WO2018094747A1

WO2018094747A1 - Control method, remote control and drone

Info

Publication number: WO2018094747A1
Application number: PCT/CN2016/107542
Authority: WO
Inventors: 陈廷忠
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2016-11-28
Filing date: 2016-11-28
Publication date: 2018-05-31
Also published as: CN106716871A

Abstract

The present invention discloses a control method for controlling an electronic device (100). The control method comprises: (S1) activating a remote communication module to establish a remote communication link between the remote communication module and the remote terminal; (S2) detecting whether a signal characteristic in the remote communication link satisfies the remote communication condition; (S3) controlling the remote communication module to transmit data with the remote terminal by using the remote communication link when the detected signal characteristic in the remote communication link satisfies the remote communication condition; (S4) controlling a BeiDou satellite message communication module to transmit data with the remote terminal by using a Beidou satellite message communication link when the detected signal characteristic in the remote communication link does not satisfy the remote communication condition. The present invention also discloses a remote control (100) and a drone (100).

Description

Control method, remote control and drone

Technical field

The invention relates to a consumer electronic technology, in particular to a control method, a remote controller and a drone.

Background technique

With the development of drone technology, drones are gradually applied to fields such as aerial photography, exploration, rescue, inspection, delivery, and data information collection. UAVs often need to know the data such as the positioning, altitude, wind speed, and power of the drone during operation in various fields. Typically, this data information is transmitted back to the remote or ground station via a communication link established between the drone and the remote control or ground station. However, since only one remote communication link is established, the drone loses the communication conditions corresponding to the remote communication link, for example, when it is separated from the remote control distance or in a mountainous terrain or a wasteland or the like. The communication signal in the remote communication link will be unstable, or even no signal at all, that is, the remote communication link completely fails, thereby affecting the data transmission.

Summary of the invention

Embodiments of the present invention aim to solve at least one of the technical problems existing in the prior art. To this end, embodiments of the present invention need to provide a control method, a remote controller, and a drone.

The present invention provides a control method for controlling an electronic device, the electronic device comprising a remote control communication module and a Beidou satellite message communication module, the remote control communication module being capable of establishing a remote communication link with a remote terminal and under remote communication conditions Transmitting data with the remote terminal through the remote communication link, the Beidou satellite message communication module is capable of establishing a Beidou satellite message communication link with the remote terminal to transmit data with the remote terminal; the control method includes the following step:

Activating the remote communication module to establish a remote communication link between the remote communication module and the remote terminal;

Detecting whether a signal characteristic in the remote communication link satisfies the remote communication condition; and

Controlling, by the remote control communication module, the remote communication module to transmit data with the remote terminal when the detected signal feature in the remote communication link satisfies the remote communication condition;

And controlling, when the detected signal feature in the remote communication link does not satisfy the remote communication condition, the Beidou satellite message communication module to transmit data by using a Beidou satellite message communication link and the remote terminal.

The invention provides a remote controller for controlling a drone, the remote controller comprising:

a remote communication module capable of establishing a remote communication link with the drone and transmitting data with the drone through the remote communication link under remote communication conditions;

The Beidou satellite message communication module is capable of establishing a Beidou satellite message communication link with the drone and transmitting data to the drone through the Beidou satellite message communication link under the Beidou satellite message communication condition;

a first startup module, configured to activate the remote communication module to establish a remote communication link between the remote communication module and the drone;

a first detecting module, configured to detect whether a signal feature in the remote communication link satisfies the remote communication condition;

a first control module, configured to control the remote communication module to transmit data by using the remote communication link and the drone when the detected signal feature in the remote communication link satisfies the remote communication condition; and

a second control module, configured to control, when the detected signal feature in the remote communication link does not satisfy the remote communication condition, the Beidou satellite message communication module adopts a Beidou satellite message communication link and the absence Human machine transmits data.

The invention provides a drone for controlling by a remote terminal, the drone comprising:

a remote communication module capable of establishing a remote communication link with the remote terminal and transmitting data with the remote terminal through the remote communication link under remote communication conditions;

The Beidou satellite message communication module is capable of establishing a Beidou satellite message communication link with the remote terminal and transmitting data to the remote terminal through the Beidou satellite message communication link under the Beidou satellite message communication condition;

a first startup module, configured to activate the remote communication module to establish a remote communication link between the remote communication module and the remote terminal;

a first control module, configured to control the remote communication module to transmit data by using the remote communication link and the remote terminal when the detected signal feature in the remote communication link satisfies the remote communication condition; and

a second control module, configured to control, when the detected signal feature in the remote communication link does not satisfy the remote communication condition, the Beidou satellite message communication module adopts a Beidou satellite message communication link and the remote The terminal transmits data.

The control method, the remote controller, and the drone in the embodiment of the present invention are provided with a remote communication link and a Beidou satellite message communication link, and when the detected signal characteristics in the remote communication link do not satisfy the remote communication condition Control the Beidou satellite message communication module to transmit data using the Beidou satellite message communication link and the drone/remote control. Thus, in the case of failure or instability of the remote communication link, the Beidou satellite message communication link can be used. Data transmission ensures the stability of data transmission.

The additional aspects and advantages of the embodiments of the present invention will be set forth in part in the description which follows.

DRAWINGS

The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from

1 is a schematic diagram of a physical device and a remote terminal according to some embodiments of the present invention.

2 is a flow chart of a control method of some embodiments of the present invention.

3 is a schematic diagram of functional modules of a drone and a remote terminal according to some embodiments of the present invention.

4 is a schematic diagram of functional modules of a Beidou satellite message communication module according to some embodiments of the present invention.

FIG. 5 is a schematic diagram of functional modules of a drone and a remote controller according to some embodiments of the present invention.

6 is a flow chart of a control method of some embodiments of the present invention.

7 is a schematic diagram of functional modules of a drone and a remote terminal according to some embodiments of the present invention.

8 is a schematic diagram of functional modules of a drone and a remote controller according to some embodiments of the present invention.

9 is a schematic diagram of a physical device and a remote terminal in accordance with some embodiments of the present invention.

10 is a flow chart of a control method of some embodiments of the present invention.

11 is a schematic diagram of functional modules of a drone and a remote terminal according to some embodiments of the present invention.

FIG. 12 is a schematic diagram of functional modules of a mobile phone network communication module according to some embodiments of the present invention.

13 is a schematic diagram of functional modules of a drone and a remote controller according to some embodiments of the present invention.

14 is a flow diagram of a control method of some embodiments of the present invention.

15 is a schematic diagram of functional modules of a drone and a remote terminal according to some embodiments of the present invention.

16 is a schematic diagram of functional modules of a drone and a remote controller according to some embodiments of the present invention.

17 is a flow chart showing a control method of some embodiments of the present invention.

detailed description

The embodiments of the present invention are described in detail below, and the examples of the embodiments are illustrated in the drawings, wherein the same or similar reference numerals indicate the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the drawings are intended to be illustrative of the invention and are not to be construed as limiting.

In the description of the present invention, it is to be understood that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, features defining "first" or "second" may include one or more of the described features either explicitly or implicitly. In the description of the present invention, the meaning of "a plurality" is two or more unless specifically and specifically defined otherwise.

In the description of the present invention, it should be noted that the terms "installation", "connected", and "connected" are to be understood broadly, and may be fixed or detachable, for example, unless otherwise explicitly defined and defined. Connected, or connected in one piece; can be mechanical, electrical, or can communicate with each other; either directly or through an intermediary Indirectly connected, it can be the internal communication of two components or the interaction of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.

