WO2018132938A1 - 无人机、遥控器及其控制方法 - Google Patents

无人机、遥控器及其控制方法 Download PDF

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Publication number
WO2018132938A1
WO2018132938A1 PCT/CN2017/071380 CN2017071380W WO2018132938A1 WO 2018132938 A1 WO2018132938 A1 WO 2018132938A1 CN 2017071380 W CN2017071380 W CN 2017071380W WO 2018132938 A1 WO2018132938 A1 WO 2018132938A1
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WO
WIPO (PCT)
Prior art keywords
signal
communication network
drone
remote controller
remote
Prior art date
Application number
PCT/CN2017/071380
Other languages
English (en)
French (fr)
Inventor
宋亮
郑德恩
韦雅珍
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.)
Filing date
Publication date
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 PCT/CN2017/071380 priority Critical patent/WO2018132938A1/zh
Priority to CN201780000034.2A priority patent/CN107079365B/zh
Priority to CN202110397895.7A priority patent/CN113099501A/zh
Publication of WO2018132938A1 publication Critical patent/WO2018132938A1/zh
Priority to US16/513,028 priority patent/US10845799B2/en
Priority to US17/092,041 priority patent/US11188072B2/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0038—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/16—Performing reselection for specific purposes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup
    • H04W76/15—Setup of multiple wireless link connections
    • H04W76/16—Involving different core network technologies, e.g. a packet-switched [PS] bearer in combination with a circuit-switched [CS] bearer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/03—Reselecting a link using a direct mode connection
    • H04W36/035—Reselecting a link using a direct mode connection in self-organising networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/14—Reselecting a network or an air interface
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
    • H04W88/02—Terminal devices
    • H04W88/06—Terminal devices adapted for operation in multiple networks or having at least two operational modes, e.g. multi-mode terminals

Definitions

  • the invention provides a control method for a drone and its remote controller, and a corresponding drone and remote controller.
  • the invention relates to a coordinated remote control of a dual communication mode, in particular to a method for enhancing an ordinary wireless remote control using a mobile communication network, and mainly relates to the technical fields of wireless data transmission, mobile communication and the like.
  • the operator manipulates the remote control terminal to send a remote control signal to the remote control terminal to control its movement or operation; the remote control terminal transmits its own running state or the captured image, sound, etc. to the remote control terminal, so that the operator can observe The health of the remote end, and the action that determines the next step.
  • the stability and real-time nature of the wireless link between the remote control and the remote control directly affect the operational safety and experience, which is a crucial part of the remote control field.
  • the remote control terminal and the remote control terminal do not depend on the third party, and directly send wireless signals to each other to establish a direct connection.
  • the second way is as shown in Fig. 2.
  • the remote control terminal and the remote control terminal do not directly establish a connection, but each has a mobile communication module, and the two respectively register with the mobile communication network. After the registration is successful, the two are moved.
  • the communication network establishes an indirect connection.
  • the indirect connection between the remote control terminal and the remote control terminal through the mobile communication network uses a proprietary frequency band. Although there are advantages such as less interference and a long distance, the mobile communication network has a high traffic fee and a very high use cost; In the delay of data transmission, the data delay will be larger than the delay of the direct connection mode because it needs to be forwarded through the mobile communication network.
  • the direct connection method has low cost and small delay, it is susceptible to interference, and the distance is short, and the signal is easily lost when encountering occlusion; the way of indirect connection through the mobile network is long, wide coverage, but large delay. high cost.
  • An aspect of the present invention provides a control method of a drone for communicating with a remote controller, the method comprising: transmitting a signal to the remote controller through a first communication network; Receiving a first signal switching instruction; and switching from the first communication network to a second communication network to transmit the signal to the remote controller in accordance with the first signal switching instruction.
  • Another aspect of the present invention provides a control method of a remote controller for communicating with a drone, characterized in that the method includes: transmitting a signal to the drone through a first communication network; receiving a first signal switching instruction; and switching from the first communication network to the second communication network to transmit the signal to the drone according to the first signal switching instruction.
  • a still further aspect of the present invention provides a drone for communicating with a remote controller, the drone including: a first transceiver for communicating with the remote controller through a first communication network; and a second transceiver And for communicating with the remote controller through the second communication network; one or more processors, configured to: send a signal to the remote controller by using the first transceiver; receive a first signal switching instruction; Transmitting a first signal switching command from the first transceiver to the second transceiver to transmit the signal to the remote controller.
  • Still another aspect of the present invention provides a remote controller for controlling a drone, the remote controller including: a first transceiver for communicating with the drone through a first communication network; and a second transceiver And for communicating with the drone through the second communication network; one or more processors, configured to: send a signal to the drone through the first transceiver; receive a first signal switching instruction; Transmitting a first signal switching command from the first transceiver to the second transceiver to transmit the signal to the remote controller.
  • the method proposed by the invention is based on the dual communication mode cooperative remote control, and the remote control terminal and the remote control terminal are directly connected by means of wireless connection and the indirect connection mode through the mobile communication network, and the dynamic switching is performed according to the state of the wireless signal, and the method is improved.
  • the stability of communication between the remote control terminal and the remote control terminal expands the range of motion of the remote control terminal, improves the security of the remote control terminal, and reduces the use cost.
  • FIG. 1 is a schematic diagram of establishing a direct connection between a remote end and a remote end through a wireless connection in the prior art
  • FIG. 2 is a schematic diagram of establishing an indirect connection between a remote control end and a remote control end through a mobile communication network in the prior art
  • FIG. 3 is a schematic diagram of a communication connection of a remote control system according to an embodiment of the present invention.
  • FIG. 4 is a block diagram of a remote control system in accordance with one embodiment of the present invention.
  • Figure 5 is a flowchart showing the operation of the remote terminal according to an embodiment of the present invention.
  • Figure 6 is a flowchart showing the operation of the remote end according to an embodiment of the present invention.
  • FIG. 7 shows a graphical interface of a display module of a remote controller in prompting a user to switch when in accordance with an embodiment of the present invention
  • FIG. 8 shows an interface of a display module of a remote controller prompting a user to perform image/audio bit rate setting according to an embodiment of the present invention
  • FIG. 9 shows an interface of a display module of a remote controller prompting a user when a wireless communication connection is restored, according to an embodiment of the present invention
  • FIG. 10 shows an interface of a display module of a remote controller prompting a user whether to force use of a mobile communication network according to an embodiment of the present invention.
  • the present invention provides a dual communication mode cooperative remote control method, and a control method for the unmanned aerial vehicle and a remote control method for the remote control drone based on the cooperative remote control method.
