WO2018152849A1 - Procédé de commande, dispositif de surveillance à distance, station de base, serveur, et serveur multimédia de diffusion en continu - Google Patents

Procédé de commande, dispositif de surveillance à distance, station de base, serveur, et serveur multimédia de diffusion en continu Download PDF

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Publication number
WO2018152849A1
WO2018152849A1 PCT/CN2017/075062 CN2017075062W WO2018152849A1 WO 2018152849 A1 WO2018152849 A1 WO 2018152849A1 CN 2017075062 W CN2017075062 W CN 2017075062W WO 2018152849 A1 WO2018152849 A1 WO 2018152849A1
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WIPO (PCT)
Prior art keywords
server
base station
drone
monitoring device
remote monitoring
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PCT/CN2017/075062
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English (en)
Chinese (zh)
Inventor
熊川樘
吴智强
范礼明
李泽飞
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2017/075062 priority Critical patent/WO2018152849A1/fr
Priority to CN201780005204.6A priority patent/CN108700889B/zh
Publication of WO2018152849A1 publication Critical patent/WO2018152849A1/fr

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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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
    • H04W40/22—Communication route or path selection, e.g. power-based or shortest path routing using selective relaying for reaching a BTS [Base Transceiver Station] or an access point

Definitions

  • the present invention relates to the field of remote monitoring technologies, and in particular, to a control method, a remote monitoring device, a base station, a server, and a streaming media server.
  • the main demand for the purchase of drones is not simple aerial play, but more is to use drones to complete their work tasks. Therefore, they hope to have a complete back-end platform, which can remotely watch the real-time image transmission information, status information, etc. taken by the out-of-office personnel to control the drone, and even hope to control some functions of the drone remotely (such as Control the head of the gimbal, zoom factor of the camera, etc.), in order to achieve the highest viewing effect, complete its monitoring, inspection and other work tasks.
  • the control scene of the drone is mostly that the user uses the remote controller for manual control, and the control range and the range of the image transmission are also limited by the communication link of the remote controller.
  • the flying hand when the flying hand is operating the drone, only the person can view the drone picture and status information. Therefore, the real-time image transmission and status information of the drone cannot be transmitted to the remote, and it is impossible to integrate into the unified monitoring platform. Therefore, the drone cannot be used to complete a complete solution and realize the effect of remote monitoring.
  • Embodiments of the present invention provide a control method, a remote monitoring device, a base station, a server, and a streaming media server to enable a user to remotely control a drone and/or remotely view data such as acquired images.
  • the present invention provides a method for controlling a remote monitoring device, where the remote monitoring device communicates with a server, and the control method includes:
  • the remote monitoring device detects a user's operation
  • the remote monitoring device determines a control instruction for controlling the drone according to an operation of the user.
  • the remote monitoring device transmits a control command of the drone to the server to enable the drone to acquire the control command.
  • the present invention provides a method for controlling a base station, where the base station communicates with a drone and a server respectively, and the control method includes:
  • the base station controls the drone according to the control instruction.
  • the present invention provides a server control method, where the server communicates with a base station of a drone and a remote monitoring device, respectively.
  • the control method includes:
  • the server sends the control command to the base station.
  • the present invention provides a method for controlling a streaming media server, wherein the streaming media server communicates with a base station and a server of a drone, respectively.
  • the control method includes:
  • the streaming server transmits an image acquisition address corresponding to the image data to the server.
  • the present invention provides a remote monitoring device, the remote monitoring device is in communication with a server, the remote monitoring device includes a processor, and the processor is configured to:
  • the present invention provides a base station, wherein the base station communicates with a drone and a server, respectively, the base station includes a processor, and the processor is configured to:
  • the drone is controlled according to the control command.
  • the present invention provides a server that communicates with a base station and a remote monitoring device of a drone, respectively, the server including a processor, the processor is configured to:
  • the present invention provides a streaming media server that communicates with a base station and a server of a drone, respectively, wherein the streaming media server includes a processor, and the processor is configured to:
  • An image acquisition address corresponding to the image data is transmitted to the server.