The following disclosure provides many different embodiments or examples for implementing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and arrangements of the specific examples are described below. Of course, they are merely examples and are not intended to limit the invention. In addition, the present invention may be repeated with reference to the numerals and/or reference numerals in the various examples, which are for the purpose of simplicity and clarity, and do not indicate the relationship between the various embodiments and/or arrangements discussed. Moreover, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize the use of other processes and/or the use of other materials.

Referring to FIG. 1 , a control method according to an embodiment of the present invention is used to control an electronic device 100. The electronic device 100 includes a remote control communication module 104 and a Beidou satellite message communication module 108. The remote terminal 200 includes a remote communication module 104. The remote control communication module 204 and the Beidou satellite message communication module 208 corresponding to the Beidou satellite message communication module 108. The remote communication module 104 of the electronic device 100 is capable of establishing a remote communication link 140 with the remote communication module 204 of the remote terminal 200 and transmitting data with the remote communication module 204 of the remote terminal 200 via the remote communication link 140 under remote communication conditions. The Beidou satellite message communication module 108 of the electronic device 100 can establish a Beidou satellite message communication link 180 with the Beidou satellite message communication module 208 of the remote terminal 200 and pass the Beidou satellite message communication link under the Beidou satellite message communication condition. The data communicates with the Beidou satellite message communication module 208 of the remote terminal 200.

Referring to FIG. 2, the control method includes:

S1, the remote communication module 104 is activated to establish a remote communication link 140 between the remote communication module 104 and the remote terminal 200;

S2, detecting whether the signal feature in the remote communication link 140 satisfies the remote communication condition; and

S3. The remote control communication module 104 controls the remote communication module 104 to transmit data with the remote terminal 200 by using the remote communication link 140 when the detected signal characteristics in the remote communication link 140 satisfy the remote communication condition;

S4. Controlling the Beidou satellite message communication module 108 to transmit data using the Beidou satellite message communication link 180 and the remote terminal 200 when the detected signal characteristics in the remote communication link 140 do not satisfy the remote communication condition.

The remote communication condition includes a range of remote control distance (distance between the electronic device 100 and the remote terminal 200) and/or a signal (signal in the remote control communication link 140), and the electronic device 100 usually sets a remote control before leaving the factory. The range of distance and/or the range of signal strength, for example, a setting of less than or equal to 1500 meters is a range of remote control distances, and X is greater than or equal to a range of signal strengths. The remote communication condition is satisfied. The first condition is that the electronic device 100 is within the remote control distance range. For example, the electronic device 100 meets the remote communication condition by the remote terminal 200 being less than or equal to 1500 meters. Second, the electronic device 100 is in the remote communication. The signal strength in the link 140 is within the signal strength range. For example, the signal strength in the remote control communication link 140 is greater than or equal to X, that is, the remote communication condition is satisfied; The electronic device 100 is within the remote control distance while the signal strength in the remote communication link 140 is within the signal strength range, for example, the electronic device 100 is less than or equal to 1500 meters from the remote terminal 200, and the signal strength in the remote communication link 140 Greater than or equal to X meets the remote communication conditions. The remote communication condition in which one of the above cases is adopted can be set by the remote terminal 200 in accordance with the factory setting of the electronic device 100. The content included in the remote communication condition is not limited to the embodiment of the present invention, and the setting means for satisfying the remote communication condition is not limited to the embodiment of the present invention, and may be set by other means.

Referring to FIG. 3, the electronic device 100 can be a drone 100, and the remote terminal 200 can be a remote controller, such as a ground station, a mobile phone, a tablet, a remote controller, a smart watch, smart glasses, a smart helmet, and other virtual devices. Any one of a reality wearable device, other augmented reality wearable device, and the like. The remote terminal 200 is used to monitor and/or control the flight conditions of the drone 100, including flight attitude, flight speed, and the like. The remote terminal 200 can include a display unit for viewing flight information of the drone 100. For example, the remote terminal 200 can display information of the drone 100 including orientation, translational speed, translational acceleration, direction, angular velocity, angular acceleration, and combinations thereof. In some embodiments, the remote terminal 200 can display information collected by the drone 100, such as image data captured by a camera carried by the drone 100.

At this time, the remote communication condition includes a range of the remote control distance (distance between the drone 100 and the remote terminal 200) and/or a signal (signal in the remote communication link 140) intensity range, and the drone 100 is usually set before leaving the factory. Set a remote distance range and / or signal strength range, for example, set the distance of 1500 meters is less than or equal to the range of remote control distance, X is greater than or equal to the signal strength range. The following conditions are met: First, the drone 100 is within the remote control distance range. For example, the drone 100 meets the remote communication condition by being less than or equal to 1500 meters from the remote terminal 200. Second, the drone 100 The signal strength in the remote communication link 140 is within the signal strength range, for example, the signal strength in the remote communication link 140 is greater than or equal to X, that is, the remote communication condition is satisfied; and third, the drone 100 is within the remote control range while remotely controlling. The signal strength in the communication link 140 must be within the signal strength range. For example, the drone 100 is less than or equal to 1500 meters from the remote terminal 200, and the signal strength in the remote communication link 140 is greater than or equal to X to satisfy the remote communication condition. The remote communication condition in which one of the above cases is adopted can be set by the remote terminal 200 in accordance with the factory setting of the drone 100. The content included in the remote communication condition is not limited to the embodiment of the present invention, and the setting means for satisfying the remote communication condition is not limited to the embodiment of the present invention, and may be set by other means.

The unmanned aerial vehicle 100 according to an embodiment of the present invention includes a remote control communication module 104, a Beidou satellite message communication module 108, a first startup module 111, a first detection module 112, a first control module 113, and a second control module 114. The first startup module 111, the first detection module 112, the first control module 113, and the second control module 114 are respectively configured to execute S1, S2, S3, and S4. Specifically, the remote communication module 104 is configured to establish a remote communication link 140 with the remote terminal 200 and transmit it to the remote terminal 200 via the remote communication link 140 under remote communication conditions. Lose data. The Beidou satellite message communication module 108 is configured to establish a Beidou satellite message communication link 180 with the remote terminal 200 and transmit data to the remote terminal 200 through the Beidou satellite message communication link under the Beidou satellite message communication condition. The first activation module 111 is used to activate the remote communication module 104 to establish a remote communication link 140 between the remote communication module 104 and the remote terminal 200. The first detection module 112 is configured to detect whether the signal characteristics in the remote communication link 140 meet the remote communication conditions. The first control module 113 is configured to control the remote communication module 104 to transmit data with the remote terminal 200 using the remote communication link 140 when the detected signal characteristics in the remote communication link 140 satisfy the remote communication condition. The second control module 114 is configured to control the Beidou satellite message communication module 108 to transmit data using the Beidou satellite message communication link 180 and the remote terminal 200 when the detected signal characteristics in the remote communication link 140 do not satisfy the remote communication condition. Since the remote terminal 200 can be a ground station or a remote control, the remote communication link 140 can be a link of a remote control or a link of a ground station, wherein the link of the remote control is via 2.4Ghz or 5.8Ghz radio and none The human machine 100 transmits data, and the link of the ground station transmits data to the drone 100 through a 900 Mhz or 433 Mhz radio frequency.