  • the method of the present invention is applied to a remote control system including at least one remote terminal and a remote terminal.
  • the method provides two communication modes for communication between the remote end and the remote end to establish a communication connection between the remote end and the remote end.
  • the communication modes are wireless communication and mobile communication, respectively, the wireless communication refers to communication based on a wireless transmission protocol, and the mobile communication refers to communication based on a mobile communication network.
  • the present invention is not limited to which specific communication mode, as one of the objects of the present invention is to provide a flexible cooperation between two communication modes to increase the adaptability to changes in the application environment.
  • the remote end of the present invention refers to a drone, and the remote end refers to a remote controller of the drone.
  • the environments to which the two communication modes are applied are preferably complementary, so that the communication connection based on one of the two communication modes becomes unavailable in an environment or When unreliable, you can switch to another communication connection based on another communication mode that is still available to the environment.
  • a communication mode is a direct connection established between a remote control terminal and a remote control terminal without directly relying on a third party to directly transmit a wireless signal to the other party.
  • Another communication mode is that a connection is not directly established between the remote end and the remote end, but a connection is established through a third party (such as a mobile communication network) to establish an indirect connection between the remote end and the remote end.
  • the drone transmits a signal to a remote controller for remotely controlling the drone through a first communication network. And, it is capable of receiving a first signal switching instruction and switching from the first communication network to the second communication network to transmit the signal to the remote controller according to the first signal switching instruction. As an example, the drone receives the first signal switching command directly from the remote control.
  • the first communication network and the second communication network generally refer to a communication network in different communication modes, including a network established by communication in various communication modes, such as a mobile communication network, a Wifi communication network, Bluetooth, infrared, Zigbee, and the like.
  • the communication network is not limited to a direct connection or an indirect connection.
  • the first communication network is a wireless communication network
  • the second communication network is a mobile communication network.
  • the drone may further receive a second signal switching instruction from the remote controller, and switch from the second communication network to the first communication network according to the second signal switching instruction.
  • the remote controller transmits the signal.
  • the remote controller transmits a signal to the UAV through the first communication network, and receives a first signal switching instruction; and according to the first signal Switching instructions to switch from the first communication network to a second communication network to transmit the signal to the drone.
  • the signal switching instruction described above refers to an instruction for controlling the switching of the communication network signal by the drone or the remote controller, and is not limited to a specific instruction format, nor is it limited to the body generated by the instruction.
  • the signal switching command of the drone can be obtained from the remote controller, and the signal switching command of the remote controller can be generated by the user's operation.
  • both the drone and its remote controller need to be equipped with two transceivers to communicate with the second communication network through the first communication network.
  • the "collaboration" between the two communication modes referred to in the present invention includes, but is not limited to, state switching of the start, hold, work, disconnection, etc. of the communication mode, and allocation and allocation of different types of data in different communication modes. Conversion.
  • the way of cooperation between the two communication modes can be changed automatically or manually according to user operations. If an automatic change is made, it is necessary to detect the state of the current communication connection to automatically change the mode of cooperation between the two communication modes in accordance with the detected state. For example, when the drone (or remote control) detects a signal interruption on the first communication network, it automatically switches to the second communication network to continue communicating with the remote control (or drone).
  • the current communication connection state is selectively prompted to the user through the user operation interface, so that the user can operate in time according to the need.
  • the prompting user operation is to display the operation option in a graphical interface on the remote end.
  • the changing the cooperation mode between the two communication modes includes starting or stopping a communication connection of one of the communication modes, and switching the data transmitted on the communication connection of one communication mode to another A communication mode communication connection, and simultaneous transmission of data through two communication modes.
  • the wireless communication network connected by the wireless communication is preferentially used to transmit signals. . That is, the remote terminal and the remote terminal preferentially try and use wireless communication.
  • the remote communication terminal and the remote control terminal establish a communication connection based on wireless communication, it is detected whether there is a mobile communication network, and if there is a mobile communication network, the mobile communication connection is established at the same time and remains silent.
  • the invention proposes real-time judgment according to the state of the directly connected wireless signal, and when the directly connected signal is normal, the direct connection is used to transmit the data preferentially; when the direct connection signal is unstable, disconnected, blocked, temporarily switching to the mobile communication based network Alternate communication link.
  • the direct connection signal when the direct connection signal is normal, a good experience of low delay and high bandwidth between the remote control terminal and the remote control terminal can be ensured; when the distance is long, the interference is strong, or there is an obstacle blocking, the remote control terminal can still Keeping connected with the remote end to ensure that the remote control end is in a controlled state, so that the remote control end can be remotely controlled by the operator, so that the remote control end is out of the dangerous area; once the direct connection signal is restored, the direct connection can be switched back to reduce User usage costs reduce transmission delays.
  • the wireless communication connection when the wireless communication connection is disconnected or the signal is weak and the mobile communication connection is normal, at least part of the signal transmission is automatically switched to the mobile communication connection.
  • the user when it is detected that the wireless communication connection is disconnected or the signal is weak and the mobile communication connection is normal, the user is prompted to perform an operation, and the communication connection state is maintained according to the user operation or at least part of the signal transmission is switched to the mobile communication connection.
  • the communication connection state is maintained according to the user operation or at least part of the signal transmission is switched to the wireless communication connection.
  • the mobile communication connection is used for signal transmission and the wireless communication connection is detected to be normal, the user is prompted to perform an operation, and the communication connection state is maintained according to the user operation or at least part of the signal transmission is switched to the wireless communication connection.
  • the partial signal referred to herein includes at least a part of the control signal or the data signal.
  • the control signal refers to a signal for controlling the action of the actuator of the remote end;
  • the data signal generally refers to a signal collected by the remote end, and includes, for example, an image signal, a video signal, an audio signal, and a status signal of the remote end.
  • the status signal includes one or more of a position, a speed, and a height of the remote end.
  • the image signal, video signal or audio signal is generally transmitted by a data signal compressed at a specific code rate.
  • the switched partial signal includes a data signal compressed at a specific code rate
  • the code rate is automatically configured at the time of switching or is operated by a user to configure.
  • FIG. 3 is a schematic diagram of a communication connection of a remote control system in accordance with one embodiment of the present invention.
  • the remote end is the drone 1 and the remote end is the remote control 2 of the drone.
  • a wireless direct connection is established between the remote control end and the remote control end, that is, through a wireless communication network, and both are also connected to the mobile communication network 3.
  • the remote control terminal and the remote control terminal in the remote control system are not limited to specific devices, and the remote control terminal may be Any execution device that can be remotely controlled to perform a corresponding action, such as a robot, an unmanned vehicle, an unmanned aerial vehicle, an unmanned aerial vehicle, etc.
