WO2018094747A1 - Procédé de commande, commande à distance et drone - Google Patents

Procédé de commande, commande à distance et drone Download PDF

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Publication number
WO2018094747A1
WO2018094747A1 PCT/CN2016/107542 CN2016107542W WO2018094747A1 WO 2018094747 A1 WO2018094747 A1 WO 2018094747A1 CN 2016107542 W CN2016107542 W CN 2016107542W WO 2018094747 A1 WO2018094747 A1 WO 2018094747A1
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WO
WIPO (PCT)
Prior art keywords
remote
communication
module
mobile phone
communication link
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Application number
PCT/CN2016/107542
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English (en)
Chinese (zh)
Inventor
陈廷忠
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201680002583.9A priority Critical patent/CN106716871A/zh
Priority to PCT/CN2016/107542 priority patent/WO2018094747A1/fr
Publication of WO2018094747A1 publication Critical patent/WO2018094747A1/fr

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18502—Airborne stations
    • H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18502—Airborne stations
    • H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
    • H04B7/18508—Communications with or from aircraft, i.e. aeronautical mobile service with satellite system used as relay, i.e. aeronautical mobile satellite service

Definitions

  • the invention relates to a consumer electronic technology, in particular to a control method, a remote controller and a drone.
  • UAVs 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.
  • 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.
  • 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.
  • 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:
  • 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
  • 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 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
  • 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.
  • the Beidou satellite message communication link can be used. Data transmission ensures the stability of data transmission.
  • FIG. 1 is a schematic diagram of a physical device and a remote terminal according to some embodiments of the present invention.
  • FIG. 2 is a flow chart of a control method of some embodiments of the present invention.
  • FIG. 3 is a schematic diagram of functional modules of a drone and a remote terminal according to some embodiments of the present invention.
  • FIG. 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.
  • FIG. 6 is a flow chart of a control method of some embodiments of the present invention.
  • FIG. 7 is a schematic diagram of functional modules of a drone and a remote terminal according to some embodiments of the present invention.
  • FIG. 8 is a schematic diagram of functional modules of a drone and a remote controller according to some embodiments of the present invention.
  • FIG. 9 is a schematic diagram of a physical device and a remote terminal in accordance with some embodiments of the present invention.
  • FIG. 10 is a flow chart of a control method of some embodiments of the present invention.
  • FIG. 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.
  • FIG. 13 is a schematic diagram of functional modules of a drone and a remote controller according to some embodiments of the present invention.
  • FIG. 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.
  • 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.
  • features defining “first” or “second” may include one or more of the described features either explicitly or implicitly.
  • the meaning of "a plurality" is two or more unless specifically and specifically defined otherwise.
  • connection 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.
  • 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.
  • the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.
  • a control method 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.
  • control method includes:
  • 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;
  • 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;
  • 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.
  • the electronic device 100 meets the remote communication condition by the remote terminal 200 being less than or equal to 1500 meters.
  • the electronic device 100 is in the remote communication.
  • the signal strength in the link 140 is within the signal strength range.
  • 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.
  • the electronic device 100 can be a drone 100
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • the Beidou satellite message communication link can be utilized. Data transmission ensures the stability of data transmission.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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 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.
  • 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
  • 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 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 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.
  • the Beidou satellite message communication link can be utilized. Data transmission ensures the stability of data transmission.
  • control method further includes:
  • 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.
  • the unmanned aerial vehicle 100 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.
  • the Beidou satellite message communication link can be utilized. 180 data transmission ensures the stability of data transmission.
  • the remote communication link 140 can be reused to transmit data with the remote terminal 200, which saves cost.
  • the remote controller 100 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.
  • the Beidou satellite message communication link can be utilized. Data transmission ensures the stability of data transmission.
  • 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.
  • 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.
  • control method includes:
  • 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;
  • 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;
  • the mobile phone network communication module 106 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;
  • 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.
  • the electronic device 100 meets the remote communication condition by the remote terminal 200 being less than or equal to 1500 meters.
  • the electronic device 100 is in the remote communication.
  • the signal strength in the link 140 is within the signal strength range.
  • 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, and the remote communication link 140 is simultaneously controlled.
  • the signal strength in the signal strength must be within the signal strength range.
  • 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.
  • 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.
  • 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.
  • 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.
  • the electronic device 100 can be a drone 100
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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 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.
  • 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.
  • 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
  • the link of the ground station transmits data to the drone 100 through a 900 Mhz or 433 Mhz radio frequency.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • control method further includes:
  • 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.
  • a drone 100 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.
  • 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.
  • the remote communication link 140 can be reused to transmit data with the remote terminal 200, which further saves cost.
  • a remote controller 100 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.
  • 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.
  • the remote communication link 140 and the drone 200 can be reused to transmit data, which further saves cost.
  • control method further includes:
  • the Beidou satellite message 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.
  • 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.
  • 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).
  • 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.
  • portions of the invention may be implemented in hardware, software, firmware or a combination thereof.
  • multiple steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system.
  • 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.
  • 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.

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Abstract

La présente invention concerne un procédé de commande servant à commander un dispositif électronique (100). Le procédé de commande comprend : (S1) l'activation d'un module de communication à distance pour établir une liaison de communication à distance entre le module de communication à distance et le terminal distant ; (S2) la détection d'une caractéristique de signal dans la liaison de communication à distance comme satisfaisant ou non à la condition de communication à distance ; (S3) la commande du module de communication à distance de manière à transmettre des données au terminal distant au moyen de la liaison de communication à distance lorsque la caractéristique de signal détectée dans la liaison de communication à distance satisfait à la condition de communication à distance ; (S4) la commande d'un module de communication de message satellite Beidou de manière à transmettre des données au terminal distant en utilisant une liaison de communication de message satellite Beidou lorsque la caractéristique de signal détectée dans la liaison de communication à distance ne satisfait pas à la condition de communication à distance. La présente invention concerne également une commande à distance (100) et un drone (100).
PCT/CN2016/107542 2016-11-28 2016-11-28 Procédé de commande, commande à distance et drone WO2018094747A1 (fr)

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