4, the Beidou satellite message communication module 108 includes an antenna unit 1082, a radio frequency unit 1084, a baseband unit 1086, and an information output unit 1088. The antenna unit 1082 is configured to receive a Beidou radio frequency signal. The radio frequency unit 1084 is configured to convert the radio frequency signal into a digital signal. The baseband unit 1086 is configured to receive digital signals to perform acquisition, tracking, demodulation, frame synchronization, and positioning solution. The information output unit 1088 is configured to provide positioning results and time information for the user according to the acquisition, tracking, demodulation, frame synchronization, and positioning solution performed by the baseband unit 1086. The information output unit 1088 includes a plurality of civilian SIM cards. The Beidou satellite message communication module 108 needs to be separated by 60 seconds for each message. If the dual SIM card design is used, the message interval period can be reduced to 30 seconds. If a higher communication frequency is required, the SIM card can be increased by analogy. quantity. Since the Beidou satellite message communication module 108 is generally not limited by terrain, terrain, remote control distance, etc., the signal strength in the Beidou satellite message communication link 180 will be strong, and the signal loss frequency is extremely low. Therefore, the Beidou satellite is adopted. The message communication link 140 always implements data transmission.

The control method in the embodiment of the present invention and the drone 100 are provided with a remote communication link 140 and a Beidou satellite message communication link 180, and when the detected signal characteristics in the remote communication link 140 do not satisfy the remote communication condition The Beidou satellite message communication module 108 is controlled to transmit data using the Beidou satellite message communication link 180 and the remote terminal 200. Thus, in the event that the remote communication link 140 fails or is unstable, the Beidou satellite message communication link can be utilized. Data transmission ensures the stability of data transmission.

Referring to FIG. 5, the electronic device 100 can be the remote controller 100. The remote terminal 200 can be an airborne vehicle, such as a drone, a manned aircraft, etc.; a vehicle in the water, such as a ship, a submarine, etc.; a carrier on the ground, such as a car, a truck, a bus, a van Trucks, motorcycles, light rails, etc.; carriers under the ground, such as subways; vehicles in space, such as space shuttles. Of course, the remote terminal 200 It is not limited to various types of carriers, as long as it is any device that requires data transmission, such as satellites, detectors, and the like. In the present embodiment, the remote terminal 200 is an unmanned aerial vehicle 200 as an example. The remote controller 100 is used to monitor and/or control the flight conditions of the drone 200, including monitoring and/or controlling the flight attitude, flight speed, and the like of the drone 200. The remote controller 100 can include a display unit for viewing flight information of the drone 200. For example, the remote controller 100 can display information of the drone 200 including orientation, translational speed, translational acceleration, direction, angular velocity, angular acceleration, and combinations thereof. In some embodiments, the remote control 100 can display information collected by the drone 200, such as image data captured by a camera carried by the drone 200.

At this time, the remote communication condition includes a range of the remote control distance (distance between the remote controller 100 and the drone 200) and/or a signal (signal in the remote communication link 140) intensity range, and the remote controller 100 is usually set before leaving the factory. A remote control range and/or signal strength range, for example, a setting of less than or equal to 1500 meters is a remote control range, and X is greater than or equal to a signal strength range. The following conditions are met: First, the drone 100 is within the range of the remote control distance. For example, the drone 200 meets the remote communication condition by being less than or equal to 1500 meters from the remote controller 100. Second, the drone 200 The signal strength in the remote communication link 140 is within the signal strength range. For example, the signal strength in the remote control communication link 140 is greater than or equal to X, that is, the remote communication condition is satisfied. Third, the drone 200 is within the remote control distance while remotely controlling. The signal strength in the communication link 140 must be within the signal strength range. For example, the drone 200 is less than or equal to 1500 meters from the remote controller 100, and the signal strength in the remote communication link 140 is greater than or equal to X to satisfy the remote communication condition. The remote communication condition in which one of the above cases is adopted can be set by the remote controller 100 in accordance with the factory setting of the remote controller 100. The content included in the remote communication condition is not limited to the embodiment of the present invention, and the setting means for satisfying the remote communication condition is not limited to the embodiment of the present invention, and may be set by other means.

The remote controller 100 according to an embodiment of the present invention includes a remote control communication module 104, a Beidou satellite message communication module 108, a first startup module 111, a first detection module 112, a first control module 113, and a second control module 114. The first startup module 111, the first detection module 112, the first control module 113, and the second control module 114 are respectively configured to execute S1, S2, S3, and S4. Specifically, the remote control communication module 104 is configured to establish a remote communication link 140 with the drone 200 and transmit data to the drone 200 via the remote communication link 140 under remote communication conditions. The Beidou satellite message communication module 108 is configured to establish a Beidou satellite message communication link 180 with the drone 200 and transmit data through the Beidou satellite message communication link and the drone 200 under the Beidou satellite message communication condition. The first activation module 111 is used to activate the remote communication module 104 to establish a remote communication link 140 between the remote communication module 104 and the drone 200. The first detection module 112 is configured to detect whether the signal characteristics in the remote communication link 140 meet the remote communication conditions. The first control module 113 is configured to control the remote communication module 104 to transmit data with the drone 200 using the remote communication link 140 when the detected signal characteristics in the remote communication link 140 satisfy the remote communication condition. The second control module 114 is configured to not satisfy the signal characteristics in the detected remote communication link 140 When the communication condition is controlled, the Beidou satellite message communication module 108 controls the Beidou satellite message communication link 180 and the drone 200 to transmit data. The remote communication link 140 in the present embodiment is a link of a remote controller, and transmits data through the 2.4Ghz or 5.8Ghz radio and the drone 200.

The control method and the remote controller 100 in the embodiment of the present invention are provided with a remote control communication link 140 and a Beidou satellite message communication link 180, and are controlled when the detected signal characteristics in the remote communication link 140 do not satisfy the remote communication condition. The Beidou satellite message communication module 108 uses the Beidou satellite message communication link 180 and the drone 200 to transmit data. Thus, in the event that the remote communication link 140 fails or is unstable, the Beidou satellite message communication link can be utilized. Data transmission ensures the stability of data transmission.

Referring to FIG. 6, in some embodiments, the control method further includes:

S5, scanning a communication signal in the environment;

S6, determining whether the signal characteristic of the scanned communication signal satisfies the remote communication condition; and

S7. If the signal characteristic of the scanned communication signal satisfies the remote communication condition, the Beidou satellite message communication module 108 is switched to the remote communication module 104 to transmit data with the remote terminal 200 using the remote communication link 140.

Referring to FIG. 7, the unmanned aerial vehicle 100 according to an embodiment of the present invention further includes a scanning module 115, a determining module 116, and a switching module 117 for performing S5, S6, and S7, respectively. That is, the scanning module 115 is used to scan communication signals in the environment. The determining module 116 is configured to determine whether the signal characteristic of the scanned communication signal satisfies the remote communication condition. The switching module 117 is configured to switch from the Beidou satellite message communication module 108 to the remote communication module 104 to transmit data with the remote terminal 200 using the remote communication link 140 if the signal characteristics of the scanned communication signal satisfy the remote communication condition.

The control method in the embodiment of the present invention and the drone 100 are provided with a remote communication link 140 and a Beidou satellite message communication link 180, and the signal characteristics in the detected remote communication link 140 do not satisfy the remote communication condition. The Beidou satellite message communication module 108 uses the Beidou satellite message communication link 180 to transmit data with the remote terminal 200. Thus, in the event that the remote communication link 140 fails or is unstable, the Beidou satellite message communication link can be utilized. 180 data transmission ensures the stability of data transmission. Moreover, when the drone 100 re-satisfies the remote communication condition, the remote communication link 140 can be reused to transmit data with the remote terminal 200, which saves cost.