  • the remote control end can be any device having a remote control function, including a dedicated remote control, having a remote control function
  • a smart device such as a smartphone, tablet, or a combination of multiple electronic devices with remote control capabilities, such as a combination of a smartphone and a wireless communication remote.
  • the remote terminal is a combination of multiple electronic devices
  • different electronic devices can support different communication modes.
  • the remote control is a combination of a smart phone and a wireless remote control
  • the wireless remote control is used for direct wireless connection
  • the smart phone is used to establish a connection with the mobile communication network.
  • a server 4 may be further included, which is connected to the mobile communication network as a relay station for the handshake and data forwarding of the remote controller 2 and the drone 1.
  • Fig. 4 is a block diagram showing the module of the remote control system of the above embodiment.
  • the drone 1 as the remote end includes a processor and a wireless communication module, a mobile communication module, a photographing/recording module, and a motion control module connected to the processor.
  • the wireless communication module and the mobile communication module of the drone are its first transmitter and second transmitter.
  • the remote control 2 of the drone includes a processor and a wireless communication module connected to the processor, a mobile communication module, a display module, and a user control signal acquisition module.
  • the wireless communication module and the mobile communication module of the remote controller are the first transmitter and the second transmitter.
  • the wireless communication module of the drone 1 and the remote controller 2 can directly establish a wireless communication connection, and the mobile communication modules of the drone 1 and the remote controller 2 can establish a mobile communication connection with a mobile communication network 3, respectively.
  • the remote control system further comprises a server 4 connected to the mobile communication network 3.
  • the server 4 includes a processor and a communication module connected to the processor.
  • the remote control system of the present invention adds a mobile communication module to the remote control end and the remote control end of the remote control system of the conventional wireless communication connection, so that the remote control terminal and the remote control terminal can directly communicate through the original wireless communication link. Indirect communication is also possible via a mobile communication network.
  • this cooperative mode can be changed automatically or manually depending on the situation.
  • the remote end and the remotely controlled processor respectively execute respective applications to respectively control the respective mobile communication module and the wireless communication module to start, stop or change the cooperative mode.
  • the policy (collaboration policy) of the cooperative mode change between the wireless communication connection and the mobile communication connection is to preferentially use the wireless communication connection.
  • the so-called cooperation strategy for preferentially using the wireless communication connection includes: using the wireless communication connection as long as the wireless communication connection is normal; and temporarily switching to the mobile communication connection only when the wireless communication connection is not normal.
  • the so-called abnormality including signal instability, signal disconnection, etc., may be caused by the occlusion of the wireless signal or the distance is too far.
  • it is necessary to monitor and judge the state of the wireless communication connection in real time. Through this cooperation mode, when the wireless communication connection is normal, a good experience of low delay and high bandwidth between the remote control terminal and the remote control terminal can be ensured; when the distance is long, the interference is strong, or there is an obstacle blocking, the remote control is ensured.
  • the end is in a controlled state, so that the remote end can be remotely controlled by the operator, so that the remote end is out of the dangerous area; once the directly connected wireless communication connection is restored, the direct connection can be switched back to reduce the user's use cost and reduce the transmission delay. Time.
  • the stability of communication between the remote control end and the remote control end can be improved, the range of motion of the remote control end can be expanded, the security of the remote control end can be improved, and the use cost can be reduced.
  • the remote control unit 2 as the remote control end and the wireless communication module and the mobile communication module of the drone unit 1 being remotely controlled start working immediately after the power is turned on, and the wireless communication modules of both sides directly establish a wireless communication connection.
  • both mobile communication modules establish a handshake connection with the server 4 in the mobile communication network 3, whereby a mobile communication connection of the remote controller 2 to the indirect connection of the drone 1 can be established.
  • the remote control terminal and the remote control terminal can also perform handshake connection through the server 4, so that the server 4 can be skipped to communicate with the other party to shorten the delay.
  • the remote terminal and the remote terminal may also forward data through the server 4 to implement a broadcast function.
  • connection status of the wireless communication connection is monitored and determined in real time, and the user is automatically changed or prompted to manually change the cooperation mode of the wireless communication connection and the mobile communication connection according to the connection status.
  • a collaborative strategy is to prioritize the use of wireless communication connections.
  • the mobile communication connection when the monitoring of the connection state of the wireless communication connection indicates that the wireless communication connection (first communication network) is normal (first signal state), the mobile communication connection remains silent, or maintains a heartbeat with a very low data amount. connection.
  • the wireless communication module of the remote control periodically checks the signal strength, the communication status, and the like of the wireless communication connection under the control of the processor, and feeds back the connection status information to the processor, and the processor makes a corresponding according to the status information. The judgment is made to achieve the above switching.
  • the cooperative policy of preferentially using the wireless communication connection may further include a cooperative mode change: when the wireless communication connection is disconnected or the signal is weak and the mobile communication connection is normal, at least part of the signal transmission is switched to the mobile communication connection.
  • the switching includes automatic switching and manual switching to prompt the user to perform an operation.
  • the collaboration strategy may also include such a cooperative mode change: when at least a portion of the signal transmission is switched to the wireless communication connection when the mobile communication connection is used for signal transmission and the wireless communication connection is detected to be normal.
  • the user may also choose to maintain the current communication connection status.
  • the partial signal includes at least a portion of the control signal or the data signal.
  • the control signal is a control signal for controlling the motion of the motion control module of the drone 2
  • the data signal refers to a signal collected by the camera/recording module of the drone 2, including an image signal, a video signal, and an audio signal. Therefore, the partial signal may be a partial control signal or one or both of an image signal, a video signal or an audio signal.
  • the image signal, the video signal or the audio signal is transmitted as a data signal compressed at a specific code rate.
  • the switched partial signal includes a data signal compressed at a specific code rate
  • the code rate is automatically configured at the time of switching or is operated by a user to configure.
  • the remote controller 2 monitors and judges the connection state of the wireless communication connection in real time, and when the wireless communication connection becomes abnormal from normal, or becomes abnormal from normal, The user is prompted by the display module to make the user operate to select a cooperative mode of two communication modes:
  • A. use a mobile communication connection to transmit control signals, and use a wireless communication connection to transmit images and audio signals;
  • the processor controls the wireless communication module and the mobile communication module to perform corresponding operations according to the selection to perform signal transmission according to a cooperative mode selected by the user.
  • the processor sends a control command to the controlled terminal through the wireless communication module and/or the mobile communication module, indicating that the coordinated mode change by the remote end is performed.
