WO2018094578A1 - Procédé de commande de véhicule aérien sans pilote et terminal de commande au sol - Google Patents

Procédé de commande de véhicule aérien sans pilote et terminal de commande au sol Download PDF

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Publication number
WO2018094578A1
WO2018094578A1 PCT/CN2016/106825 CN2016106825W WO2018094578A1 WO 2018094578 A1 WO2018094578 A1 WO 2018094578A1 CN 2016106825 W CN2016106825 W CN 2016106825W WO 2018094578 A1 WO2018094578 A1 WO 2018094578A1
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WIPO (PCT)
Prior art keywords
remote server
communication device
information
control terminal
ground control
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Application number
PCT/CN2016/106825
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English (en)
Chinese (zh)
Inventor
包红来
徐节文
黄宗继
钟和立
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深圳市大疆创新科技有限公司
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Priority to CN201680002757.1A priority Critical patent/CN106716973A/zh
Priority to PCT/CN2016/106825 priority patent/WO2018094578A1/fr
Publication of WO2018094578A1 publication Critical patent/WO2018094578A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L63/00—Network architectures or network communication protocols for network security
    • H04L63/08—Network architectures or network communication protocols for network security for authentication of entities
    • H04L63/0807—Network architectures or network communication protocols for network security for authentication of entities using tickets, e.g. Kerberos
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L63/00—Network architectures or network communication protocols for network security
    • H04L63/08—Network architectures or network communication protocols for network security for authentication of entities
    • H04L63/0815—Network architectures or network communication protocols for network security for authentication of entities providing single-sign-on or federations
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L63/00—Network architectures or network communication protocols for network security
    • H04L63/10—Network architectures or network communication protocols for network security for controlling access to devices or network resources
    • H04L63/108—Network architectures or network communication protocols for network security for controlling access to devices or network resources when the policy decisions are valid for a limited amount of time
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network