Referring to FIG. 8, the remote controller 100 according to an embodiment of the present invention further includes a scanning module 115, a determining module 116, and a switching module 117 for executing S5, S6, and S7, respectively. That is, the scanning module 115 is used to scan communication signals in the environment. The determining module 116 is configured to determine whether the signal characteristic of the scanned communication signal satisfies the remote communication condition. The switching module 117 is configured to switch from the Beidou satellite message communication module 108 to the remote communication module 104 to transmit data with the remote terminal 200 using the remote communication link 140 if the signal characteristics of the scanned communication signal satisfy the remote communication condition.

The control method and the remote controller 100 in the embodiment of the present invention are provided with a remote control communication link 140 and a Beidou satellite message communication link 180, and are controlled when the detected signal characteristics in the remote communication link 140 do not satisfy the remote communication condition. The Beidou satellite message communication module 108 uses the Beidou satellite message communication link 180 and the drone 200 to transmit data. Thus, in the event that the remote communication link 140 fails or is unstable, the Beidou satellite message communication link can be utilized. Data transmission ensures the stability of data transmission. Moreover, when the remote controller 100 re-satisfies the remote communication condition, the remote communication link 140 and the drone 200 can be reused to transmit data, which saves cost.

Referring to FIG. 9, a control method according to an embodiment of the present invention is used to control the electronic device 100. The electronic device 100 includes a remote control communication module 104, a mobile phone network communication module 106, and a Beidou satellite message communication module 108. The remote terminal 200 includes a remote control communication module 204 corresponding to the remote control communication module 104, a mobile phone network communication module 206 corresponding to the mobile phone network communication module 106, and a Beidou satellite message communication module 208 corresponding to the Beidou satellite message communication module 108. The remote communication module 104 of the electronic device 100 is capable of establishing a remote communication link 140 with the remote communication module 204 of the remote terminal 200 and transmitting data with the remote communication module 204 of the remote terminal 200 via the remote communication link 140 under remote communication conditions. The mobile phone network communication module 106 of the electronic device 100 can establish a mobile phone network communication link 160 with the mobile phone network communication module 206 of the remote terminal 200 and communicate with the mobile phone network communication module of the remote terminal 200 through the mobile phone network communication link 160 under the mobile phone network communication condition. 206 transmits data. The Beidou satellite message communication module 108 of the electronic device 100 can establish a Beidou satellite message communication link 180 with the Beidou satellite message communication module 208 of the remote terminal 200 and pass the Beidou satellite message communication link under the Beidou satellite message communication condition. The data communicates with the Beidou satellite message communication module 208 of the remote terminal 200.

Referring to FIG. 10, the control method includes:

S2. Detect whether the signal feature in the remote communication link 140 satisfies the remote communication condition;

S8, when the detected signal feature in the remote communication link 140 does not meet the remote communication condition, the mobile phone network communication module 106 is activated to establish a mobile phone network communication link 160 between the mobile phone network communication module 106 and the remote terminal 200;

S9, detecting whether a signal feature in the mobile phone network communication link 160 satisfies a mobile phone network communication condition; and

S10, controlling the mobile phone network communication module 106 to transmit data by using the mobile phone network communication link 160 and the remote terminal 200 when the detected signal characteristics in the mobile phone network communication link 160 satisfy the mobile phone network communication condition;

S4. The Beidou satellite message communication module 108 is controlled to transmit data by using the Beidou satellite message communication link 180 and the remote terminal 200 when the detected signal characteristics in the mobile phone network communication link 160 do not satisfy the mobile phone network communication condition.

The remote communication condition includes a range of remote control distance (distance between the electronic device 100 and the remote terminal 200) and/or a signal (signal in the remote control communication link 140), and the electronic device 100 usually sets a remote control before leaving the factory. The range of distance and/or the range of signal strength, for example, a setting of less than or equal to 1500 meters is a range of remote control distances, and X is greater than or equal to a range of signal strengths. The remote communication condition is satisfied. The first condition is that the electronic device 100 is within the remote control distance range. For example, the electronic device 100 meets the remote communication condition by the remote terminal 200 being less than or equal to 1500 meters. Second, the electronic device 100 is in the remote communication. The signal strength in the link 140 is within the signal strength range. For example, the signal strength in the remote control communication link 140 is greater than or equal to X, that is, the remote communication condition is satisfied. Third, the electronic device 100 is within the remote control distance, and the remote communication link 140 is simultaneously controlled. The signal strength in the signal strength must be within the signal strength range. For example, the electronic device 100 is less than or equal to 1500 meters from the remote terminal 200, and the signal strength in the remote communication link 140 is greater than or equal to X to satisfy the remote communication condition. The remote communication condition in which one of the above cases is adopted can be set by the remote terminal 200 in accordance with the factory setting of the electronic device 100. The content included in the remote communication condition is not limited to the embodiment of the present invention, and the setting means for satisfying the remote communication condition is not limited to the embodiment of the present invention, and may be set by other means.

Cellular network communication conditions include a range of signals (signals in the mobile network communication link 160) and/or a signal (signal in the mobile network communication link 160) loss frequency range (number of signal losses in a particular time). The electronic device 100 usually sets a signal strength range and/or a signal loss frequency range before leaving the factory. For example, setting X is greater than or equal to X is a signal strength range, and setting less than or equal to Y is a signal loss frequency range. The following conditions are met for the mobile phone network communication conditions: First, the signal strength of the electronic device 100 in the mobile phone network communication link 160 is within the signal strength range, for example, the signal strength in the mobile phone network communication link 160 is greater than or equal to X. Mobile phone network communication condition; second, the signal loss frequency of the electronic device 100 in the mobile phone network communication link is in the signal loss frequency Within the rate range, for example, the signal loss frequency in the mobile phone network communication link 160 is less than or equal to Y, that is, the mobile phone network communication condition is satisfied; third, the signal strength of the electronic device 100 in the mobile phone network communication link 160 is within the signal strength range, and The signal loss frequency must be within the signal loss frequency range. For example, the signal strength in the mobile phone network communication link 160 is greater than or equal to X, and the signal loss frequency in the mobile phone network communication link 160 is less than or equal to Y to satisfy the mobile network communication condition. Similarly, the mobile phone network communication condition using which of the above cases can be set by the remote terminal 200 according to the factory setting of the electronic device 100. The content included in the mobile phone network communication condition is not limited to the embodiment of the present invention, and the setting means for satisfying the communication condition of the mobile phone network is not limited to the embodiment of the present invention, and may be set by other means.

Referring to FIG. 11 , the electronic device 100 can be a drone 100 , and the remote terminal 200 can be a remote controller, such as: a ground station, a mobile phone, a tablet computer, a remote controller, a smart watch, smart glasses, a smart helmet, and other virtual devices. Any one of a reality wearable device, other augmented reality wearable device, and the like. The remote terminal 200 is used to monitor and/or control the flight conditions of the drone 100, including flight attitude, flight speed, and the like. The remote terminal 200 can include a display unit for viewing flight information of the drone 100. For example, the remote terminal 200 can display information of the drone 100 including orientation, translational speed, translational acceleration, direction, angular velocity, angular acceleration, and combinations thereof. In some embodiments, the remote terminal 200 can display information collected by the drone 100, such as image data captured by a camera carried by the drone 100.

