.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a system module according to 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 core idea of the design of the invention is as follows: the system comprises a one-stop management platform, real-time data transmission, an operation manager, a corresponding flight task, a corresponding waypoint and execution action data, wherein before the flight task is really executed, the unmanned aerial vehicle executes a series of self-checking programs and is matched with a secondary confirmation mechanism to ensure the safety of the flight environment and the unmanned aerial vehicle, when the preparation of the flyer is finished, the operation is carried out only according to preset configuration parameters, an unmanned aerial vehicle carrier App end, a background server end and a background Web end rely on WebScoket to carry out persistent connection in real time and carry out bidirectional data transmission, the App end uploads preset waypoint related data to the unmanned aerial vehicle server end when receiving takeoff request parameters, and the subsequent flying is controlled strictly according to the setting in the flying process.
And in the process of executing flight by the unmanned aerial vehicle, communication is carried out through protocol types defined aiming at different service types. The method comprises remote flight control, heartbeat detection between services, flight parameter return, waypoint action execution parameter return, photographing data return, live broadcast data return and the like, ensures the integrity of data real-time transmission of an App end, a server end and a Web end and the processing capacity of service processing, and realizes accurate control of the state condition and the flight path of the unmanned aerial vehicle.
The unmanned aerial vehicle shot pictures are displayed in real time by aiming at the Wen end, the pictures shot by the lens are pushed by the unmanned aerial vehicle App end in real time, and then the pictures are subscribed and displayed through the Web end. In the process of multiple tests, in order to reduce the delay of real-time video propagation, the video is set to be in a mute mode, and finally the delay is controlled within 800 ms. Meanwhile, in order to ensure the safety of the video in the transmission process, the flow pushing address is opened for authentication setting, and the format of the video is converted.
The following will be specifically set forth:
referring to fig. 1, the present invention provides a technical solution for a remote automatic control system of an unmanned aerial vehicle: the method comprises the following steps: the communication protocol module is connected with the background server, the communication protocol module is connected with a front-end service module and a mobile phone application end, the mobile phone application end is connected with an unmanned aerial vehicle server, a plurality of flight tasks can be rapidly configured by adopting a one-stop background server, and multiple flight of one task can be realized, so that the operation efficiency is greatly improved, a plurality of types of flight tasks can be set according to different service requirements, temporary emergency flight is realized, flight is carried out within a specified time interval, different actual service requirements are rapidly and sufficiently met, a data link from unmanned aerial vehicle equipment to the background server is opened through the communication protocol module, the background server is connected with a user login service module, a database, a distributed live broadcast cache database and a cloud live broadcast platform, the live broadcast cache database and the cloud live broadcast platform are connected, and the control delay time is within 800 ms;
the user login service module adopts authentication login: when handshake connection with a server needs to be established, a user unique identification bill needs to be carried, communication can be established only after verification passes, and system safety is guaranteed.
The communication protocol module adopts a Webscoket communication mode to carry out persistent connection in real time and carry out bidirectional data transmission, the WebScoket is a network transmission protocol and is positioned at an application layer of an OSI model, full-duplex communication can be carried out on a single TCP connection, server resources and bandwidth can be better saved, real-time communication is achieved, a client and a server only need to finish one-time handshake, persistent connection can be established between the client and the server, bidirectional data transmission is carried out, the Webscoket communication mode is adopted to carry out persistent connection in real time, bidirectional data transmission is carried out, real-time communication between the unmanned aerial vehicle and the server in the flight process is achieved, and completeness and timeliness of data transmission are guaranteed.
The background server is independently connected with the user login service module, the database, the distributed cache database and the cloud live broadcast platform.
The distributed cache database adopts Mysql to carry Redis combination.
The unmanned aerial vehicle server side comprises an unmanned aerial vehicle and a camera module loaded on the unmanned aerial vehicle.
The unmanned aerial vehicle server side further comprises an unmanned aerial vehicle self-checking module, and the unmanned aerial vehicle self-checking module performs self-checking before the unmanned aerial vehicle flies.
Through the system management background server, different types of flight tasks can be easily created, and various requirements on temporary flight, flight within a specified time and flight within a period are met; a secondary confirmation mechanism before flight is added between the system and the unmanned aerial vehicle to ensure safety; and App and server regularly carry out heartbeat detection and flight parameter passback communication through WebScoket, guarantee to guarantee the stability of connection and know the unmanned aerial vehicle state in real time at the flight in-process, possess 15KM picture biography control distance, and master spare remote controller multiple spot control, can let unmanned aerial vehicle team personnel under the condition of guarantee self safety, remote control unmanned aerial vehicle carries out the site operation, contactless, it is also safer, combine unmanned aerial vehicle management backstage, real time monitoring unmanned aerial vehicle far-end picture, handle to pass to high in the clouds to the picture through the server, ensure the safety and the management of data.