Definitions

  • the embodiment of the invention relates to the field of drones, and in particular to a control method for an unmanned aerial vehicle and a ground control end.
  • the unmanned aerial vehicle and the ground station such as the remote controller can perform wireless communication, and the user controls the unmanned aerial vehicle to fly by manipulating the joystick on the remote controller.
  • the remote controller can also be connected with the user's mobile terminal such as a mobile phone, The aircraft transmits its own information such as position information, speed, altitude, angle, etc. to the remote controller, and the remote controller transmits it to the remote server through the mobile phone.
  • connection between the mobile phone and the remote server is not real-time, and the communication between the remote controller and the remote server is not real-time.
  • the remote server cannot monitor the UAV in real time, especially for the agricultural drone.
  • the body is large in size and high in price. If the agricultural drone cannot be monitored in real time, the safety of the agricultural drone will not be guaranteed.
  • Embodiments of the present invention provide a control method for an unmanned aerial vehicle and a ground control terminal to ensure the safety of an agricultural drone.
  • An aspect of an embodiment of the present invention provides a control method for an unmanned aerial vehicle, which uses a ground control terminal, the ground control terminal includes a wireless communication device, and the wireless communication device is used for the ground control terminal and a remote server in real time. Communication; the method includes:
  • a ground control terminal including:
  • a wireless communication device configured to communicate in real time between the ground control terminal and a remote server
  • One or more processors operating alone or in conjunction, in communication with the wireless communication device, the processor for:
  • the wireless communication device transmits the information to the remote server to cause the remote server to monitor the unmanned aerial vehicle in real time based on the information.
  • the control method and the ground control end of the unmanned aerial vehicle provided by the embodiment provide real-time communication between the ground control terminal and the remote server through the wireless communication device by setting the wireless communication device in the ground control terminal of the unmanned aerial vehicle, and the remote server can
  • the real-time monitoring of unmanned aerial vehicles, especially for agricultural drones, has a large body size and high price, and real-time monitoring of agricultural drones can ensure the safety of agricultural drones.
  • FIG. 1 is a flowchart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention
  • FIG. 2 is a flowchart of a method for controlling an unmanned aerial vehicle according to another embodiment of the present invention.
  • FIG. 3 is a flowchart of a method for controlling an unmanned aerial vehicle according to another embodiment of the present invention.
  • FIG. 4 is a structural diagram of a ground control terminal according to an embodiment of the present invention.
  • FIG. 5 is a structural diagram of a ground control terminal according to another embodiment of the present invention.
  • a component when a component is called “fixed to” another component, it can be directly There may also be a centered component on another component. When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • FIG. 1 is a flowchart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention. As shown in FIG. 1, the method in this embodiment may include:
  • Step S101 Acquire information of the UAV.
  • the execution body of this embodiment may be a ground control terminal, and the ground control terminal may be a remote controller for controlling the unmanned aerial vehicle, or may be a ground maintenance base station of the unmanned aerial vehicle.
  • the ground control terminal may also be at least one of the following: head mounted display glasses (VR glasses, VR helmets, etc.), mobile phones, smart bracelets, tablets, and the like.
  • the ground control terminal in this embodiment includes a wireless communication device, and the wireless communication device is configured to use the ground control terminal to communicate with a remote server in real time; the wireless communication device includes at least one of the following: a 3G communication device, a 4G communication device, 5G communication device, WiMax communication device, and wireless fidelity (WIIFI) device.
  • a wireless communication device includes at least one of the following: a 3G communication device, a 4G communication device, 5G communication device, WiMax communication device, and wireless fidelity (WIIFI) device.
  • WIIFI wireless fidelity
  • the wireless communication device in this embodiment takes a wireless network card as an example, and the ground control terminal takes a remote controller as an example, that is, a remote control device for controlling an unmanned aerial vehicle is equipped with a wireless network card, and the remote controller can communicate with a remote server through the wireless network card in real time.
  • the wireless network card communicates in 3G, 4G, or 5G mode.
  • the remote controller acquires information of the unmanned aerial vehicle transmitted by the communication system of the unmanned aerial vehicle, and the information of the unmanned aerial vehicle includes at least one of the following: an ID of the unmanned aerial vehicle, a flight path of the unmanned aerial vehicle, the Current status information of the human aircraft.
  • the current state information of the UAV may include, but is not limited to, flight altitude, attitude information, flight speed, terrain, Flight mode, battery electrical parameter information, power system parameters, etc.
  • Step S102 Send the information to the remote server by using the wireless communication device, so that the remote server monitors the unmanned aerial vehicle in real time according to the information.
  • the remote controller transmits the information of the unmanned aerial vehicle to the remote server through a wireless network card, so that the remote server monitors the unmanned aerial vehicle in real time according to the information, for example, the remote server according to the flight of the unmanned aerial vehicle Trajectory, real-time monitoring of the trajectory of the unmanned aerial vehicle, real-time positioning of the unmanned aerial vehicle; or, according to the current state information of the unmanned aerial vehicle, real-time monitoring of the state of the unmanned aerial vehicle, for example, whether the battery is faulty, whether the power system is faulty, flying Whether the altitude is super high, whether the flight speed is excessive or not.
  • the ground control terminal realizes real-time communication with the remote server through the wireless communication device, and the remote server can perform real-time monitoring on the unmanned aerial vehicle, especially for agriculture.
  • the body is large in size and high in price, and real-time monitoring of agricultural drones can ensure the safety of agricultural drones.
  • Embodiments of the present invention provide a method for controlling an unmanned aerial vehicle.
  • FIG. 2 is a flowchart of a method for controlling an unmanned aerial vehicle according to another embodiment of the present invention. As shown in FIG. 2, on the basis of the embodiment shown in FIG. 1, the method in this embodiment may include:
  • Step S201 Acquire information of the UAV.
  • Step S201 is consistent with step S101, and the specific method is not described herein again.
  • Step S202 Send the information to the remote server by using the wireless communication device, so that the remote server monitors the unmanned aerial vehicle in real time according to the information.