The unmanned aerial vehicle 100 according to an embodiment of the present invention includes a remote control communication module 104, a mobile phone network communication module 106, a Beidou satellite message communication module 108, a first startup module 111, a first detection module 112, a first control module 113, and a The second control module 114, the second startup module 118, the second detection module 119, and the third control module 120. The first startup module 111, the first detection module 112, the first control module 113, the second control module 114, the second startup module 118, the second detection module 119, and the third control module 120 are respectively configured to execute S1. , S2, S3, S4, S8, S9 and S10. Specifically, the remote control communication module 104 is configured to establish a remote communication link 140 with the remote terminal 200 and transmit data to the remote terminal 200 over the remote communication link 140 under remote communication conditions. The mobile phone network communication module 106 is configured to establish a mobile phone network communication link 160 with the remote terminal 200 and transmit data to the remote terminal 200 via the mobile phone network communication link 160 under mobile phone network communication conditions. The Beidou satellite message communication module 108 is configured to establish a Beidou satellite message communication link 180 with the remote terminal 200 and transmit data to the remote terminal 200 through the Beidou satellite message communication link under the Beidou satellite message communication condition. The first activation module 111 is used to activate the remote communication module 104 to establish a remote communication link 140 between the remote communication module 104 and the remote terminal 200. The first detection module 112 is configured to detect whether the signal characteristics in the remote communication link 140 meet the remote communication conditions. The first control module 113 is configured to control the remote communication module 104 to transmit data with the remote terminal 200 using the remote communication link 140 when the detected signal characteristics in the remote communication link 140 satisfy the remote communication condition. The second activation module 118 is configured to activate the mobile phone network communication module 106 to establish a mobile phone network communication link between the mobile phone network communication module 106 and the remote terminal 200 when the detected signal characteristics in the remote communication link 140 do not satisfy the remote communication condition. Road 160. The second detecting module 119 is configured to detect whether the signal feature in the mobile phone network communication link 160 satisfies the mobile phone network communication condition. The third control module 120 is configured to control the mobile phone network communication module 106 to transmit data using the mobile phone network communication link 160 and the remote terminal 200 when the detected signal characteristics in the mobile phone network communication link 160 satisfy the mobile phone network communication condition. The second control module 114 is configured to control the Beidou satellite newspaper when the detected signal characteristics in the remote control communication link 140 do not satisfy the remote communication condition and the detected signal characteristics in the mobile phone network communication link 160 do not satisfy the mobile network communication condition. The text communication module 108 transmits data using the Beidou satellite message communication link 180 and the remote terminal 200.

Since the remote terminal 200 can be a ground station or a remote control, the remote communication link 140 can be a link of a remote control or a link of a ground station, wherein the link of the remote control is via 2.4Ghz or 5.8Ghz radio and none The human machine 100 transmits data, and the link of the ground station transmits data to the drone 100 through a 900 Mhz or 433 Mhz radio frequency.

4, the Beidou satellite message communication module 108 includes an antenna unit 1082, a radio frequency unit 1084, a baseband unit 1086, and an information output unit 1088. The antenna unit 1082 is configured to receive a Beidou radio frequency signal. The radio frequency unit 1084 is configured to convert the radio frequency signal into a digital signal. The baseband unit 1086 is configured to receive digital signals to perform acquisition, tracking, demodulation, frame synchronization, and positioning solution. The information output unit 1088 is configured to provide positioning results and time information for the user according to the acquisition, tracking, demodulation, frame synchronization, and positioning solution performed by the baseband unit 1086. The information output unit 1088 includes a plurality of civilian SIM cards. The Beidou satellite message communication module 108 needs to send a message every 60 seconds. If the dual SIM card design is used, the message interval can be reduced to 30 seconds. For higher communication frequencies, you can increase the number of SIM cards by analogy. Since the Beidou satellite message communication module 108 is generally not limited by terrain, terrain, remote control distance, etc., the signal strength in the Beidou satellite message communication link 180 will be strong, and the signal loss frequency is extremely low. Therefore, the Beidou satellite is adopted. The message communication link 140 always implements data transmission.

Referring to FIG. 12, the mobile phone network communication module 106 can include a mobile phone network communication unit 1062, a positioning unit 1064, and a Bluetooth communication unit 1066. The handset network communication unit 1062 is configured to establish a handset network communication link 160 with the remote terminal 200 and transmit data to the remote terminal 200 over the handset network communication link 160 under mobile network communication conditions. The positioning unit 1064 can be used to locate the drone 100. The positioning unit 1064 can be any one or more combinations of a GPS positioning unit, a Beidou positioning unit, a GLONASS positioning unit, and a GNS positioning unit. The Bluetooth communication unit 1066 is configured to transmit data with the remote terminal 200 using a Bluetooth communication link under Bluetooth communication conditions.

The control method in the embodiment of the present invention and the drone 100 are provided with a remote communication link 140, a mobile phone network communication link 160, and a Beidou satellite message communication link 180, and the signals in the detected remote communication link 140 are detected. When the feature does not satisfy the remote communication condition, the mobile phone network communication module 106 uses the mobile phone network communication link 160 to transmit data with the remote terminal 200. Only the detected signal characteristics in the mobile phone network communication link 160 do not satisfy the mobile phone network communication condition. The Beidou satellite message communication module 108 is controlled to transmit data using the Beidou satellite message communication link 180 and the remote terminal 200. Thus, the stability of data transmission can be ensured while saving costs as much as possible.

Referring to FIG. 13 , the electronic device 100 can be the remote controller 100 . The remote terminal 200 can be an airborne vehicle, such as a drone, a manned aircraft, etc.; a vehicle in the water, such as a ship, a submarine, etc.; a carrier on the ground, such as a car, a truck, a bus, a van Trucks, motorcycles, light rails, etc.; carriers under the ground, such as subways; vehicles in space, such as space shuttles. Of course, the remote terminal 200 is not limited to various types of carriers, as long as it is any device that requires data transmission, such as satellites, detectors, and the like. In the present embodiment, the remote terminal 200 is an unmanned aerial vehicle 200 as an example. The remote controller 100 is used to monitor and/or control the flight conditions of the drone 200, including monitoring and/or controlling the flight attitude, flight speed, and the like of the drone 200. The remote controller 100 can include a display unit for viewing flight information of the drone 200. For example, the remote controller 100 can display information of the drone 200 including orientation, translational speed, translational acceleration, direction, angular velocity, angular acceleration, and combinations thereof. In some embodiments, the remote control 100 can display information collected by the drone 200, such as image data captured by a camera carried by the drone 200.

At this time, the remote communication condition includes a range of the remote control distance (distance between the remote controller 100 and the drone 200) and/or a signal (signal in the remote communication link 140) intensity range, and the remote controller 100 is usually set before leaving the factory. A range of remote control distances and/or signal strength ranges, for example, a setting of less than or equal to 1500 meters for remote control distance range, greater than, etc. X is the signal strength range. The following conditions are met: First, the drone 100 is within the range of the remote control distance. For example, the drone 200 meets the remote communication condition by being less than or equal to 1500 meters from the remote controller 100. Second, the drone 200 The signal strength in the remote communication link 140 is within the signal strength range. For example, the signal strength in the remote control communication link 140 is greater than or equal to X, that is, the remote communication condition is satisfied. Third, the drone 200 is within the remote control distance while remotely controlling. The signal strength in the communication link 140 must be within the signal strength range. For example, the drone 200 is less than or equal to 1500 meters from the remote controller 100, and the signal strength in the remote communication link 140 is greater than or equal to X to satisfy the remote communication condition. The remote communication condition in which one of the above cases is adopted can be set by the remote controller 100 in accordance with the factory setting of the remote controller 100. The content included in the remote communication condition is not limited to the embodiment of the present invention, and the setting means for satisfying the remote communication condition is not limited to the embodiment of the present invention, and may be set by other means.