The unmanned aerial vehicle remote automatic control system specifically operates as follows:
and (3) software design stage: the method comprises the following steps of multi-party discussion, confirmation of a network communication mode, confirmation of a service end project architecture design, confirmation of an unmanned aerial vehicle SDK access scheme, adaptation of an unmanned aerial vehicle model, purchase test of the unmanned aerial vehicle, confirmation of a live broadcast function design, definition of a communication protocol and confirmation of related parameters;
a piece design flow: determining a software architecture, compiling software, debugging codes and testing the whole regression of the full link to be on-line;
communication among services: the Web end, the App end and the server end adopt a Webscolet communication mode to carry out persistent connection in real time and carry out bidirectional data transmission. The unmanned aerial vehicle can communicate with the server in real time in the flight process, and the completeness and timeliness of data transmission and transmission are guaranteed;
a server development framework: the method has the advantages that the SpringBoot is used as a basic frame prototype, the service modules are divided by the whole service, the mutual independence of the modules is guaranteed, for the aspect of data storage, the Mysql is used for carrying the Redis combination use implementation mode, the data consistency and the integrity are confirmed, the log recording function is added into a service program, and the traceability is guaranteed.
A remote automatic control method of an unmanned aerial vehicle is based on the remote automatic control system of the unmanned aerial vehicle, and comprises the following steps:
s1, an operation manager pre-configures a flight task for an unmanned aerial vehicle server through a background server, wherein the flight task refers to a task preset in a system, core data related in a flight process, such as a task name, a task type, a flight handle, a task place, a navigation point and the like, can be pre-configured in the task, the task is divided into three types, namely a temporary task, a timing task and a planning task, and the temporary task refers to a task which can be executed at any time; the timing task refers to setting a specified starting/ending time point, and the unmanned aerial vehicle finishes flying within a specified time interval; a planning task refers to a flight that may be configured to be performed at a certain time of day/week/month;
s2, the unmanned aerial vehicle server executes a flight route according to a flight task, and executes related action information at a corresponding waypoint, wherein the waypoint refers to an actually existing point on a map and is controlled by longitude and latitude, the flying height, the flying speed and all executed actions of the unmanned aerial vehicle can be set for each waypoint, and the specific behavior operation represented by the actions refers to the operation which needs to be executed when the unmanned aerial vehicle flies to the waypoint, such as hovering, photographing, video recording, pitching and the like;
s3, the unmanned aerial vehicle server shoots through the carried shooting lens, and transmits data to the background server in real time through the communication protocol module;
and S4, the background server carries out live broadcast through the cloud live broadcast platform.
Wherein, before the pre-configuring the mission, the method further comprises: the unmanned aerial vehicle carries out self-checking.
Wherein the method further comprises: the distributed cache database performs distributed cache on data; the database stores all data.
In the description herein, references to the description of "one embodiment," "an example," "a specific example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand the invention for and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (9)
1. The utility model provides a long-range automatic control system of unmanned aerial vehicle which characterized in that: the method comprises the following steps: the system comprises a communication protocol module and a background server, wherein the communication protocol module is connected with the background server, the communication protocol module is connected with a front-end service module and a mobile phone application end, the mobile phone application end is connected with an unmanned aerial vehicle server, and the background server is connected with a user login service module, a database, a distributed cache database and a cloud live broadcast platform.
2. The unmanned aerial vehicle remote automatic control system of claim 1, characterized in that: the communication protocol module adopts a Webscolet communication mode to carry out persistent connection in real time and carry out bidirectional data transmission.
3. The unmanned aerial vehicle remote automatic control system of claim 1, characterized in that: the background server is independently connected with the user login service module, the database, the distributed cache database and the cloud live broadcast platform.
4. The unmanned aerial vehicle remote automatic control system of claim 1, characterized in that: the distributed cache database adopts Mysql to carry Redis combination.
5. The unmanned aerial vehicle remote automatic control system of claim 1, characterized in that: the unmanned aerial vehicle server side includes unmanned aerial vehicle and loads camera module on the unmanned aerial vehicle.
6. The unmanned aerial vehicle remote automatic control system of claim 5, characterized in that: the unmanned aerial vehicle server side still includes unmanned aerial vehicle self-checking module, unmanned aerial vehicle self-checking module carries out the self-checking before unmanned aerial vehicle flies.
7. An unmanned aerial vehicle remote automatic control method is characterized in that: unmanned aerial vehicle remote automatic control system based on any one of claims 1-6, including:
s1, an operation manager configures a flight task in advance for an unmanned aerial vehicle server through a background server;
s2, the unmanned aerial vehicle server executes a flight route according to the flight task and executes related action information at a corresponding waypoint;
s3, the unmanned aerial vehicle server shoots through the carried shooting lens, and transmits data to the background server in real time through the communication protocol module;
and S4, the background server carries out live broadcast through the cloud live broadcast platform.
8. The unmanned aerial vehicle remote automatic control method according to claim 7, wherein: the method also comprises the following steps before the pre-configuration flight mission: the unmanned aerial vehicle carries out self-checking.
9. The unmanned aerial vehicle remote automatic control method according to claim 7, wherein: the method further comprises the following steps: the distributed cache database performs distributed caching on data; the database stores all data.
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| KR20190065703A (en) * | 2017-12-04 | 2019-06-12 | 윙스투미 주식회사 | Drone servicing system of agriculture and servicing method thereof |
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