  • Fig. 7 is a view showing a graphical interface of the display module of the remote controller of the remote control system of the embodiment when the user is prompted to perform switching.
  • a pop-up window on the graphical interface of the remote controller 2 asks the user whether to switch to the mobile communication network control, and the options of the handover are "switching only the control signal to the mobile network", “switching only the image signal to the mobile network”, “Image/control signals are switched to the mobile network”, “Do not switch, continue to use wireless signals”, and make corresponding switches according to user selection.
  • the drone when the user chooses to switch to the mobile communication network, the drone can reduce the mobility of its motion as needed due to the increased delay.
  • the uplink only transmits the operator's control signal; the downlink only transmits the status, position, speed and other information of the drone, the amount of data is small, saving traffic (cost);
  • the interface can simulate the posture and direction of the remote end according to the state information, so that the operator has an intuitive feeling.
  • Fig. 8 shows an interface of the display module of the remote controller of the remote control system of the embodiment in prompting the user to perform image/audio bit rate setting.
  • a slide bar for adjusting the image and audio code rate can be displayed on the graphical interface. Users can choose the appropriate bandwidth based on the affordable cost.
  • Fig. 9 is a diagram showing the interface of the display module of the remote controller of the remote control system of the embodiment prompting the user when the wireless communication connection is restored.
  • the remote control still continues to periodically monitor the signal strength and connection status of the wireless communication connection. If the connection is found to be normal, the pop-up window prompts the user that the direct connection signal has been restored, and whether to switch back. .
  • Fig. 10 shows an interface of the display module of the remote controller of the remote control system of the embodiment prompting the user whether or not to forcibly use the mobile communication network.
  • this embodiment also provides an option to force the mobile communication network to be enabled. Even if the wireless direct connection signal is good, the mobile communication network can be forcibly enabled, and the direct connection and the mobile communication network can simultaneously transmit and receive data for special users. . In this way, when the drone that is remotely controlled transmits the image and audio data stream through the wireless communication connection and the mobile communication connection, the bandwidth of the two can be used. In this case, two independent images and audio data streams with different compression ratios are generated and sent to the remote controller through two channels.
  • the camera/recording module when the power is turned on, in addition to starting the two communication modes and establishing the connection respectively, the camera/recording module is also activated. Preparation for photography or recording; at the same time, the motion control module is also activated to perform the corresponding motion.
