WO2018152847A1

WO2018152847A1 - Unmanned aerial vehicle control method and system

Info

Publication number: WO2018152847A1
Application number: PCT/CN2017/075044
Authority: WO
Inventors: 熊川樘
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-02-27
Filing date: 2017-02-27
Publication date: 2018-08-30
Also published as: CN109690439A

Abstract

Proposed in the embodiments of the present invention are an unmanned aerial vehicle control method and apparatus. The method is applied to a client, comprising: establishing a communication connection between a client and a plurality of unmanned aerial vehicles; controlling the plurality of unmanned aerial vehicles by means of the client, and displaying status information of at least one of the unmanned aerial vehicles by means of a control interface of the client. The unmanned aerial vehicle control method and apparatus proposed in the embodiments of the present invention can achieve simultaneous control of a plurality of unmanned aerial vehicles, the combination of unified control and individual control, and the coordination between multiple unmanned aerial vehicles.

Description

UAV control method and system

Technical field

The invention relates to the technical field of drone control, and in particular to a drone control method and system.

Background technique

At present, the control of mobile platforms such as drones is mostly one-to-one control. Taking the drone control as an example, when the drone communicates successfully with a control device such as a mobile phone or a computer, the control device receives the status information of the drone push, and also sends the user control information to the drone. In this case, the control device only needs to ensure that the user's control commands can be sent to that unique control object without distinction. However, it is extremely inconvenient to control multiple drones in this way.

For more and more users, especially industry users, to use a drone such as a drone to efficiently complete tasks, it is often necessary to control multiple drones simultaneously and to achieve multiple drones. cooperation.

Summary of the invention

In view of the above problems, an object of the present invention is to provide a drone control method and system that realize simultaneous control of a plurality of drones.

In a first aspect, an embodiment of the present invention provides a UAV control method, which is applied to a UE, and includes: establishing a communication connection between a UE and a plurality of UAVs; and using the UE to access the plurality of UAVs Control is performed, and status information of at least one of the drones is displayed through a control interface of the client.

In a second aspect, an embodiment of the present invention further provides a UAV control system, including: a communication device, a control device, and a display device; the communication device is configured to establish a communication connection with the UAV; and the display device is configured to display State information of the drone; the control device and the pass And the communication device is communicatively coupled to the display device for controlling the communication device to establish a communication connection with the plurality of the drones, controlling the plurality of the drones, and controlling the display device to display at least Status information of one of the drones.

The achievable benefits of the present invention include: simultaneous control of multiple drones, integration of unified control with individual controls, and cooperation between multiple drones.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description of the drawings used in the embodiments or the prior art description will be briefly described below. Obviously, the drawings in the following description It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any inventive labor.

1 is a diagram of a drone control system according to an embodiment of the present invention;

2 is a schematic flow chart of a drone control method according to an embodiment of the present invention;

3 is a schematic diagram of a user end control interface according to an embodiment of the present invention;

4 is a diagram of another UAV control system according to an embodiment of the present invention;

FIG. 5 is a diagram of another UAV control system according to an embodiment of the present invention; FIG.

FIG. 6 is a diagram of another drone control system according to an embodiment of the present invention.

Description of the reference signs:

Client -10

Remote control - 20

Drone - 30

Control interface—40

Icon area—41

Status area—42

Picture area—43

Server side - 60

Remote control -70

Control device—51

Communication device—52

Display device—53

Steps: 101-102.

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. It is a partial embodiment of the invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention. It should be noted that the method described in the embodiments of the present invention is not limited to the steps and the sequence in the flowcharts described or illustrated in the specification. Depending on the embodiment, the steps in the method may add, remove, or change the order.

The embodiment of the invention provides a drone control method. The principle of the method can also be applied to unmanned devices other than drones, such as unmanned cars, robots, and the like. A drone is a remotely piloted or self-driving aircraft capable of carrying a camera, sensor, communication device or other payload, capable of controlled, continuous flight, and typically powered by an engine, which can fly autonomously based on a pre-programmed flight plan. UAVs are increasingly used to accomplish tasks that are not suitable for various manned aircraft, such as surveillance, reconnaissance, target acquisition, data acquisition, communication relay, bait, harassment, etc. Natural disaster detection, police observation of civil strife or crime scenes, and scientific research.

1 is a system diagram of an embodiment of the present invention, in which a user terminal 10 can control a plurality of drones 30 through a remote controller 20, respectively. It should be understood that the system diagram embodies a typical situation for implementing the technical solution of the present invention, and is not the only case. The operation in the drone control method provided by the embodiment of the present invention can be implemented by a controller. In this embodiment, the controller that implements the method is disposed on the user terminal 10. In other embodiments, the controller may be disposed in the remote controller 20, the mobile phone, or other control device, that is, the user terminal 10 may also directly The drone 30 establishes a communication connection without passing through the remote controller 20. The drone control method provided by the embodiment of the present invention, Simultaneous control of multiple drones and collaboration between multiple drones is possible. In this embodiment, the client 10 can control a plurality of drones 30, and can realize cooperation between the plurality of drones 30, and the specific number of the drones 30 can be freely expanded by the user.