  • Step S202 is the same as step S102. The specific method is not described here.
  • Step S203 Receive a control instruction sent by the remote server for controlling the UAV.
  • the control command for controlling the unmanned aerial vehicle may be sent to the ground control terminal, such as a remote controller; the control command includes at least one of the following: a lock command, a return command, and a flight. Height control command, flight speed control command, flight path control command.
  • the UAV is specifically an agricultural drone, and each working time of the agricultural drone is preset, when the remote server determines that the working time of the agricultural drone has timed out. At this time, a lock command is sent to the remote controller.
  • Step S204 Send the control instruction to the unmanned aerial vehicle.
  • the remote controller sends a control command issued by the remote server to the unmanned aerial vehicle, for example, sending the locking instruction in the above step to the agricultural drone, the agricultural drone will not be able to continue the operation, or the agricultural drone will land After that, you will not be able to take off again.
  • the ground control terminal receives the control command sent by the remote server, and sends the control command to the unmanned aerial vehicle. Since the ground control terminal is provided with the wireless network card, the remote server can be used for real-time delivery to the ground control terminal. In order to control the control commands of the unmanned aerial vehicle, real-time control of the unmanned aerial vehicle by the remote server is realized.
  • FIG. 3 is a flowchart of a method for controlling an unmanned aerial vehicle according to another embodiment of the present invention.
  • the ground control terminal further includes a display screen, and the display screen is configured to display at least one of the following: the information, the control instruction, and the Log in to the user interface of the remote server.
  • the remote controller displays the information on the display screen to control the user of the remote controller to view; for example, the remote controller can also display the control command issued by the remote server.
  • the display screen or information that is actively pushed by the remote server, is displayed on the display screen; in addition, the remote controller may further be provided with an operating system, and based on the operating system, an application software APP may be installed in the remote controller, the display The screen may display a user interface provided by the application software, and the user interface may be an interface that the user logs in to the remote server through the remote controller.
  • Step S301 Acquire information of the UAV.
  • the wireless network card in the remote controller can also receive the information sent by the UAV, and store the information in the memory of the remote controller.
  • the information of the unmanned aerial vehicle stored in the memory can be used as offline data.
  • Step S302 Acquire user information of a user who controls the ground control terminal.
  • An achievable manner of obtaining user information of a user who controls the ground control terminal is: acquiring login information input by the user at the user interface for logging in to the remote server,
  • the login information may specifically include a login ID and a login password.
  • Step S303 Send the user information to the remote server, so that the remote server determines, according to the user information, whether the user has the right to control the unmanned aerial vehicle through the ground control terminal.
  • the remote controller sends login information, such as a login ID and a login password, for logging in to the remote server to the remote server through a wireless network card, and the remote server stores in advance user information having authority to control the unmanned aerial vehicle, and the remote server according to the The login information sent by the remote controller and the pre-stored user information determine whether the user has the authority to control the unmanned aerial vehicle through the remote controller.
  • login information such as a login ID and a login password
  • Step S304 Receive verification information sent by the remote server, where the verification information is used to identify that the user has permission to control the unmanned aerial vehicle through the ground control terminal.
  • the verification information is sent to the remote controller, and the verification information may specifically be a token Token, where the token is used to identify that the user has permission to pass the remote controller. Control the UAV and have permission to log in to the remote server through the remote.
  • the verification information is further used to identify a time limit for the user to log in to the remote server through the ground control terminal. For example, after the remote controller receives the Token, the user can log in to the remote server according to the Token within 24 hours, or after the communication connection between the remote controller and the remote server is disconnected, the user can also log in to the remote server according to the Token.
  • Step S305 Send the ID of the UAV to the remote server by using the wireless communication device, so that the remote server determines, according to the ID of the UAV, whether the UAV is at the remote location. Within the scope of monitoring of the server.
  • the remote controller After receiving the Token sent by the remote server, the remote controller sends the ID of the UAV to the remote server through the wireless network card, and the remote server pre-stores the ID of the unmanned aerial vehicle that the remote server can monitor, and the remote server receives the remote controller. After the ID of the unmanned aerial vehicle is sent, it is determined whether the unmanned aerial vehicle is within its own monitoring range.
  • Step S306 if the user has the right to control the unmanned aerial vehicle through the ground control terminal, and the unmanned aerial vehicle is within the monitoring range of the remote server, establish the wireless communication device and the remote server. Communication between the connections.
  • the remote controller establishes a communication connection with the remote server through the wireless network card, and the communication connection may be a set of real-time transmission based on the Transmission Control Protocol (TCP).
  • TCP Transmission Control Protocol
  • Protocol for example, Transport Layer Security (TLS) connection.
  • Step S307 Send the information to the remote server by using the communication connection, so that the remote server monitors the unmanned aerial vehicle in real time according to the information.
  • the remote controller After the remote controller establishes a communication connection with the remote server through the wireless network card, the information of the unmanned aerial vehicle can be sent to the remote server in real time through the communication connection, so that the remote server monitors the unmanned aerial vehicle in real time.
  • the ground control terminal and the remote server establish a communication connection through the wireless communication device
  • the user fails to log in to the remote server through the remote controller
  • the offline data stored in the memory of the remote controller is connected through the communication connection. Sent to the remote server.
  • the remote server verifies the user information, the ID of the unmanned aerial vehicle, determines whether the user who controls the remote controller has the authority to control the unmanned aerial vehicle through the remote controller, and determines whether the unmanned aerial vehicle is in accordance with the ID of the unmanned aerial vehicle.