  • the camera/recording module and motion control module are both controlled by the processor by executing a corresponding application.
  • the processor controls the wireless communication module and the mobile communication module to perform corresponding communication mode switching on the one hand, and
  • the corresponding operation of the motion control module can also be controlled according to a preset program to adapt to the communication connection mode after switching the cooperation mode. For example, as described above, preferably, after switching to the mobile communication network, since the delay becomes large, the drone can control the operation of its actuator to reduce the mobility of its motion.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
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  • Telephonic Communication Services (AREA)

Abstract

一种无人机、遥控器及其控制方法，该无人机（1）通过第一通信网络向遥控器（2）发送信号，并从遥控器（2）接收第一信号切换指令以及根据第一信号切换指令，从第一通信网络切换至第二通信网络以向遥控器（2）发送信号。遥控器（2）则接收用户操作产生的第一信号切换指令并根据第一信号切换指令从第一通信网络切换至第二通信网络以向无人机（1）发送该信号。无人机（1）和遥控器（2）分别具有两个收发器，以通过第一通信网络和第二通信网络相互通信。

Description

无人机、遥控器及其控制方法
版权申明
本专利文件披露的内容包含受版权保护的材料。该版权为版权所有人所有。版权所有人不反对任何人复制专利与商标局的官方记录和档案中所存在的该专利文件或者专利披露。
技术领域
本发明提出了无人机及其遥控器的控制方法、及相应的无人机和遥控器。本发明涉及双通信模式的协同遥控，特别是使用移动通信网络增强普通无线遥控的方法，主要涉及无线数据传输、移动通信等技术领域。
背景技术
随着技术的进步和成本的降低，越来越多的用户开始使用无人机、航模、无人车进行航拍、竞技、娱乐等活动。使用以上设备时，操作者操纵遥控端向被遥控端发送遥控信号，控制其运动或者运行；被遥控端将自身的运行状态或者摄录到的图像、声音等发送到遥控端，便于操作者观察被遥控端的运行状况，以及决定下一步运行的动作。遥控端和被遥控端之间无线链路的稳定性、实时性直接影响运行安全和使用体验，是遥控领域至关重要的环节。
遥控端和被遥控端之间有两种主要的方式来建立无线连接。第一种方式如图1所示，遥控端和被遥控端之间不依赖于第三方，直接互相向对方发送无线信号，从而建立直接连接。第二种方式如图2所示，遥控端和被遥控端之间不直接建立连接，而是各自带有一个移动通信模块，二者分别向移动通信网络注册，注册成功后，二者通过移动通信网络建立间接连接。
现今绝大多使用无人机、航模、无人车使用的是第一种方式，它们一般使用2.4/5.8GHz的免费频段直接建立连接。这种方式的优点是系统复杂度低，容易维护，使用成本很低，在没有干扰、遮挡的情况下，延时低，带宽高，具有较好的使用体验。
随着移动通信技术发展到第三代和第四代(3G/4G)，移动网络可以提供较大的带宽和较低的延时。通过移动通信网络传输控制、图像、声音在技术上是可行的。少部分无人机、航模、无人车等设备开始使用移动通信网络来和遥控端之间建立间接连接，这种方式的优点是频段专用，干扰少，只要有移动通信网络存在，可以实现非常远的传输距离，即使遥控端和被遥控端之间有遮挡，仍然不影响遥控或数据传输，可以实现超视距、异地遥控、传输视频、图像等功能。
由于法律法规的要求，免费频段的无线发射功率是受到限制的，再加上WiFi也工作在这两个频段，2.4/5.8GHz的免费频段拥挤不堪，干扰严重，一般情况下只实现数百米到数公里的传输距离。另外，由于高频无线电波绕射性能和穿透性能都比较差，当遥控端和被遥控端之间出现障碍物阻挡时，往往会出现信号中断的情况。对于无人机、航模、无人车等设备来说，遥控信号不好或者中断是非常危险的，很容易发生损毁事故，造成财产损失或者生命伤害。
遥控端和被遥控端之间通过移动通信网络建立间接连接的方式使用的是专有频段，虽然有干扰少，距离远等优点，但是移动通信网络的流量费很高，使用成本极高；另外在数据传输的延时上，由于需要经过移动通信网络转发，其数据延时也会比直接连接方式的延时大。
由此可见，直接连接的方式虽然成本低，延时小，但是容易受到干扰，距离短，遇到遮挡容易丢失信号；通过移动网络间接连接的方式虽然距离远，覆盖广，但延时大，成本高。
发明内容
本发明的一个方面提供了一种无人机的控制方法，所述无人机用于与遥控器通信，其特征在于，所述方法包括：通过第一通信网络向所述遥控器发送信号；接收第一信号切换指令；以及根据所述第一信号切换指令，从所述第一通信网络切换至第二通信网络以向所述遥控器发送所述信号。
本发明的另一个方面提供一种遥控器的控制方法，所述遥控器用于与无人机通信，其特征在于，所述方法包括：通过第一通信网络向所述无人机发送信号；接收第一信号切换指令；以及根据所述第一信号切换指令，从所述第一通信网络切换至第二通信网络以向所述无人机发送所述信号。
本发明的再一方面还提供一种无人机，用于与遥控器通信，所述无人机包括：第一收发器，用于与所述遥控器通过第一通信网络通信；第二收发器，用于与所述遥控器通过第二通信网络通信；一个或多个处理器，用于：通过所述第一收发器向所述遥控器发送信号；接收第一信号切换指令；根据所述第一信号切换指令，从所述第一收发器切换至所述第二收发器以向所述遥控器发送所述信号。
本发明的再一方面还提供一种遥控器，用于控制无人机，所述遥控器包括：第一收发器，用于与所述无人机通过第一通信网络通信；第二收发器，用于与所述无人机通过第二通信网络通信；一个或多个处理器，用于：通过第一收发器向所述无人机发送信号；接收第一信号切换指令；以及根据所述第一信号切换指令，从所述第一收发器切换至所述第二收发器以向所述遥控器发送所述信号。
本发明提出的方法基于双通信模式协同遥控，将遥控端和被遥控端通过无线直接连接的方式和通过移动通信网络间接连接的方式结合在一起使用，根据无线信号状态进行动态切换，从提高被遥控端和遥控端之间通信的稳定性，扩展被遥控端的活动范围，提高被遥控端的安全性，降低使用成本。
附图说明