Referring to FIG. 2, the drone control method provided by the embodiment of the present invention may start from step 101.

Step 101: Establish a communication connection between the user end and the plurality of drones;

In this embodiment, the control and communication involved in the method are implemented by the control device and the communication device located at the user terminal 10. Therefore, in this embodiment, the user terminal 10 establishes a plurality of drones 30 with the user terminal 10. Communication between the connections. Specifically, the client 10 can directly establish a communication connection with a plurality of drones 30, and can also establish a communication connection with a plurality of drones 30 indirectly through the remote controller 20 or other control device. A user terminal 10 establishes a communication connection with a plurality of drones 30 at the same time, which is the basis for realizing one-to-many control, and is also the basis for multi-machine cooperation by a plurality of drones 30 through one client terminal 10.

Step 102: Control, by the user end, a plurality of the drones, and display status information of at least one of the drones through a control interface of the user end.

In this embodiment, the user terminal 10 may generate control information for controlling the plurality of drones 30 according to the state information of the plurality of drones 30, and may also generate control information according to the input of the user, and may The drone 30 that establishes the communication connection transmits control information. Each of the drones 30 that have established a communication connection can transmit respective status information to the client terminal 10. The status information includes, but is not limited to, location information of the drone 30, battery power information, route information, flight plan information, and the like. All or part of the status information of each drone 30 can be displayed through the control interface of the client 10. Specifically, the control interface of the client 10 can display only the status information of one of the drones 30, and can switch between the status information displays of the plurality of drones 30, or can display two at the same time automatically or according to the user's selection. Status information of one or more drones 30.

The drone control method provided by the present invention further includes the steps of: establishing a plurality of control object instances, wherein an established communication connection of the drone corresponds to one of the control object instances.

In this embodiment, after the user terminal 10 establishes a communication connection with a drone 30, an instance of the control object corresponding to the drone 30 is generated, and the drone 30 has a one-to-one correspondence with the control object instance. However, it should be understood that in other embodiments, the UAV 30 and the control object instance may not be in one-to-one correspondence, that is, the plurality of UAVs 30 correspond to one control object instance. Or in actual use, multiple control object instances may be used to correspond to the same drone 30 as needed. Therefore, one control object instance can be associated with at least one drone 30.

Accordingly, in some embodiments, "corresponding" means that only one particular control object instance is controlled for a particular drone 30, and the status information for that particular drone 30 is only passed through that particular Control object instances to receive, render, or send. Regarding the manner in which the correspondence is established, various methods may be employed, such as communication between a specific drone 30 and a specific control object instance through a specific frequency or the like. In this embodiment, the control object instance corresponds to the drone 30 by the identity information of the drone 30. Specifically, each of the drones has its own identification code (SN code), and includes information about the ID number of the drone 30 in the status information, and the instance of the control object passes the identification code and the absence. Human and machine correspond. The ID of each UAV 30 is unique. In the case where a control object instance corresponds to a UAV 30 in this embodiment, each control object instance is identified by its corresponding UAV 30. As its only indicator. Therefore, in this embodiment, the control information sent by the user terminal 10 to the drone 30 includes a control command and an identification code of the drone to be controlled, thereby ensuring that the control information is accurately transmitted to the desired control. Drone 30.

In some embodiments, the control object instance may specifically be a collection of programs required to implement the functionality of the client 10 to control a drone 30, as well as to receive, present, or transmit status information for the drone 30. When a plurality of drones 30 correspond to one control object instance, the control object instance is also a set of programs required to implement the above functions; when one drone 30 corresponds to multiple control object instances, one control object instance may It is part of a collection of programs that implement the above functions.

For example, in the prior art, one-to-one control of the drone 30 is used to control a drone 30 and accept, present or transmit it in the client 10, the remote controller 20 or other control device. The set of programs of the state information of the drone 30 can be regarded as a control object instance, and it can be understood that the set of the program can be copied. In this embodiment, the control object instance corresponding to the UAV is generated, that is, each of the UAVs 30 that establish a communication connection with the UE 10 generates a set of the above-mentioned programs. The sets of the respective programs are independent of each other, and the at least one drone 30 can be correspondingly controlled, and the state information of the at least one drone 30 can be received, presented or transmitted. The reproducibility of the set of the above procedures ensures that the user can freely expand the number of drones 30 simultaneously controlled by one client 10, and increase the number of unmanned persons according to the needs of the operation. The number of machines 30 or other drones.

After establishing a communication connection with a drone 30, the client 10 establishes a corresponding control object instance, and controls the drone 30 through the control object instance, and receives, presents or transmits the drone 30. The status information transmitted, thus, enables one-to-many control of the client 10 to the drone 30. Specifically, the client 10 can generate control information for controlling the drone 30, and then send control information to the corresponding drone 30 through different control object instances. The user terminal 10 generates control information, which may be generated independently, may be generated according to input information of the user, or may be generated according to remote operations of the user. Correspondingly, the state information of the drone 30 can be separately summarized by different control object instances, so that the state information of the different drones 30 can be differentiated and presented.