  • the control method, the remote monitoring device, the base station, the server, and the streaming media server of the embodiment of the present invention can transmit the image information and the state information captured by the drone to the remote monitoring device in real time, so that the remote monitoring device can see the unmanned person on the one hand.
  • the image information and status information of the machine on the other hand, can realize the remote control of the drone, and is suitable for various application scenarios such as security monitoring and out-of-office duty, which is convenient for the use of industrial users.
  • FIG. 1 is a schematic flow chart of a control method according to some embodiments of the present invention.
  • FIG. 2 is a schematic diagram of functional modules of a remote monitoring device according to some embodiments of the present invention.
  • FIG. 3 is a schematic diagram of the principle of a control method according to some embodiments of the present invention.
  • FIG. 4 is a schematic flow chart of a control method according to some embodiments of the present invention.
  • FIG. 5 is a schematic flow chart of a control method according to some embodiments of the present invention.
  • FIG. 6 is a schematic flow chart of a control method according to some embodiments of the present invention.
  • FIG. 7 is a schematic flow chart of a control method according to some embodiments of the present invention.
  • FIG. 8 is a schematic flow chart of a control method according to some embodiments of the present invention.
  • FIG. 9 is a schematic flow chart of a control method according to some embodiments of the present invention.
  • FIG. 10 is a schematic flow chart of a control method according to some embodiments of the present invention.
  • FIG. 11 is a schematic diagram of functional blocks of a base station according to some embodiments of the present invention.
  • FIG. 12 is a schematic flow chart of a control method according to some embodiments of the present invention.
  • FIG. 13 is a schematic diagram of functional blocks of a base station according to some embodiments of the present invention.
  • FIG. 14 is a schematic diagram of the principle of a control method according to some embodiments of the present invention.
  • 15 is a schematic flow chart of a control method according to some embodiments of the present invention.
  • 16 is a schematic diagram of functional blocks of a base station according to some embodiments of the present invention.
  • 17 is a schematic diagram showing the principle of a control method according to some embodiments of the present invention.
  • 19 is a schematic flow chart of a control method according to some embodiments of the present invention.
  • FIG. 20 is a schematic flow chart of a control method according to some embodiments of the present invention.
  • 21 is a schematic flow chart of a control method according to some embodiments of the present invention.
  • 22 is a schematic flow chart of a control method according to some embodiments of the present invention.
  • FIG. 23 is a schematic flow chart of a control method according to some embodiments of the present invention.
  • 24 is a schematic flow chart of a control method according to some embodiments of the present invention.
  • 25 is a schematic diagram of the principle of a control method according to some embodiments of the present invention.
  • 26 is a schematic diagram of functional modules of a server according to some embodiments of the present invention.
  • FIG. 27 is a schematic flow chart of a control method according to some embodiments of the present invention.
  • 29 is a schematic flow chart of a control method according to some embodiments of the present invention.
  • FIG. 30 is a schematic diagram of functional modules of a server according to some embodiments of the present invention.
  • FIG. 31 is a schematic diagram of the principle of a control method according to some embodiments of the present invention.
  • FIG. 34 is a schematic flow chart of a control method according to some embodiments of the present invention.
  • 35 is a schematic flow chart of a control method according to some embodiments of the present invention.
  • 36 is a schematic flow chart of a control method according to some embodiments of the present invention.
  • FIG. 38 is a schematic diagram of functional modules of a streaming media server according to some embodiments of the present invention.
  • 39 is a schematic flow chart of a control method according to some embodiments of the present invention.
  • FIG. 40 is a schematic flow chart of a control method according to some embodiments of the present invention.
  • 41 is a schematic diagram of the principle of a control method in accordance with some embodiments of the present invention.
  • control methods include:
  • the remote monitoring device 100 detects the operation of the user
  • the remote monitoring device 100 determines a control instruction for controlling the drone 500 according to a user's operation.
  • the remote monitoring device 100 transmits a control command of the drone 500 to the server 300 to enable the drone 500 to acquire a control command.
  • the control method of the embodiment of the present invention can be implemented by the remote monitoring device 100 of the embodiment of the present invention.
  • the remote monitoring device 100 of the embodiment of the present invention includes a first processor 10.
  • the first processor 10 can be used to perform step S11, step S12, and step S13.
  • the first processor 10 is used to:
  • the control command of the drone 500 is sent to the server 300 to enable the drone 500 to acquire the control command.