  • the security of the unmanned aerial vehicle is further improved within the monitoring range of the remote server.
  • the remote controller Only by establishing a real-time communication connection with the remote server through the wireless network card, compared with the unconditional establishment of the communication connection, not only the security of the communication is improved, but also the network resources of the communication system are saved.
  • Embodiments of the present invention provide a ground control terminal.
  • 4 is a structural diagram of a ground control terminal according to an embodiment of the present invention.
  • the ground control terminal 40 includes a wireless communication device 41, and one or more processors 42, wherein one or more processors 42 are separate or Working together, the wireless communication device 41 is used for real-time communication between the ground control terminal and the remote server; the wireless communication device 41 and the processor 42 are communicatively coupled; the processor 42 is configured to: acquire information of the unmanned aerial vehicle; and transmit the information to a wireless communication device 41; the wireless communication device 41 transmits the information to the remote server to cause the remote server to monitor the unmanned aerial vehicle in real time based on the information.
  • the information of the UAV includes at least one of the following: an ID of the UAV, a flight path of the UAV, and current state information of the UAV.
  • Place The ground control terminal includes at least one of the following: a remote controller of the unmanned aerial vehicle, and a ground maintenance base station of the unmanned aerial vehicle.
  • the wireless communication device includes at least one of the following: a 3G communication device, a 4G communication device, a 5G communication device, a WiMax communication device, and a WIFI communication device.
  • the ground control terminal realizes real-time communication with the remote server through the wireless communication device, and the remote server can perform real-time monitoring on the unmanned aerial vehicle, especially for agriculture.
  • the body is large in size and high in price, and real-time monitoring of agricultural drones can ensure the safety of agricultural drones.
  • Embodiments of the present invention provide a ground control terminal.
  • the wireless communication device 41 is further configured to receive a control instruction sent by the remote server for controlling the UAV; and send the control command to the Unmanned aerial vehicle.
  • the control command includes at least one of the following: a lock command, a return flight command, a fly height control command, a flight speed control command, and a flight path control command.
  • the ground control terminal receives the control command sent by the remote server, and sends the control command to the unmanned aerial vehicle. Since the ground control terminal is provided with the wireless network card, the remote server can be used for real-time delivery to the ground control terminal. In order to control the control commands of the unmanned aerial vehicle, real-time control of the unmanned aerial vehicle by the remote server is realized.
  • FIG. 5 is a structural diagram of a ground control terminal according to another embodiment of the present invention.
  • the processor 42 is further configured to: acquire user information of a user who controls the ground control terminal; Transmitting the user information to the wireless communication device 41; the wireless communication device 41 transmits the user information to the remote server, so that the remote server determines, according to the user information, whether the user has permission to pass the The ground control end controls the unmanned aerial vehicle.
  • the method is: sending the ID of the UAV to the remote server by using the wireless communication device, so that the The remote server determines, based on the ID of the UAV, whether the UAV is within the monitoring range of the remote server.
  • the wireless communication device 41 establishes a communication connection with the remote server.
  • the communication connection may specifically be a TLS connection
  • the wireless communication device 41 after the wireless communication device 41 sends the user information to the remote server, it is further configured to: receive verification information sent by the remote server, where the verification information is used to identify that the user has permission to pass the ground control The end controls the unmanned aerial vehicle.
  • the ground control terminal 40 provided in this embodiment further includes: a display screen 43 communicably connected to the processor 42, and the display screen 43 is configured to display at least one of the following : the information, the control command, a user interface for logging into the remote server.
  • the processor 42 is specifically configured to: obtain login information that is input by the user on the user interface and used to log in to the remote server.
  • the verification information is further used to identify a time limit for the user to log in to the remote server through the ground control terminal 40.
  • the ground control terminal 40 provided in this embodiment further includes: a memory 44 communicably connected to the processor 42.
  • the wireless communication device 41 receives the unmanned person.
  • the information transmitted by the aircraft and transmitted to the processor 42 is stored by the processor 42 to the memory 44.
  • the processor 42 acquires the information from the memory 44 and transmits the information to the wireless communication device 41, and the wireless communication device 41 The information is sent to the remote server over the communication connection.
  • the wireless communication device 41 specifically includes: a remote communication device 411 and a server communication device 412, wherein the remote communication device 411 is communicatively coupled to the processor 42 for communicating with the unmanned aerial vehicle;
  • the communication device 412 is communicatively coupled to the processor 42 for communicating with the remote server; the communication method of the remote communication device 411 is different from the communication method of the server communication device 412.
  • the remote communication device 411 is a WIFI pass. Letter device.
  • the specific principles and implementation manners of the ground control terminal provided by the embodiment of the present invention are similar to the embodiment shown in FIG. 3, and details are not described herein again.
  • the remote server verifies the user information, the ID of the unmanned aerial vehicle, determines whether the user who controls the remote controller has the authority to control the unmanned aerial vehicle through the remote controller, and determines whether the unmanned aerial vehicle is in accordance with the ID of the unmanned aerial vehicle.
  • the security of the unmanned aerial vehicle is further improved within the monitoring range of the remote server.
  • the remote controller Only by establishing a real-time communication connection with the remote server through the wireless network card, compared with the unconditional establishment of the communication connection, not only the security of the communication is improved, but also the network resources of the communication system are saved.
  • the disclosed apparatus and method may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.
  • the above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium.
  • the above software functional unit is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the methods of the various embodiments of the present invention. Part of the steps.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, and a read only memory. (Read-Only Memory, ROM), Random Access Memory (RAM), disk or optical disk, and other media that can store program code.