On the basis of the above-mentioned one-to-many control, in the embodiment, the user terminal 10 can establish a communication connection with the drone 30 through the remote controller 20, and perform unified control of certain parameters on the different drones 30 at the user terminal 10. At the same time, certain parameters can be individually controlled by the remote controller 20. For example, the user terminal 10 uniformly controls the pan/tilt of the different drones 30 to respectively present different angles, and the user can separately control the flight route, the hovering position, and the like of the drone 30 through the remote controller 20. Therefore, the embodiment of the present invention can realize the combination of unified control and individual control of the unmanned aerial vehicle 30 and the like.

FIG. 3 is a schematic diagram of the control interface 40 in the present embodiment. In this embodiment, an icon for representing the instance of the control object is displayed on the control interface 40, wherein one of the control object instances corresponds to one of the icons. Specifically, the control interface 40 in this embodiment is divided into three areas, the icon area 41 is used to display the above icon, the status area 42 is used to display status information such as the status parameter of the drone 30, and the screen area 43 is used for display. The screen returned by the camera mounted on the drone 30 and the position, trajectory, planned route, and the like of the drone 30 on the map. In this embodiment, all three areas of the control interface 40 can receive input operations of the user. The icon is displayed in the icon area 41 as the No. 1 drone, the No. 2 drone, the No. 3 drone, and the like. Since the control object instances are in one-to-one correspondence with the drone 30 in this embodiment, each icon corresponds to a drone 30. In use, whenever the client 10 establishes a communication connection with a drone 30, an icon representing an unmanned 30 is generated in the icon area 41 of the control interface 40. When the user selects one of the icons, the status area 42 and the picture area 43 are switched to the status information and the screen information of the drone 30 represented by the selected icon. In some embodiments, the user can select multiple icons at the same time, and the control interface 40 can simultaneously display status information of the plurality of drones 30. And screen information, etc.

The drone control method provided by the embodiment of the present invention further includes: detecting a selection operation signal for selecting the control object instance; and selectively controlling one of the drones according to the selection operation signal. In this embodiment, the user selects the control object instance corresponding to the drone 30 by selecting the icon of the icon area 41 of the control interface 40. Correspondingly, the user terminal 10 detects the selection operation signal also through the control interface 40. achieve. When the user controls the drone 30 through the control interface 40, one or more drones 30 to be controlled are selected in the icon area 41, and then in the state of the area 42 and the screen area 43 for the flight state of the drone 30, When the flight path or the like inputs an control signal, the user terminal 10 can generate and send corresponding control information to the drone 30 selected by the user according to the control signals. Specifically, the control information is generated by the control object instance corresponding to each of the drones 30, and the specific control information is transmitted to the specific drone 30 to realize one-to-many control.

In this embodiment, the user terminal 10 receives the input control signal of the user through the control interface, and sends control information for controlling the corresponding drone according to the input control signal of the user. As described above, when the user controls the drone 30 through the control interface 40, one or more drones 30 to be controlled are selected in the icon area 41, and then in the status area 42 and the screen area 43 for the drone 30. The flight control state, the flight route, and the like input control signals, and the user terminal 10 can generate and send corresponding control information to the drone 30 selected by the user according to the control signals.

Specifically, the input control signal includes at least one of: controlling a state of the drone, controlling a state of a camera mounted on the drone, and controlling a state of the pan/tilt carried by the drone. Correspondingly, the state information of the drone may specifically include the state of the drone 30, the state of the camera mounted on the drone 30, the state of the pan/tilt carried by the drone 30, and the like.

In this embodiment, controlling the state of the drone includes controlling at least one of the following: setting a waypoint, one-button landing, and one-button take-off. Referring to FIG. 3, in the status area 42 of the control interface 40 of the client 10, a button drop and a button takeoff icon are displayed. The user clicks the icon in the control mode for one or several drones 30, the client 10 Corresponding control information is generated and sent to the corresponding drone 30. The function of setting the waypoint can be completed on the map of the screen area 43, and the user can click the location point on the map as the waypoint for controlling the flight path of the drone 30. After detecting the setting operation, the user terminal 10 converts to Controlling the flight control information of the drone 30, It is sent to the drone 30 that the user wants to control.

Controlling the state of the camera carried by the drone includes controlling at least one of: adjusting a focal length of the camera to adjust an exposure of the camera. Referring to FIG. 3, an area in which the state of the camera mounted on the drone 30 is displayed may be divided in the status area 42, and information such as the focal length and exposure of the camera may be displayed, and the user may be adjusted to adjust a certain parameter at the corresponding position. . The client 10 generates and transmits control information for controlling the corresponding drone 30 based on the user's operational control signal input to the one or more drones 30 on the control interface 40.