为了更完整地理解本发明及其优势，现在将参考结合附图的以下描述，其中：
图1是现有技术中遥控端和被遥控端通过无线连接建立直接连接的示意图；
图2是现有技术中遥控端和被遥控端通过移动通信网络建立间接连接的示意图；
图3是根据本发明的一个实施例的遥控系统的通信连接示意图；
图4是根据本发明的一个实施例的遥控系统的模块框架图；
图5是根据本发明的一个实施例的遥控端的工作流程图；
图6是根据本发明的一个实施例的被遥控端的工作流程图；
图7显示了根据本发明的一个实施例的遥控器的显示模块在提示用户进行切换时的图形界面；
图8显示了根据本发明的一个实施例的遥控器的显示模块在提示用户进行图像/音频码率设置的界面；
图9显示了根据本发明的一个实施例的遥控器的显示模块在无线通信连接恢复时提示用户的界面；
图10显示了根据本发明的一个实施例的遥控器的显示模块提示用户是否强制使用移动通信网络的界面。
具体实施方式
在本说明书中，下述用于描述本发明原理的各种实施例只是说明，不应该以任何方式解释为限制发明的范围。参照附图的下述描述用于帮助全面理解由权利要求及其等同物限定的本发明的示例性实施例。下述描述包括多种具体细节来帮助理解，但这些细节应认为仅仅是示例性的。因此，本领域普通技术人员应认识到，在不背离本发明的范围和精神的情况下，可以对本文中描述的实施例进行多种改变和修改。此外，为了清楚和简洁起见，省略了公知功能和结构的描述。此外，贯穿附图，相同附图标记用于相同或相似的功能和操作。在本发明中，术语“包括”和“含有”及其派生词意为包括而非限制；术语“或”是包含性的，意为和/或。
针对现有技术的优点和缺点，本发明提出一种基于双通信模式协同遥控方法，并基于该协同遥控方法衍生出无人机的控制方法、用于遥控无人机的遥控器的控制方法。本发明的方法应用于至少包括一个遥控端和一个被遥控端的遥控系统中。首先，该方法为遥控端和被遥控端之间的通信分别提供两种通信模式，以便在遥控端与被遥控端之间建立通信连接。作为一种示例性的实施方式，所述通信模式分别为无线通信和移动通信，所述无线通信是指基于无线传输协议的通信，所述移动通信是指基于移动通信网络的通信。但本发明并不限应用于何种具体的通信模式，因为本发明目的之一是旨在提供如何在两种通信模式之间进行灵活的协作，以增加对应用环境变化的适应能力。作为特例，本发明的被遥控端指是无人机，遥控端指无人机的遥控器。
但是，作为优选的实施方式，所述两种通信模式所适用的环境最好具有互补性，以便于基于两种通信模式中的一种通信模式的通信连接在某个环境下变得不可用或不可靠时，可以切换到另一种对该环境仍为可用的基于另一种通信模式的通信连接。例如，一种通信模式是遥控端和被遥控端之间不依赖于第三方，直接向对方发送无线信号而建立的直接连接。另一种通信模式是遥控端和被遥控端之间不直接建立连接，而是通过第三方建立连接(如移动通信网络)，从而在遥控端和被遥控端之间建立间接连接。
作为一种实施方式的无人机的控制方法，无人机通过一个第一通信网络向用于遥控该无人机的遥控器发送信号。并且，其能够接收第一信号切换指令，并根据该第一信号切换指令，从所述第一通信网络切换至第二通信网络以向所述遥控器发送所述信号。作为示例，无人机直接从所述遥控器接收所述第一信号切换指令。所述第一通信网络和第二通信网络泛指不同通信模式下的通信网络，包括移动通信网络、Wifi通信网络、蓝牙、红外、Zigbee等在各种不同通信模式下进行通信所建立的网络。所述通信网络不限于直接连接或间接连接。作为一种特例，第一通信网络为无线通信网络，第二通信网络为移动通信网络。作为优选的方式，无人机还可从所述遥控器接收第二信号切换指令，并根据所述第二信号切换指令，从所述第二通信网络切换至所述第一通信网络以向所述遥控器发送所述信号。
作为另一种实施方式的无人机遥控器的控制方法，相应的，遥控器通过第一通信网络向所述无人机发送信号，并接收第一信号切换指令；以及根据所述第一信号切换指令，从所述第一通信网络切换至第二通信网络以向所述无人机发送所述信号。
以上所述的信号切换指令，是指用于控制无人机或遥控器进行通信网络信号切换的指令，其不限于具体的指令格式，也不限于指令产生的主体。例如，无人机的信号切换指令可从遥控器获得，遥控器的信号切换指令则可以通过接收由用户的操作而产生。并且，无人机及其遥控器均需配备两个收发器，以分别通过第一通信网络和第二通信网络通信。
本发明所称的两种通信模式之间的“协作”，包括但不限于：通信模式的启动、保持、工作、断开等状态切换、针对不同类型数据在不同通信模式下的分配及分配的转换。两种通信模式之间的协作方式可以自动改变，也可以根据用户操作来手动改变。若进行自动改变，则需要检测当前通信连接的状态，以根据所检测的状态自动改变所述两种通信模式之间的协作方式。例如，当无人机(或遥控器)检测到第一通信网络上的信号中断时，则自动切换至第二通信网络，以继续与遥控器通信(或无人机)。若进行手动改变，可选择地对当前的通信连接状态通过用户操作界面向用户提示，以便用户根据需要及时进行操作。优选地，提示用户操作是在遥控端以图形界面的方式显示操作选项。
作为示例性的实施方式，所述改变两种通信模式之间的协作方式包括启动或停止其中一种通信模式的通信连接，及将在一种通信模式的通信连接上所传输的数据切换到另一通信模式的通信连接上，及通过两种通信模式同时传输数据。
当所述两种通信模式分别无线通信和移动通信时，或者说，第一通信网络和第二通信网络分别为无线通信网络和移动通信网络时，优先使用无线通信连接的无线通信网络来传输信号。即，遥控端和被遥控端优先尝试并使用无线通信。但是，作为备用，当遥控端和被遥控端建立了基于无线通信的通信连接时，检测是否存在移动通信网络，若存在移动通信网络时，则同时建立移动通信连接并保持静默。
本发明提出根据直接连接的无线信号状态进行实时判断，在直接连接的信号正常时，优先使用直接连接传输数据；当直接连接信号不稳定、断连、受到阻挡时，临时切换到基于移动通信网络的备用通信链路。从而达到提高遥控端和被遥控端之间通信的稳定性，扩展被遥控端的活动范围，提高被遥控端的安全性，降低使用成本的目的。通过这种方法，当直接连接信号正常时，可以保证遥控端和被遥控端之间低延迟、高带宽的良好使用体验；在距离远、干扰强，或者有障碍物阻挡时，遥控端仍然能够与被遥控端保持连接，保证被遥控端处于受控状态，从而可以由操作者遥控被遥控端，使被遥控端脱离危险区域；一旦直接连接信号恢复稳定，则可以切换回直接连接，以降低用户使用成本，降低传输延时。
基于这种协作方式，当无线通信连接断开或信号弱而移动通信连接正常时，将至少部分信号传输自动切换到移动通信连接。或者，当检测到无线通信连接断开或信号弱、移动通信连接正常时，提示用户进行操作，并根据用户操作维持通信连接状态或将至少部分信号传输切换到移动通信连接。并且，当使用移动通信连接进行信号传输并检测到无线通信连接正常时，将至少部分信号传输自动切换到无线通信连接。或者，当使用移动通信连接进行信号传输并检测到无线通信连接正常时，提示用户进行操作，并根据用户操作维持通信连接状态或将至少部分信号传输切换到无线通信连接。
需要说明的是，此处所指的部分信号包括控制信号或数据信号中的至少一部分信号。控制信号是指用于控制被遥控端的执行机构的动作的信号；所述数据信号一般是指被遥控端采集到的信号，例如包括图像信号、视频信号、音频信号及被遥控端的状态信号等。所述状态信号包括被遥控端的位置、速度、高度中的一种或多种。 其中，为了节约信号带宽，所述图像信号、视频信号或音频信号一般是以特定码率压缩后的数据信号进行传输。优选地，当被切换的部分信号包括以特定码率压缩后的数据信号时，所述码率在切换时被自动配置或由用户操作以配置。