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Abstract

La présente invention concerne un procédé de commande de véhicule aérien sans pilote et un terminal de commande au sol, le procédé consistant : à acquérir des informations d'un véhicule aérien sans pilote (S101) ; puis à envoyer les informations à un serveur distant par l'intermédiaire d'un dispositif de communication sans fil (41) de sorte que le serveur distant surveille le véhicule aérien sans pilote en temps réel selon les informations (S102). Le procédé assure une communication entre le terminal de commande au sol (40) et le serveur distant par l'intermédiaire du dispositif de communication sans fil (41) en temps réel en plaçant le dispositif de communication sans fil (41) dans le terminal de commande au sol (40) afin de commander le véhicule aérien sans pilote. Le serveur distant peut surveiller le véhicule aérien sans pilote en temps réel, en particulier des drones agricoles qui présentent un corps plus grand et un coût élevé. La surveillance en temps réel de drones agricoles peut assurer la sécurité de ces derniers.
PCT/CN2016/106825 2016-11-22 2016-11-22 Procédé de commande de véhicule aérien sans pilote et terminal de commande au sol WO2018094578A1 (fr)

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Application Number Priority Date Filing Date Title
CN201680002757.1A CN106716973A (zh) 2016-11-22 2016-11-22 无人飞行器的控制方法及地面控制端
PCT/CN2016/106825 WO2018094578A1 (fr) 2016-11-22 2016-11-22 Procédé de commande de véhicule aérien sans pilote et terminal de commande au sol

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CN112363489A (zh) * 2020-09-11 2021-02-12 中国航空工业集团公司成都飞机设计研究所 一种手持分布式指控终端系统

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EP3663886A4 (fr) * 2017-08-03 2021-03-17 Beijing Xiaomi Mobile Software Co., Ltd. Procédé et dispositif de commande de véhicule aérien sans pilote, véhicule aérien sans pilote et dispositif de commande à distance
CN107479574B (zh) * 2017-08-17 2020-11-10 中国电子科技集团公司第二十九研究所 一种基于移动通信技术的无人机管控方法及装置
CN107864138A (zh) * 2017-11-09 2018-03-30 佛山市海科云筹信息技术有限公司 飞行器监管方法、装置、存储介质及服务器
CN107733920A (zh) * 2017-11-09 2018-02-23 佛山市海科云筹信息技术有限公司 飞行器监管方法、装置、存储介质及服务器
CN107680414A (zh) * 2017-11-09 2018-02-09 佛山市海科云筹信息技术有限公司 飞行器监管方法、装置、存储介质及服务器
CN107945581A (zh) * 2017-11-09 2018-04-20 佛山市海科云筹信息技术有限公司 飞行器监管方法、装置、存储介质及移动终端
CN107819762A (zh) * 2017-11-09 2018-03-20 佛山市海科云筹信息技术有限公司 飞行器监管方法、装置、存储介质及服务器
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