Controlling the state of the pan/tilt carried by the drone includes controlling at least one of: adjusting a pitch angle of the pan-tilt, adjusting a roll angle of the pan-tilt, and adjusting a pan angle of the pan-tilt. Referring to FIG. 3, similarly, an area showing the state of the pan/tilt carried by the drone 30 can be divided in the state area 42, and the pitch angle, the roll angle, the pan angle, and the like of the gimbal can be displayed, and corresponding The position detection user adjusts a parameter. The client 10 generates and transmits control information for controlling the corresponding drone 30 based on the user's operational control signal input to the one or more drones 30 on the control interface 40.

In this embodiment, in addition to the above-mentioned user manually controlling one or more unmanned aerial vehicles 30, intelligent control of the drone 30 by the user terminal 10 can be realized to realize coordinated operation of the plurality of drones 30. Specifically comprising the steps of: selecting at least two of the drones; forming cooperative control information for implementing cooperation between the plurality of drones according to the selected state information of at least two of the drones And simultaneously transmitting the coordinated control information to at least two of the drones.

The drone 30 that selects the collaborative work to be performed may be selected by the user through the control interface 40, or may be intelligently selected by the user terminal 10 according to the work task. In this embodiment, different control object instances can share information, that is, while different control object instances have certain relative independence, they can directly or indirectly share information with each other, and the shared information includes no one. Status information of the machine 30. Specifically, in some embodiments, different control object instances may send information to other control object instances, or different control object instances may be aggregated, merged, etc. by a third-party information processing module, and then processed. Information is distributed to different instances of control objects. This is the technical basis for multi-machine cooperation by drones such as drones 30. For example, in some embodiments, different drones 30 may share state information such as their flight path information with other control object instances through their corresponding control object instances, and other control object instances use this as a basis to control them. Corresponding drones 30, so that the flight paths of different drones 30 are evenly distributed and phased Parallel to each other, forming a certain pattern and other specific effects. For another example, in some embodiments, different drones 30 may share their flight state information and the like with other control object instances through their corresponding control object instances, and other control object instances are used as a basis to control their corresponding The drone 30, thereby achieving specific effects such as different UAV 30 relay operations. In this embodiment, the coordinated control information includes at least one of the following: flying simultaneously according to the same route, flying in accordance with the same route, flying simultaneously according to different routes, and flying according to different routes. The collaborative control information, the user terminal 10 can calculate and generate according to the state information of the plurality of drones 30 to be controlled, the flight route, the planned route, and the like, and generate a series of control information to be sent to the plurality of unmanned persons respectively. Machine 30.

In this embodiment, the user terminal 10 establishes a communication connection with a plurality of the drones 30 in a remote manner, that is, one or more links connecting the client terminal 10 and the drone 30, and adopting a 4G network or the like for remote connection. The way the communication is connected.

Referring to FIG. 4, in an embodiment of the present invention, the UAV control system of the method of the present invention further includes a server end 60 and a remote control end 70. The user end 10 is communicably connected with the server end 60; the remote control end 70 passes the first remote end. The wireless transmission mode is communicably connected to the drone 30, and the server end 60 is communicably connected to the remote control terminal 70 via the second remote wireless transmission mode. The communication method of the first remote wireless transmission method is different from the communication method of the second remote wireless transmission method. In some embodiments, the farthest transmission distance of the first remote wireless transmission mode is less than the farthest transmission distance of the second remote wireless transmission mode. In this embodiment, the server end 60 can be connected to the client terminal 10 by wire or wirelessly. The first remote wireless transmission mode is a WiFi connection, and the second remote wireless transmission mode is a 4G network communication. This communication connection method greatly expands the present. The scope of application of the inventive control method. The drone control method of this embodiment is the same as that of the previous embodiment. The user controls one or more drones 30 through the control interface of the client 10, and the status information of the drone 30 can be displayed on the control interface of the client 10. The server end 60 can implement hierarchical management of multiple users, so that multiple users can cooperatively control multiple drones 30 at the same time; specifically, when multiple client terminals 10 are connected to the server end 60, and simultaneously control one or When a plurality of UAVs 30 are used, the server 60 can process the control information sent by the multiple clients 10 according to the priority, and assign different permissions to the different clients 10, so that multiple users can pass through the multiple clients 10 . Collaborative work. The remote control end 70 can control the attitude, speed, and the like of the drone 30, thereby supplementing the control information of the user terminal 10, and realizing the coexistence of one-to-many unified control and individual control.

Referring to FIG. 5, an embodiment of the present invention further provides a drone control system, including: a control device. 51, communication device 52 and display device 53; the communication device 52 is used to establish a communication connection with the drone 30; the display device 53 is used to display state information of the drone 30; the control device 51 Communicating with the communication device 52 and the display device 53 respectively, for controlling the communication device 52 to establish a communication connection with a plurality of the drones 30, and controlling a plurality of the drones 30, And controlling the display device 53 to display status information of at least one of the drones 30 therein.