The remote controller 100 according to an embodiment of the present invention includes a remote control communication module 104, a mobile phone network communication module 106, a Beidou satellite message communication module 108, a first startup module 111, a first detection module 112, a first control module 113, and a second The control module 114, the second startup module 118, the second detection module 119, and the third control module 120. The first startup module 111, the first detection module 112, the first control module 113, the second control module 114, the second startup module 118, the second detection module 119, and the third control module 120 are respectively configured to execute S1. , S2, S3, S4, S8, S9 and S10. Specifically, the remote control communication module 104 is configured to establish a remote communication link 140 with the drone 200 and transmit data to the drone 200 via the remote communication link 140 under remote communication conditions. The mobile phone network communication module 106 is configured to establish a mobile phone network communication link 160 with the drone 200 and transmit data to the drone 200 via the mobile phone network communication link 160 under mobile phone network communication conditions. The Beidou satellite message communication module 108 is configured to establish a Beidou satellite message communication link 180 with the drone 200 and transmit data through the Beidou satellite message communication link and the drone 200 under the Beidou satellite message communication condition. The first activation module 111 is used to activate the remote communication module 104 to establish a remote communication link 140 between the remote communication module 104 and the drone 200. The first detection module 112 is configured to detect whether the signal characteristics in the remote communication link 140 meet the remote communication conditions. The first control module 113 is configured to control the remote communication module 104 to transmit data with the drone 200 using the remote communication link 140 when the detected signal characteristics in the remote communication link 140 satisfy the remote communication condition. The second activation module 118 is configured to activate the mobile phone network communication module 106 to establish a mobile phone network communication between the mobile phone network communication module 106 and the drone 200 when the detected signal characteristics in the remote communication link 140 do not satisfy the remote communication condition. Link 160. The second detecting module 119 is configured to detect whether the signal feature in the mobile phone network communication link 160 satisfies the mobile phone network communication condition. The third control module 120 is configured to control the mobile phone network communication module 106 to transmit data by using the mobile phone network communication link 160 and the drone 200 when the detected signal characteristics in the mobile phone network communication link 160 satisfy the mobile phone network communication condition. The second control module 114 is configured to detect that the signal characteristics in the remote control communication link 140 do not satisfy the remote communication condition and the detected signal characteristics in the mobile phone network communication link 160 do not satisfy the mobile network communication bar. The Beidou satellite message communication module 108 controls the Beidou satellite message communication link 180 and the drone 200 to transmit data. The remote communication link 140 in the present embodiment is a link of a remote controller, and transmits data through the 2.4Ghz or 5.8Ghz radio and the drone 200.

Referring to FIG. 12, the mobile phone network communication module 106 can include a mobile phone network communication unit 1062, a positioning unit 1064, and a Bluetooth communication unit 1066. The mobile phone network communication unit 1062 is configured to establish a mobile phone network communication link 160 with the drone 200 and transmit data to the drone 200 via the mobile phone network communication link 160 under mobile phone network communication conditions. The positioning unit 1064 can be used to locate the remote controller 100. The positioning unit 1064 can be any one or more combinations of a GPS positioning unit, a Beidou positioning unit, a GLONASS positioning unit, and a GNS positioning unit. The Bluetooth communication unit 1066 is configured to transmit data with the drone 200 using a Bluetooth communication link under Bluetooth communication conditions.

The control method in the embodiment of the present invention and the remote controller 100 are provided with a remote communication link 140, a mobile phone network communication link 160, and a Beidou satellite message communication link 180, and the signal characteristics in the detected remote communication link 140. When the remote communication condition is not satisfied, the mobile phone network communication module 106 preferentially enables the mobile phone network communication link 160 to transmit data with the drone 200. Only the detected signal characteristics in the mobile phone network communication link 160 do not satisfy the mobile phone network communication condition. The Beidou satellite message communication module 108 is controlled to transmit data using the Beidou satellite message communication link 180 and the drone 200. Thus, the stability of the data transmission can be ensured while saving costs as much as possible.

Referring to FIG. 14, in some embodiments, the control method further includes:

S5, scanning a communication signal in the environment;

Referring to FIG. 15, a drone 100 according to an embodiment of the present invention further includes a scan module 115, a determination module 116, and a switch module 117 for executing S5, S6, and S7, respectively. That is, the scanning module 115 is used to scan communication signals in the environment. The determining module 116 is configured to determine whether the signal characteristic of the scanned communication signal satisfies the remote communication condition. The switching module 117 is configured to switch from the Beidou satellite message communication module 108 to the remote communication module 104 to transmit data with the remote terminal 200 using the remote communication link 140 if the signal characteristics of the scanned communication signal satisfy the remote communication condition.

The control method in the embodiment of the present invention and the drone 100 are provided with a remote communication link 140, a mobile phone network communication link 160, and a Beidou satellite message communication link 180, and the signals in the detected remote communication link 140 are detected. When the feature does not satisfy the remote communication condition, the mobile phone network communication module 106 uses the mobile phone network communication link 160 to transmit data with the remote terminal 200. Only the detected signal characteristics in the mobile phone network communication link 160 do not satisfy the mobile phone network communication condition. The Beidou satellite message communication module 108 is controlled to transmit data using the Beidou satellite message communication link 180 and the remote terminal 200. Thus, the stability of data transmission can be ensured while saving costs as much as possible. Moreover, when the drone 100 re-satisfies the remote communication condition, the remote communication link 140 can be reused to transmit data with the remote terminal 200, which further saves cost.

Referring to FIG. 16, a remote controller 100 according to an embodiment of the present invention further includes a scanning module 115, a determining module 116, and a switching module 117 for performing S5, S6, and S7, respectively. That is, the scanning module 115 is used to scan communication signals in the environment. The determining module 116 is configured to determine whether the signal characteristic of the scanned communication signal satisfies the remote communication condition. The switching module 117 is configured to switch from the Beidou satellite message communication module 108 to the remote communication module 104 to transmit data with the remote terminal 200 using the remote communication link 140 if the signal characteristics of the scanned communication signal satisfy the remote communication condition.

The control method in the embodiment of the present invention and the remote controller 100 are provided with a remote communication link 140, a mobile phone network communication link 160, and a Beidou satellite message communication link 180, and the signal characteristics in the detected remote communication link 140. When the remote communication condition is not satisfied, the mobile phone network communication module 106 preferentially enables the mobile phone network communication link 160 to transmit data with the drone 200. Only the detected signal characteristics in the mobile phone network communication link 160 do not satisfy the mobile phone network communication condition. The Beidou satellite message communication module 108 is controlled to transmit data using the Beidou satellite message communication link 180 and the drone 200. Thus, the stability of the data transmission can be ensured while saving costs as much as possible. Moreover, when the remote controller 100 re-satisfies the remote communication condition, the remote communication link 140 and the drone 200 can be reused to transmit data, which further saves cost.