为使本发明的目的、技术方案和优点更加清楚明白，以下结合具体实施例，并参照附图，对本发明作进一步的详细说明。
图3是根据本发明的一个实施例的遥控系统的通信连接示意图。该实施例中，被遥控端为无人机1，遥控端为无人机的遥控器2。如图3所示，遥控端和被遥控端之间建立无线直接连接，即通过无线通信网络连接，同时，二者还与移动通信网络3连接。应当理解，该实施例虽然以无人机1及其遥控器2构成的遥控系统为例来阐述，但该遥控系统中的遥控端和被遥控端并不限于具体的设备，被遥控端可以是任何具有可被遥控以执行相应动作的执行设备，例如机器人、无人车、无人飞行器、无人航行器等，遥控端可以是任何具有遥控功能的设备，包括专用遥控器、具有遥控功能的智能设备，如智能手机、平板电脑，或者组合在一起使用而具有遥控功能的多个电子设备，如智能手机与无线通信遥控器的组合。
当遥控端为多个电子设备的组合时，不同的电子设备可以支持不同的通信模式。例如当遥控端是智能手机与无线遥控器的组合时，无线遥控器用于直接进行无线连接，智能手机则用于和移动通信网络建立连接。
此外，在图3所示遥控系统中，还可以包括一个服务器4，该服务器连接于移动通信网络，作为遥控器2和无人机1握手、数据转发的中转站。
图4是上述实施例的遥控系统的模块框架图。如图4所示，作为被遥控端的无人机1包括处理器和与处理器连接的无线通信模块、移动通信模块、照相/录音模块和运动控制模块。无人机的无线通信模块、移动通信模块即其第一发收器和第二发收器。无人机的遥控器2则包括处理器和与处理器连接的无线通信模块、移动通信模块、显示模块和用户控制信号采集模块。类似的，遥控器的无线通信模块、移动通信模块即其第一发收器和第二发收器。无人机1与遥控器2的无线通信模块能够直接建立无线通信连接，而无人机1与遥控器2的移动通信模块则分别能够与一个移动通信网络3建立移动通信连接。此外，该遥控系统还包括连接到该移动通信网络3的服务器4。服务器4包括处理器及与处理器连接的通信模块。
可见，本发明的遥控系统在常规的无线通信连接的遥控系统的遥控端和被遥控端各增加了一个移动通信模块，使得遥控端和被遥控端既可以通过原有的无线通信链路直接通信，也可以通过移动通信网络进行间接通信。
该实施例中，由于遥控端和被遥控端支持两种通信模式的通信连接，因此，需要考虑在两种通信模式之间进行协作。并且，根据本发明，这种协作方式可以根据情况而进行自动或手动的改变。为此，遥控端和被遥控端的处理器分别执行相应的应用程序，以便分别控制各自的移动通信模块及无线通信模块，以启动、停止或改变所述的协作方式。
图5和图6分别是上述实施例的遥控系统的遥控端与被遥控端的工作流程图。在该实施例中，无线通信连接与移动通信连接之间的协作方式改变的策略(协作策略)为优先使用无线通信连接。
所谓优先使用无线通信连接的协作策略包括：只要无线通信连接正常，就使用无线通信连接；只在无线通信连接不正常时，才临时切换到移动通信连接。所谓的不正常，包括信号不稳定、信号断连等，其原因可能是无线信号受到遮挡或者距离太远。为了实现该协作方式，需要实时对无线通信连接状态进行监测和判断。通过这种协作方式，当无线通信连接正常时，可以保证遥控端和被遥控端之间低延迟、高带宽的良好使用体验；在距离远、干扰强，或者有障碍物阻挡时，保证被遥控端处于受控状态，从而可以由操作者遥控被遥控端，使被遥控端脱离危险区域；一旦直接连接的无线通信连接恢复正常，则可以切换回直接连接，以降低用户使用成本，降低传输延时。
即，通过优先使用无线通信连接，可以达到提高遥控端和被遥控端之间通信的稳定性，扩展被遥控端的活动范围，提高被遥控端的安全性，降低使用成本的目的。
如图5和图6所示，作为遥控端的遥控器2和被遥控端的无人机1的无线通信模块和移动通信模块在开机后均立即开始工作，双方的无线通信模块直接建立无线通信连接。与此同时，双方的移动通信模块均与移动通信网络3中的服务器4建立握手连接，由此可建立遥控器2与无人机1的间接连接的移动通信连接。遥控端和被遥控端亦可通过服务器4进行握手连接，这样可以跳过服务器4与对方进行通信以缩短延时。或者，遥控端和被遥控端也可以通过服务器4转发数据，以实现广播功能。
当无线通信在建立后，实时监测和判断无线通信连接的连接状态，将根据该连接状态来自动改变或提示用户以手动改变无线通信连接与移动能通信连接的协作方式。如前所述，一种协作策略是优先使用无线通信连接。
在该实施例中，当对无线通信连接的连接状态的监测显示无线通信连接(第一通信网络)正常(第一信号状态)时，移动通信连接保持静默，或者维持一个数据量极低的心跳连接。当无线通信在建立后，实时监测和判断无线通信连接的连接状态，当显示无线通信连接(第一通信网络)不正常(第二信号状态)时，则迅速切换到移动通信网络上。为此，该实施例中，遥控端的无线通信模块在处理器的控制下定时检查无线通信连接的信号强度、通信状况等，并将连接状态信息反馈给处理器，处理器根据该状态信息作出相应的判断以实现上述切换。
此外，优先使用无线通信连接的协作策略还可包括这样的协作方式改变：当无线通信连接断开或信号弱而移动通信连接正常时，将至少部分信号传输切换到移动通信连接。所述的切换包括自动切换和提示用户进行操作的手动切换。相应的，该协作策略还可包括这样的协作方式改变：当使用移动通信连接进行信号传输并检测到无线通信连接正常时，将至少部分信号传输切换到无线通信连接。当然，在手动切换时，用户也可能选择维持当前通信连接状态。
该实施例中，部分信号包括控制信号或数据信号中的至少一部分信号。控制信号是用于控制无人机2的运动控制模块的动作的控制信号，数据信号是指无人机2的照相/录信模块采集到的信号，包括图像信号、视频信号、音频信号。因此，所述的部分信号可以是部分控制信号，也可以是图像信号、视频信号或音频信号中的一者或二者。并且，所述图像信号、视频信号或音频信号是以特定码率压缩后的数据信号进行传输。优选地，当被切换的部分信号包括以特定码率压缩后的数据信号时，所述码率在切换时被自动配置或由用户操作以配置。
如图5及图6所示，在该实施例中，遥控器2实时监测和判断无线通信连接的连接状态，当无线通信连接从正常变得不正常，或者从不正常变得正常时，都通过显示模块向用户提示以使用户进行操作以进行选择两种通信模式的协作方式：
A、使用移动通信连接传输控制信号，使用无线通信连接传输图像、音频信号；
B、使用移动通信连接传输图像、音频信号，使用无线通信连接传输控制信号；
C、使用移动通信连接传输所有信号；
D、使用无线通信连接传输所有信号。
当用户做出选择后，处理器根据该选择控制无线通信模块和移动通信模块作出相应的操作以根据用户选择的协作方式进行信号传输。同时，处理器通过无线通信模块和/或移动通信模块向被控制端发送控制指令，指示被遥控端进行上应的协作方式改变。
图7显示了该实施例的遥控系统的遥控器的显示模块在提示用户进行切换时的图形界面。如图7所示，在遥控器2的图形界面上弹出窗口询问用户是否切换到移动通信网络控制，切换的选项有“仅切换控制信号到移动网络”、“仅切换图像信号到移动网络”、“图像/控制信号都切换到移动网络”、“不做切换，继续使用无线信号”，根据用户选择做出相应的切换。
优选地，当用户选择切换到移动通信网络后，由于延时变大，无人机可以根据需要降低其运动的机动性。
用户如果选择“仅切换控制信号到移动网络”，上行只传输操作者的控制信号；下行只传输无人机的状态、位置、速度等信息，数据量很少，节约流量(成本)；在图形界面上可以根据状态信息模拟画出被遥控端的姿态、方向等，使操作者有直观的感受。
图8显示了该实施例的遥控系统的遥控器的显示模块在提示用户进行图像/音频码率设置的界面。如图8所示，用户如果选择了“仅切换图像信号到移动网络”或者“图像/控制信号都切换到移动网络”的话，可以在图形界面上显示调整图像、音频码率的滑动条，使用户可以根据可承受的成本选择相应的带宽。