In this embodiment, the control system establishes a communication connection with a plurality of drones 30. Specifically, the control system can establish a communication connection directly with the plurality of drones 30, or can indirectly establish a communication connection with the plurality of drones 30 through other control devices. A control system establishes a communication connection with a plurality of drones 30 at the same time, which is the basis for realizing one-to-many control, and is also the basis for multi-machine cooperation by a plurality of drones 30 through one control system.

In this embodiment, the control device 51 in the control system may generate control information for controlling the plurality of drones 30 according to the state information of the plurality of drones 30, and may also generate control information according to the input of the user, and pass the communication device. 52 sends control information to a plurality of drones 30 that have established communication connections to be controlled. Each of the drones 30 that have established a communication connection can transmit respective status information through the communication device 52. The status information includes, but is not limited to, location information of the drone 30, battery power information, route information, flight plan information, and the like. All or part of the status information of each drone 30 can be displayed through the control interface of the display device 53 in the control system. Specifically, the control interface of the display device 53 may display only the status information of one of the drones 30, and may switch between the status information displays of the plurality of drones 30, or may simultaneously display two according to the user's selection. Status information of one or more drones 30.

In this embodiment, after the control system establishes a communication connection with a drone 30 via the communication device 52, the control device 51 generates a control object instance corresponding to the drone 30, and the drone 30 and the control object instance are One-to-one correspondence. However, it should be understood that in other embodiments, the UAV 30 and the control object instance may not be in one-to-one correspondence, that is, the plurality of UAVs 30 correspond to one control object instance, or may be used as needed in actual use. The control object instance corresponds to the same drone 30. Therefore, one control object instance can be associated with at least one drone 30.

Accordingly, in some embodiments, "corresponding" means that only one particular control object instance is controlled for a particular drone 30, and the status information for that particular drone 30 is only passed through that particular Control object instances to receive, render, or send. Regarding the manner in which the correspondence is established, various methods may be employed, such as communication between a specific drone 30 and a specific control object instance through a specific frequency or the like. In this embodiment, the control object instance corresponds to the drone 30 by the identity information of the drone 30. Specifically, each of the drones has its own identification code (SN code), and includes information about the ID number of the drone 30 in the status information, and the instance of the control object passes the identification code and the absence. Human and machine correspond. The ID of each UAV 30 is unique. In the case where a control object instance corresponds to a UAV 30 in this embodiment, each control object instance is identified by its corresponding UAV 30. As its only indicator. Therefore, in the embodiment, the control information sent by the control system to the drone 30 through the communication device 52 includes a control command and an identification code of the drone to be controlled, thereby ensuring that the control information is accurately sent to The drone 30 to be controlled.

In some embodiments, the control object instance may specifically be a set of programs required to implement a function of controlling a drone 30 in the control device 51 of the control system, and receiving, presenting, or transmitting status information of the drone 30. . When a plurality of drones 30 correspond to one control object instance, the control object instance is also a set of programs required to implement the above functions; when one drone 30 corresponds to multiple control object instances, one control object instance may It is part of a collection of programs that implement the above functions.

For example, in the prior art, one-to-one control of the drone 30 is used to control a drone 30, and a collection of programs that accept, present, or transmit status information of the drone 30. Can be seen as a control object instance, it can be understood that the collection of the program can be copied. In the present embodiment, the control device 51 generates an instance of the control object corresponding to the drone 30, that is, each of the drones 30 that establish a communication connection with the control system generates a set of the above-mentioned programs. The sets of the respective programs are independent of each other, and the at least one drone 30 can be correspondingly controlled, and the state information of the at least one drone 30 can be received, presented or transmitted. The reproducibility of the set of programs described above ensures that the user can freely expand the number of drones 30 that are simultaneously controlled by one control system, and the number of drones 30 or other drones can be increased at any time according to the needs of the operation.

The control device 51 of the control system is established after establishing a communication connection with a drone 30. An instance of the control object corresponding thereto is controlled by the control object instance, and the status information sent by the drone 30 is received, presented or transmitted, and the status information can be displayed by the display device 53. In this way, one-to-many control of the drone 30 by the control system can be achieved. Specifically, the control device 51 can generate control information for controlling the drone 30, and different control object instances transmit control information to the corresponding drone 30 through the communication device 52, respectively. The control device 51 generates control information that may be generated independently, may be generated based on input information of the user on the display device 53, or may be generated based on a remote operation of the user. Correspondingly, the state information of the drone 30 can be separately summarized by different control object instances, so that the state information of the different drones 30 can be differentiated and presented.

On the basis of the one-to-many control described above, in the embodiment, the control system can establish a communication connection with the drone 30 through the control device such as the remote controller 20, and unify certain parameters of the different drones 30 in the control system. At the same time of control, certain parameters can be individually controlled by the remote controller 20. For example, the control system uniformly controls the pan/tilt of the different drones 30 to respectively present different angles, and the user can separately control the flight route and the hovering position of the drone 30 through the remote controller 20. Therefore, the embodiment of the present invention can realize the combination of unified control and individual control of the unmanned aerial vehicle 30 and the like.