Referring to FIG. 17, in some embodiments, the control method further includes:

S11, if the signal characteristic of the scanned communication signal does not satisfy the remote communication condition, determining whether the signal characteristic of the scanned communication signal satisfies the mobile network communication condition;

S12, if the signal characteristic of the scanned communication signal satisfies the communication condition of the mobile phone network, the Beidou satellite message The communication module 108 switches to the mobile phone network communication module 106 to transmit data with the remote terminal 200 using the mobile phone network communication link 160.

Steps S11 and S12 can be performed by the determination module 116 and the switching module 117, respectively.

In the description of the present specification, reference is made to the terms "some embodiments", "one embodiment", "some embodiments", "illustrative embodiments", "example", "specific examples", or "some examples", etc. The descriptions of the specific features, structures, materials or features described in connection with the embodiments or examples are included in at least one embodiment or example of the invention. In the present specification, the schematic representation of the above terms does not necessarily mean the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples.

Any process or method description in the flowcharts or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a particular logical function or process. And the scope of the preferred embodiments of the invention includes additional implementations, in which the functions may be performed in a substantially simultaneous manner or in an opposite order depending on the functions involved, in the order shown or discussed. It will be understood by those skilled in the art to which the embodiments of the present invention pertain.

The logic and/or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for implementing logical functions, and may be embodied in any computer readable medium, Used in conjunction with, or in conjunction with, an instruction execution system, apparatus, or device (eg, a computer-based system, a system including a processor, or other system that can fetch instructions and execute instructions from an instruction execution system, apparatus, or device) Or use with equipment. For the purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport a program for use in an instruction execution system, apparatus, or device, or in conjunction with the instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer readable media include the following: electrical connections (electronic devices) having one or more wires, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM). In addition, the computer readable medium may even be a paper or other suitable medium on which the program can be printed, as it may be optically scanned, for example by paper or other medium, followed by editing, interpretation or, if appropriate, other suitable The method is processed to obtain the program electronically and then stored in computer memory.

It should be understood that portions of the invention may be implemented in hardware, software, firmware or a combination thereof. In the above-described embodiments, multiple steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one or combination of the following techniques well known in the art: having logic gates for implementing logic functions on data signals. Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

A person skilled in the art can understand that all or part of the steps carried in implementing the above implementation method can be completed by a program to instruct related hardware, and the program can be stored in a computer readable storage medium, and the program is executed. Including one or a combination of the steps of the method embodiments.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. The integrated modules, if implemented in the form of software functional modules and sold or used as stand-alone products, may also be stored in a computer readable storage medium.

The above mentioned storage medium may be a read only memory, a magnetic disk or an optical disk or the like. Although the embodiments of the present invention have been shown and described, it is understood that the above-described embodiments are illustrative and are not to be construed as limiting the scope of the invention. The embodiments are subject to variations, modifications, substitutions and variations.

Claims

A control method for controlling an electronic device, the electronic device comprising a remote control communication module and a Beidou satellite message communication module, the remote communication module being capable of establishing a remote communication link with the remote terminal and passing the remote communication condition Transmitting a data with the remote terminal and the remote terminal, the BeiDou satellite message communication module being capable of establishing a Beidou satellite message communication link with the remote terminal to transmit data with the remote terminal; wherein the control method comprises The following steps:

Activating the remote communication module to establish a remote communication link between the remote communication module and the remote terminal;

Detecting whether a signal characteristic in the remote communication link satisfies the remote communication condition; and

Controlling, by the remote control communication module, the remote communication module to transmit data with the remote terminal when the detected signal feature in the remote communication link satisfies the remote communication condition;

And controlling, when the detected signal feature in the remote communication link does not satisfy the remote communication condition, the Beidou satellite message communication module to transmit data by using a Beidou satellite message communication link and the remote terminal.
The control method according to claim 1, wherein the control method further comprises:

Scanning communication signals in the environment;

Determining whether the signal characteristic of the scanned communication signal satisfies the remote communication condition; and

And if the signal characteristic of the scanned communication signal satisfies the remote communication condition, the Beidou satellite message communication module switches to the remote communication module to adopt the remote communication link and the remote terminal. transfer data.
The control method according to claim 1, wherein the electronic device further comprises a mobile phone network communication module, wherein the mobile phone network communication module is capable of establishing a mobile phone network communication link with the remote terminal and under the condition of mobile phone network communication Transmitting data with the remote terminal through the mobile phone network communication link; further comprising before detecting that the signal feature in the remote communication link does not satisfy the remote communication condition and starting the Beidou satellite message communication module The following steps:

Activating the mobile phone network communication module to establish the mobile phone network communication link between the mobile phone network communication module and the remote terminal;

Detecting whether a signal feature in the mobile phone network communication link satisfies the mobile phone network communication condition; and

Controlling, by the mobile phone network communication module, the mobile phone network communication link and the remote terminal to transmit data when the detected signal feature in the mobile phone network communication link satisfies the mobile phone network communication condition;

The initiating the detecting when the detected signal feature in the remote communication link does not satisfy the remote communication condition The step of the Beidou satellite message communication module transmitting data using the Beidou satellite message communication link and the remote terminal is that the detected signal characteristics in the remote communication link do not satisfy the remote communication condition and do not satisfy the Execute when the mobile phone network communication conditions.
The control method according to claim 3, wherein the control method further comprises:

Scanning communication signals in the environment;

Determining whether the signal characteristic of the scanned communication signal satisfies the remote communication condition;

And if the signal characteristic of the scanned communication signal satisfies the remote communication condition, the remote communication communication module is switched by the Beidou satellite message communication module or the mobile phone network communication module, and the remote communication link is adopted. The road transmits data with the remote terminal.
The control method according to claim 4, wherein the control method further comprises:

Determining whether the signal characteristic of the scanned communication signal satisfies the mobile phone network communication condition if the scanned signal characteristic of the communication signal does not satisfy the remote communication condition;

If the signal characteristic of the scanned communication signal satisfies the mobile phone network communication condition, the Beidou satellite message communication module switches to the mobile phone network communication module to use the mobile phone network communication link and the remote terminal. transfer data.
A remote controller for controlling a drone, wherein the remote controller comprises:

a remote communication module capable of establishing a remote communication link with the drone and transmitting data with the drone through the remote communication link under remote communication conditions;

The Beidou satellite message communication module is capable of establishing a Beidou satellite message communication link with the drone and transmitting data to the drone through the Beidou satellite message communication link under the Beidou satellite message communication condition;

a first startup module, configured to activate the remote communication module to establish a remote communication link between the remote communication module and the drone;

a first detecting module, configured to detect whether a signal feature in the remote communication link satisfies the remote communication condition;

a first control module, configured to control the remote communication module to transmit data by using the remote communication link and the drone when the detected signal feature in the remote communication link satisfies the remote communication condition; and

a second control module, configured to control, when the detected signal feature in the remote communication link does not satisfy the remote communication condition, the Beidou satellite message communication module adopts a Beidou satellite message communication link and the absence Human machine transmits data.
The remote controller according to claim 6, wherein the remote controller further comprises:

a scanning module for scanning communication signals in an environment;

a determining module, configured to determine whether a signal feature of the scanned communication signal meets the remote communication condition; and

a switching module, configured to switch from the Beidou satellite message communication module to the remote communication module to adopt the remote communication link, if the signal characteristic of the scanned communication signal satisfies the remote communication condition Data is transmitted with the drone.
The remote controller according to claim 6, wherein the remote controller further comprises:

a mobile phone network communication module, configured to establish a mobile phone network communication link with the drone and transmit data to the drone through the mobile phone network communication link under mobile phone network communication conditions;

a second startup module, configured to start the mobile phone network communication module to detect the mobile phone network communication module and the drone when the detected signal feature in the remote communication link does not satisfy the remote communication condition Establishing the mobile phone network communication link between;

a second detecting module, configured to detect whether a signal feature in the mobile phone network communication link meets the mobile phone network communication condition; and

a third control module, configured to control, by the mobile phone network communication module, the mobile phone network communication link and the unmanned when the detected signal feature in the mobile phone network communication link satisfies the mobile phone network communication condition Machine transfer data;