图9显示了该实施例的遥控系统的遥控器的显示模块在无线通信连接恢复时提示用户的界面。如图9所示，当已经切换到移动通信网络之后，遥控端仍然继续定时监测无线通信连接的信号强度和连接状况，如果发现连接正常的话，弹出窗口提示用户直接连接信号已经恢复，是否切换回去。
图10显示了该实施例的遥控系统的遥控器的显示模块提示用户是否强制使用移动通信网络的界面。如图10所示，该实施例还提供强制启用移动通信网络的选项，即使无线直接连接信号良好，仍然可以强制启用移动通信网络，并且直接连接和移动通信网络可以同时收发数据，供特殊用户使用。这样，作为被遥控端的无人机通过无线通信连接和移动通信连接发送图像、音频数据流时，可以根据二者的带宽情 况，生成两路独立的、压缩比不同的图像、音频数据流，分别通过两个通道发送给遥控器。
再参照图6，该实施例中作为被遥控端的无人机1，在开机时，除了与遥控端一样的启动两种通信模式并分别建立连接之外，其照相/录音模块也被启动以作好照相或录音的准备；同时，运动控制模块也被启动以执行相应的运动。所述的照相/录音模块和运动控制模块均由处理器通过执行相应的应用程序来控制。相应的，当无人机1的无线通信模块和/或移动通信模块接收到切换两种通信连接的协作方式时，处理器一方面控制无线通信模块和移动通信模块进行相应的通信模式切换，另一方面还可根据预先设定的程序来控制运动控制模块的相应操作，以适应切换协作模式之后的通信连接方式。例如，如前所述，优选地，当切换到移动通信网络后，由于延时变大，无人机可以控制其执行机构操作以降低其运动的机动性。
以上所述的具体实施例，对本发明的目的、技术方案和有益效果进行了进一步详细说明，应理解的是，以上所述仅为本发明的具体实施例而已，并不用于限制本发明，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。
尽管已经参照本发明的特定示例性实施例示出并描述了本发明，但是本领域技术人员应该理解，在不背离所附权利要求及其等同物限定的本发明的精神和范围的情况下，可以对本发明进行形式和细节上的多种改变。因此，本发明的范围不应该限于上述实施例，而是应该不仅由所附权利要求来进行确定，还由所附权利要求的等同物来进行限定。

Claims (30)

  1. 一种无人机的控制方法，所述无人机用于与遥控器通信，其特征在于，所述方法包括：
    通过第一通信网络向所述遥控器发送信号；
    接收第一信号切换指令；以及
    根据所述第一信号切换指令，从所述第一通信网络切换至第二通信网络以向所述遥控器发送所述信号。
  2. 如权利要求1所述的方法，其特征在于，所述接收第一信号切换指令包括：
    从所述遥控器接收所述第一信号切换指令。
  3. 如权利要求2所述的方法，其特征在于，所述第二通信网络为移动通信网络。
  4. 如权利要求3所述的方法，其特征在于，所述第一通信网络为无线通信网络。
  5. 如权利要求4所述的方法，其特征在于，所述信号为图像信号。
  6. 如权利要求5所述的方法，其特征在于，所述方法还包括：
    调整所述图像信号的码率。
  7. 如权利要求4所述的方法，其特征在于，所述信号为所述无人机的状态信号，所述状态信号包括所述无人机的位置、速度、高度中的一种或多种。
  8. 如权利要求5或7所述的方法，其特征在于，所述方法还包括：
    从所述遥控器接收第二信号切换指令；
    根据所述第二信号切换指令，从所述第二通信网络切换至所述第一通信网络以向所述遥控器发送所述信号。
  9. 一种遥控器的控制方法，所述遥控器用于与无人机通信，其特征在于，所述方法包括：
    通过第一通信网络向所述无人机发送信号；
    接收第一信号切换指令；以及
    根据所述第一信号切换指令，从所述第一通信网络切换至第二通信网络以向所述无人机发送所述信号。
  10. 如权利要求9所述的方法，其特征在于，所述第二通信网络为移动通信网络。
  11. 如权利要求10所述的方法，其特征在于，所述第一通信网络为无线通信网络。
  12. 如权利要求11所述的方法，其特征在于，所述接收第一信号切换指令包括：
    获取所述第一通信网络的第一信号状态。
  13. 如权利要求12所述的方法，其特征在于，所述信号为控制信号。
  14. 如权利要求13所述的方法，其特征在于，所述方法还包括：
    接收第二信号切换指令；
    根据所述第二信号切换指令，从所述第二通信网络切换至所述第一通信网络以向所述无人机发送所述信号。
  15. 如权利要求14所述的方法，其特征在于，所述接收第二信号切换指令包括：
    获取所述第一通信网络的第二信号状态。
  16. 一种无人机，用于与遥控器通信，所述无人机包括：
    第一收发器，用于与所述遥控器通过第一通信网络通信；
    第二收发器，用于与所述遥控器通过第二通信网络通信；
    一个或多个处理器，用于：
    通过所述第一收发器向所述遥控器发送信号；
    接收第一信号切换指令；
    根据所述第一信号切换指令，从所述第一收发器切换至所述第二收发器以向所述遥控器发送所述信号。
  17. 如权利要求16所述的无人机，其特征在于，所述一个或多个处理器用于从所述遥控器接收所述第一信号切换指令。
  18. 如权利要求17所述的无人机，其特征在于，所述第二通信网络为移动通信网络。
  19. 如权利要求18所述的无人机，其特征在于，所述第一通信网络为无线网络。
  20. 如权利要求19所述的无人机，其特征在于，所述信号为图像信号。
  21. 如权利要求20所述的无人机，其特征在于，所述一个或多个处理器还用于调整所述图像信号的码率。
  22. 如权利要求19所述的无人机，其特征在于，所述信号为所述无人机的状态信号，所述状态信号包括所述无人机的位置、速度、高度中的一种或多种。
  23. 如权利要求20或22所述无人机，其特征在于，所述一个或多个处理器还用于：
    从所述遥控器接收第二信号切换指令；
    根据所述第二信号切换指令，从所述第二收发器切换至所述第一收发器以向所述遥控器发送所述信号。
  24. 一种遥控器，用于控制无人机，所述遥控器包括：
    第一收发器，用于与所述无人机通过第一通信网络通信；
    第二收发器，用于与所述无人机通过第二通信网络通信；
    一个或多个处理器，用于：
    通过第一收发器向所述无人机发送信号；
    接收第一信号切换指令；以及
    根据所述第一信号切换指令，从所述第一收发器切换至所述第二收发器以向所述遥控器发送所述信号。
  25. 如权利要求24所述的遥控器，其特征在于，所述第二通信网络为移动通信网络。
  26. 如权利要求25所述的遥控器，其特征在于，所述第一通信网络为无线网络。
  27. 如权利要求26所述的遥控器，其特征在于，所述一个或多个处理器还用于：
    获取所述第一通信网络的第一信号状态。
  28. 如权利要求27所述的遥控器，其特征在于，所述信号为控制信号。
  29. 如权利要求28所述的遥控器，其特征在于，所述一个或多个处理器还用于：
    接收第二信号切换指令；
    根据所述第二信号切换指令，从所述第二收发器切换至所述第一收发器以向所述无人机发送所述信号。
  30. 如权利要求29所述的遥控器，其特征在于，所述一个或多个处理器还用于：
    获取所述第一通信网络的第二信号状态。
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