3 is a schematic illustration of a control interface 40 in the present embodiment that can be used to control display device 53 in the system. In this embodiment, an icon for representing the instance of the control object is displayed on the control interface 40, wherein one of the control object instances corresponds to one of the icons. Specifically, the control interface 40 in this embodiment is divided into three areas, the icon area 41 is used to display the above icon, the status area 42 is used to display status information such as the status parameter of the drone 30, and the screen area 43 is used for display. The screen returned by the camera mounted on the drone 30 and the position, trajectory, planned route, and the like of the drone 30 on the map. In this embodiment, all three areas of the control interface 40 can receive input operations of the user. The icon is displayed in the icon area 41 as the No. 1 drone, the No. 2 drone, the No. 3 drone, and the like. Since the control object instances are in one-to-one correspondence with the drone 30 in this embodiment, each icon corresponds to a drone 30. In use, whenever the communication device 52 of the control system establishes a communication connection with a drone 30, an icon representing an unmanned 30 is generated in the icon area 41 of the control device 40 of the display device 53. When the user selects one of the icons, the status area 42 and the picture area 43 are switched to the status information and the screen information of the drone 30 represented by the selected icon. In some embodiments, the user can select multiple icons at the same time, and the control interface 40 can simultaneously display the status of the plurality of drones 30. Status information, screen information, etc.

In the drone control system provided by the embodiment of the present invention, the control device 51 is further configured to: detect a selection operation signal for selecting the control object instance; and selectively control one of the drones according to the selection operation signal . In this embodiment, the user selects an instance of the control object corresponding to the drone 30 by selecting an icon of the icon area 41 of the control interface 40 of the display device 53. Accordingly, the control device 51 detects that the selection operation signal is also passed. The control interface 40 is implemented. When the user controls the drone 30 through the control interface 40, one or more drones 30 to be controlled are selected in the icon area 41, and then in the state of the area 42 and the screen area 43 for the flight state of the drone 30, When a flight path or the like inputs an control signal, the control device 51 can generate and transmit corresponding control information to the drone 30 selected by the user via the communication device 52 based on the control signals. Specifically, the control information is generated by the control object instance corresponding to each of the drones 30 in the control device 51, and the specific control information is transmitted to the specific drone 30 to realize one-to-many control.

In this embodiment, the display device 53 receives the input control signal of the user through the control interface 40, and the control device 51 generates control information corresponding to the unmanned aerial vehicle 30 according to the input control signal of the user, and passes through the communication device 52. Sending control information for controlling the corresponding drone. As described above, when the user controls the drone 30 through the control interface 40, one or more drones 30 to be controlled are selected in the icon area 41, and then in the status area 42 and the screen area 43 for the drone 30. Based on these control signals, the control device 51 can generate and transmit corresponding control information to the drone 30 selected by the user via the communication device 52.

In this embodiment, controlling the state of the drone includes controlling at least one of the following: setting a waypoint, one-button landing, and one-button take-off. Referring to FIG. 3, a button landing and a button takeoff icon are displayed in the status area 42 of the control interface 40 of the display device 53, and the user clicks on the icon in the control mode for one or several drones 30, and the control device 51 Generate corresponding control information and pass the communication device 52 is sent to the corresponding drone 30. The function of setting the waypoint can be completed on the map of the screen area 43, and the user can click the location point on the map as the waypoint for controlling the flight path of the drone 30, and after the control device 51 detects the setting operation, it is converted into Control information for controlling the flight of the drone 30 is transmitted via the communication device 52 to the drone 30 to be controlled by the user.

Controlling the state of the camera carried by the drone includes controlling at least one of: adjusting a focal length of the camera to adjust an exposure of the camera. Referring to FIG. 3, an area in which the state of the camera mounted on the drone 30 is displayed may be divided in the status area 42, and information such as the focal length and exposure of the camera may be displayed, and the user may be adjusted to adjust a certain parameter at the corresponding position. . The control device 51 generates and transmits control information for controlling the corresponding drone 30 via the communication device 52 based on the user's operation control signal input to the one or more drones 30 on the control interface 40.

Controlling the state of the pan/tilt carried by the drone includes controlling at least one of: adjusting a pitch angle of the pan-tilt, adjusting a roll angle of the pan-tilt, and adjusting a pan angle of the pan-tilt. Referring to FIG. 3, similarly, an area showing the state of the pan/tilt carried by the drone 30 can be divided in the state area 42, and the pitch angle, the roll angle, the pan angle, and the like of the gimbal can be displayed, and corresponding The position detection user adjusts a parameter. The control device 51 generates and transmits control information for controlling the corresponding drone 30 via the communication device 52 based on the user's operation control signal input to the one or more drones 30 on the control interface 40.

In this embodiment, in addition to the user manually controlling one or more drones 30, intelligent control of the drone 30 by the control system can be implemented to achieve coordinated operation of the plurality of drones 30. The display device 53 is configured to select at least two of the drones 30; the control device 51 is configured to form, according to the selected state information of at least two of the drones, Collaborative control information between the drones; the communication device 52 is configured to simultaneously transmit the collaborative control information to at least two of the drones.