The second control module is configured to: when the detected signal feature in the remote communication link does not satisfy the remote communication condition, and the detected signal feature in the mobile phone network communication link does not satisfy the mobile phone network When the communication condition is controlled, the Beidou satellite message communication module uses the Beidou satellite message communication link and the drone to transmit data.
The remote controller according to claim 8, wherein the remote controller further comprises:

a scanning module for scanning communication signals in an environment;

a determining module, configured to determine whether a signal feature of the scanned communication signal meets the remote communication condition;

a switching module, configured to switch from the Beidou satellite message communication module or the mobile phone network communication module to the remote communication module if the signal characteristic of the scanned communication signal satisfies the remote communication condition The remote communication link transmits data with the drone.
The remote controller according to claim 9, wherein

The determining module is further configured to: if the signal feature of the scanned communication signal does not satisfy the remote control communication bar And determining whether the signal characteristic of the scanned communication signal satisfies the communication condition of the mobile phone network; and

The switching module is further configured to: if the signal characteristic of the scanned communication signal meets the mobile phone network communication condition, switch from the Beidou satellite message communication module to the mobile phone network communication module, and use the mobile phone network communication The link transmits data with the drone.
The remote controller according to any one of claims 8 to 10, wherein the mobile phone network communication link comprises any one of a 2G network communication link, a 3G network communication link, and a 4G network communication link or A variety.
The remote controller according to any one of claims 8 to 10, wherein the mobile phone network communication module comprises:

a mobile phone network communication unit, configured to establish the mobile phone network communication link with the drone and transmit data to the drone through the mobile phone network communication link under the mobile phone network communication condition;

a positioning unit for positioning the drone; and/or

a Bluetooth communication unit for transmitting data with the drone using a Bluetooth communication link under Bluetooth communication conditions.
The remote controller according to claim 12, wherein the positioning unit comprises any one or more of a GPS positioning unit, a Beidou positioning unit, a GLONASS positioning unit, and a GNS positioning unit.
The remote controller according to any one of claims 6 to 10, wherein the Beidou satellite message communication module comprises:

An antenna unit for receiving a Beidou RF signal;

a radio frequency unit for converting the radio frequency signal into a digital signal;

a baseband unit for receiving the digital signal to perform acquisition, tracking, demodulation, frame synchronization, and positioning solution;

An information output unit is configured to provide positioning results and time information for the user.
The remote controller according to claim 14, wherein said information output unit comprises a plurality of civilian SIM cards.
A drone for controlling by a remote terminal, wherein the drone includes:

a remote communication module capable of establishing a remote communication link with the remote terminal and transmitting data with the remote terminal through the remote communication link under remote communication conditions;

The Beidou satellite message communication module is capable of establishing a Beidou satellite message communication link with the remote terminal and transmitting data to the remote terminal through the Beidou satellite message communication link under the Beidou satellite message communication condition;

a first startup module, configured to activate the remote communication module to establish a remote communication link between the remote communication module and the remote terminal;

a first detecting module, configured to detect whether a signal feature in the remote communication link satisfies the remote communication condition;

a first control module, configured to control the remote communication module to transmit data by using the remote communication link and the remote terminal when the detected signal feature in the remote communication link satisfies the remote communication condition; and

a second control module, configured to control, when the detected signal feature in the remote communication link does not satisfy the remote communication condition, the Beidou satellite message communication module adopts a Beidou satellite message communication link and the remote The terminal transmits data.
The drone of claim 16, wherein the drone further comprises:

a scanning module for scanning communication signals in an environment;

a determining module, configured to determine whether a signal feature of the scanned communication signal meets the remote communication condition; and

a switching module, configured to switch from the Beidou satellite message communication module to the remote communication module to adopt the remote communication link, if the signal characteristic of the scanned communication signal satisfies the remote communication condition Transmitting data with the remote terminal.
The drone of claim 16, wherein the drone further comprises:

a mobile phone network communication module, configured to establish a mobile phone network communication link with the remote terminal and transmit data to the remote terminal through the mobile phone network communication link under mobile phone network communication conditions;

a second startup module, configured to activate the mobile phone network communication module to detect the mobile phone network communication module and the remote terminal when the detected signal feature in the remote communication link does not satisfy the remote communication condition Establishing the mobile phone network communication link;

a second detecting module, configured to detect whether a signal feature in the mobile phone network communication link meets the mobile phone network communication condition; and

a third control module, configured to control, by the mobile phone network communication module, the mobile phone network communication link and the remote terminal when the detected signal feature in the mobile phone network communication link satisfies the mobile phone network communication condition transfer data;

The second control module is configured to: when the detected signal feature in the remote communication link does not satisfy the remote communication condition, and the detected signal feature in the mobile phone network communication link does not satisfy the mobile phone network Communication condition time control The Beidou satellite message communication module uses the Beidou satellite message communication link to transmit data with the remote terminal.
The drone of claim 18, wherein the drone further comprises:

a scanning module for scanning communication signals in an environment;

a determining module, configured to determine whether a signal feature of the scanned communication signal meets the remote communication condition;

a switching module, configured to switch from the Beidou satellite message communication module or the mobile phone network communication module to the remote communication module if the signal characteristic of the scanned communication signal satisfies the remote communication condition The remote communication link transmits data with the remote terminal.
The drone of claim 19, wherein

The determining module is further configured to: if the signal feature of the scanned communication signal does not satisfy the remote communication condition, determine whether the signal characteristic of the scanned communication signal satisfies the mobile phone network communication condition;

The switching module is further configured to: if the signal characteristic of the scanned communication signal meets the mobile phone network communication condition, switch from the Beidou satellite message communication module to the mobile phone network communication module, and use the mobile phone network communication The link transmits data with the remote terminal.
The drone according to any one of claims 18 to 20, wherein the mobile phone network communication link comprises any one of a 2G network communication link, a 3G network communication link, and a 4G network communication link. Or a variety.
The UAV according to any one of claims 18 to 20, wherein the mobile phone network communication module comprises:

a mobile phone network communication unit, configured to establish the mobile phone network communication link with the drone and transmit data to the drone through the mobile phone network communication link under the mobile phone network communication condition;

a positioning unit for positioning the drone; and/or

a Bluetooth communication unit for transmitting data with the drone using a Bluetooth communication link under Bluetooth communication conditions.
The drone according to claim 22, wherein the positioning unit comprises any one or more of a GPS positioning unit, a Beidou positioning unit, a GLONASS positioning unit, and a GNS positioning unit.
The UAV according to any one of claims 16 to 20, wherein the Beidou satellite message communication module comprises:

An antenna unit for receiving a Beidou RF signal;

a radio frequency unit for converting the radio frequency signal into a digital signal;

a baseband unit for receiving the digital signal to perform acquisition, tracking, demodulation, frame synchronization, and positioning solution;

An information output unit is configured to provide positioning results and time information for the user.
A drone according to claim 24, wherein said information output unit comprises a plurality of civilian SIM cards.