The drone 30 that selects the collaborative work to be performed may be selected by the user through the control interface 40 of the display device 53, or may be intelligently selected by the control device 51 according to the work task. In this embodiment, different control object instances can share information, that is, while different control object instances have certain relative independence, they can directly or indirectly share information with each other, and the shared information includes no one. Status information of the machine 30. Specifically, in some embodiments, different control object instances may send information to other control object instances, or may be different control object instances. The information can be summarized, merged, etc. by a third-party information processing module, and then the processing information can be distributed to different control object instances. This is the technical basis for multi-machine cooperation by drones such as drones 30. For example, in some embodiments, different drones 30 may share state information such as their flight path information with other control object instances through their corresponding control object instances, and other control object instances use this as a basis to control them. Corresponding UAVs 30, thereby achieving specific effects such as uniform distribution of flight paths of different UAVs 30, parallel to each other, and formation of certain graphics. For another example, in some embodiments, different drones 30 may share their flight state information and the like with other control object instances through their corresponding control object instances, and other control object instances are used as a basis to control their corresponding The drone 30, thereby achieving specific effects such as different UAV 30 relay operations.

In this embodiment, the coordinated control information includes at least one of the following: flying simultaneously according to the same route, flying in accordance with the same route, flying simultaneously according to different routes, and flying according to different routes. The cooperative control information, the control device 51 can calculate and generate according to the state information of the plurality of drones 30 to be controlled, the flight route, the planned route, and the like, and generate a series of control information, which are respectively sent by the communication device 52. To multiple drones 30.

In this embodiment, the control system establishes a communication connection with a plurality of the drones 30 in a remote manner, that is, in one or more links in which the control system is connected to the drone 30, using a 4G network or the like suitable for remote communication. Connection method.

Referring to FIG. 6, in an embodiment of the present invention, the UAV control system further includes a server end 60 and a remote control end 70. The user end 10 is communicably connected to the server end 60 through the communication device 52; the remote control end 70 passes the first The remote wireless transmission mode is communicably connected to the drone 30, and the server end 60 is communicably connected to the remote control terminal 70 via the second remote wireless transmission mode. The communication method of the first remote wireless transmission method is different from the communication method of the second remote wireless transmission method. In some embodiments, the farthest transmission distance of the first remote wireless transmission mode is less than the farthest transmission distance of the second remote wireless transmission mode. In this embodiment, the server end 60 can be connected to the client terminal 10 by wire or wirelessly. The first remote wireless transmission mode is a WiFi connection, and the second remote wireless transmission mode is a 4G network communication. This communication connection method greatly expands the present. Invent the scope of application of the control system. The drone control method of this embodiment is the same as that of the previous embodiment. The user controls one or more drones 30 through the control interface of the display device 53 of the client 10, and the status information of the drone 30 can be displayed on the control interface of the display device 53 of the client 10. The server end 60 can implement hierarchical management of multiple users, so that multiple users can cooperatively control multiple drones 30 at the same time; specifically, when multiple users 10 When the server end 60 is connected to the server 60, and the one or more drones 30 are controlled at the same time, the server 60 can process the control information sent by the multiple clients 10 according to the priority, and assign different permissions to the different clients 10, thereby A plurality of users can be cooperatively operated by a plurality of users. The remote control end 70 can control the attitude, speed, and the like of the drone 30, thereby supplementing the control information of the user terminal 10, and realizing the coexistence of one-to-many unified control and individual control.

Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present invention. range.

Claims

A UAV control method is applied to a client, and is characterized in that it comprises:

Establish a communication connection between the client and multiple drones;

Controlling a plurality of the drones by the user terminal, and displaying status information of at least one of the drones through a control interface of the client.
The method of controlling a drone according to claim 1, further comprising:

A plurality of control object instances are established, wherein the drone that has established a communication connection corresponds to one of the control object instances.
The method of controlling a drone according to claim 2, further comprising:

An icon for representing the instance of the control object is displayed on the control interface, wherein one of the control object instances corresponds to one of the icons.
The drone control method according to claim 3, wherein said icon is for selecting to control one of said drones or for selecting to display status information of said one drone.
The method of controlling a drone according to claim 2, further comprising:

Detecting a selection operation signal for selecting the control object instance;

Selecting one of the drones is selected based on the selection operation signal.
The method of controlling a drone according to claim 1, further comprising:

Receiving an input control signal of the user through the control interface;

Control information for controlling the corresponding drone is transmitted according to the input control signal of the user.
The UAV control method according to claim 6, wherein the input control signal comprises at least one of the following:

Controlling the state of the drone, controlling the state of the camera mounted on the drone, and controlling the state of the pan/tilt carried by the drone.
The drone control method according to claim 7, wherein said controlling said said The state of the drone includes controlling at least one of the following: setting a waypoint, landing with one button, and taking off with one button.
The drone control method according to claim 7, wherein the controlling the state of the camera mounted on the drone comprises controlling at least one of: adjusting a focal length of the camera, and adjusting an exposure of the camera degree.
The UAV control method according to claim 7, wherein the controlling the state of the pan/tilt carried by the drone comprises controlling at least one of: adjusting a pitch angle of the pan/tilt, adjusting the The roll angle of the pan/tilt adjusts the panning angle of the pan/tilt.
The drone control method according to claim 6, wherein said control information includes a control command and an identification code of said drone to be controlled.
The method of controlling a drone according to claim 6, further comprising:

Select at least two of the drones;

Forming cooperative control information for implementing cooperation between the plurality of the drones according to state information of at least two of the selected drones; and

The cooperative control information is simultaneously transmitted to at least two of the drones.
The unmanned aerial vehicle control method according to claim 12, wherein the cooperative control information comprises at least one of: flying simultaneously according to the same route, flying in accordance with the same route, flying simultaneously according to different routes, according to different routes. Flying in succession.
The drone control method according to claim 1, wherein said user terminal establishes a communication connection with a plurality of said drones in a remote manner.
The drone control method according to claim 14, further comprising a remote end and a server end;

The server end is communicatively connected to the user end, and can be used for hierarchically managing the control of the drone by a plurality of the user terminals;

The remote end is communicably connected to the drone by a first remote wireless transmission mode;

The server end is also communicably connected to the remote end by a second remote wireless transmission mode.
The drone control method according to claim 15, wherein the communication method of the first remote wireless transmission mode and the communication mode of the second remote wireless transmission mode are not with.
The UAV control method according to claim 16, wherein the farthest transmission distance of the first remote radio transmission mode is smaller than the farthest transmission distance of the second remote radio transmission mode.
A UAV control system, comprising: a communication device, a control device, and a display device;

The communication device is configured to establish a communication connection with the drone;

The display device is configured to display status information of the drone;

The control device is in communication with the communication device and the display device, respectively, for controlling the communication device to establish a communication connection with a plurality of the drones, controlling a plurality of the drones, and Controlling the display device to display status information of at least one of the drones.
The UAV control system according to claim 18, wherein said control means is further configured to establish a plurality of control object instances, wherein said drone that has established a communication connection with said communication device corresponds to One of the control object instances.
The drone control system according to claim 19, wherein said display means is further configured to display an icon for representing said control object instance, wherein one of said control object instances corresponds to one of said icons.
The drone control system according to claim 20, wherein said one of said drones is selectively controllable by operating said icon, or said one state of said drone is selectively displayed.
The drone control system according to claim 19, wherein said display means is further configured to detect a selection operation signal for selecting said control object instance, and transmit said selection operation signal to said control a device; the control device selectively controls one of the drones according to the selection operation signal.
The drone control system according to claim 18, wherein said display means is further configured to receive an input control signal of the user; said control means is further configured to generate, according to said user's input control signal, Controlling corresponding control information of the drone; the communication device is configured to send the control information.
The UAV control system according to claim 23, wherein said input control signal comprises at least one of controlling a state of said drone to control a state of a camera mounted on said drone, Controlling the state of the gimbal carried by the drone.
The UAV control system according to claim 24, wherein said controlling said UAV status comprises controlling at least one of: setting a waypoint, one-key landing, and one-button take-off.
The UAV control system according to claim 24, wherein said controlling a state of said camera carried by said drone comprises controlling at least one of: adjusting a focal length of said camera, and adjusting exposure of said camera degree.
The UAV control system according to claim 24, wherein said controlling said state of said gimbal carried by said unmanned aerial vehicle comprises controlling at least one of: adjusting a pitch angle of said gimbal, adjusting said The roll angle of the pan/tilt adjusts the panning angle of the pan/tilt.
The drone control system according to claim 23, wherein said control information comprises a control command and an identification code of said drone to be controlled.
The drone control system according to claim 23, wherein

The display device is configured to select at least two of the drones according to a user's selection operation signal;

The control device is configured to form cooperative control information for implementing cooperation between the plurality of the drones according to the selected state information of at least two of the drones;

The communication device is configured to simultaneously transmit the collaborative control information to at least two of the drones.
The drone control system according to claim 29, wherein the cooperative control information comprises at least one of: flying simultaneously according to the same route, flying in accordance with the same route, flying simultaneously according to different routes, according to different routes. Flying in succession.
The drone control system according to claim 18, wherein said communication means is operative to establish a communication connection with a plurality of said drones in a remote manner.
The drone control system according to claim 31, further comprising a remote end and a server end;

The server end is communicatively connected to the user end, and can be used for hierarchically managing the control of the drone by a plurality of the user terminals;

The remote end is communicably connected to the drone by a first remote wireless transmission mode;

The server end is also communicably connected to the remote end by a second remote wireless transmission mode.
The UAV control system according to claim 32, wherein said first remote wireless transmission mode has a different communication mode than said second remote wireless transmission mode.
The UAV control system according to claim 33, wherein the farthest transmission distance of the first remote wireless transmission mode is smaller than the farthest transmission distance of the second remote wireless transmission mode.