  • the remote monitoring device 100 can implement remote control of the drone 500 according to the user's operation, and the real-time image and status information of the drone 500 can be transmitted to the remote monitoring device 100 for integration into a unified monitoring platform.
  • the user does not need to worry about the remote distance from the drone 500, which makes it impossible to realize the manipulation of the remote drone 500 and the inability to acquire various types of data of the drone 500.
  • the control method of the embodiment of the invention is applicable In various industries such as security monitoring and traffic inspection, the user can control the drone 500 on the remote platform and view the image data collected by the drone 500, which is convenient for the user and enhances the user experience.
  • control method of the embodiment of the present invention further includes:
  • the remote monitoring device 100 acquires the working data of the drone 500 according to the control instruction.
  • Step S14 can be implemented by the first processor 10. That is to say, the first processor 10 is further configured to acquire the work data of the drone 500 according to the control command.
  • the user inputs a control command to acquire the work data of the remote drone 500
  • the first processor 10 of the remote monitoring device 100 receives the work data of the drone 500 according to the user's input command.
  • the user can view the work data of the drone 500 on the remote monitoring device 100.
  • the work data includes image data captured by the drone 500
  • the control command includes first control instructions for acquiring image data
  • the server 300 and the cached image data The streaming server 400 communicates, step S14, the remote monitoring device 100 acquires the working data of the drone 500 according to the control instruction, including:
  • the remote monitoring device 100 acquires image data from the streaming server 400 according to the first control instruction.
  • Step S141 can be implemented by the first processor 10. That is, the first processor 10 is further configured to acquire image data from the streaming server 400 according to the first control instruction.
  • the remote monitoring device 100 determines that the user inputs a first control instruction for acquiring image data captured by the drone 500 according to an operation of the user, and the remote monitoring device 100 transmits the first control instruction to the server 300 to notify the drone 500.
  • the captured image data is transmitted to the streaming server 400.
  • the streaming server 400 buffers the image data.
  • the remote monitoring device 100 can acquire the image data from the streaming server 400, and the user can view the image data transmitted by the drone 500 on the remote monitoring device 100.
  • the image data includes an image or video taken by the drone 500.
  • the drone 500 communicates with the base station 200.
  • Step S141 The remote monitoring device 100 acquires image data from the streaming server 400 according to the first control instruction, including:
  • the remote monitoring device 100 receives an image acquisition address transmitted by the server 300, and the image acquisition address is transmitted to the server 300 when the streaming server 400 buffers image data transmitted by the base station 200 communicating with the drone 500;
  • the remote monitoring device 100 acquires image data from the streaming server 400 according to the image acquisition address.
  • step S1411 and step S1412 can be implemented by the first processor 10. That is to say, the first processor 10 is further used to:
  • Image data is acquired from the streaming server 400 in accordance with the image acquisition address.
  • the base station 200 transmits the image data sent by the drone 500 to the streaming server 400 for caching.
  • the streaming server 400 transmits an image acquisition address corresponding to the image data to the server 300, and the server 300 transmits the image acquisition address to the remote monitoring device 100.
  • the remote monitoring device 100 can acquire image data from the streaming server 400 according to the image acquisition address.
  • the image acquisition address includes one or more formats.
  • Step S1412 The remote monitoring device 100 acquires image data from the streaming server 400 according to the image acquisition address, including:
  • the remote monitoring device 100 acquires image data from the streaming server 400 according to one of an image acquisition address of one format or an image acquisition address of a plurality of formats.
  • the remote monitoring device 100 may include various devices, such as devices of the IOS system, devices of the Android system, and the like, and thus the format of the image acquisition address between the remote monitoring device 100 and the streaming media server 400 is also various.
  • the streaming media server 400 transmits the image acquisition addresses in multiple formats, so that the selection freedom of the remote monitoring device 100 is greater, that is, the various types of remote monitoring devices 100 can obtain the addresses according to the images of the corresponding formats. Get image data.
  • the format of the image acquisition address includes three formats: HLS, RTMP, and M3U8.
  • the image acquisition address of the HLS format is applicable to devices of the IOS system, such as an Apple mobile phone, an Apple computer, and the like.
  • Image acquisition addresses in RTMP and M3U8 formats are available for non-IOS devices such as Android phones, Windows computers, and more.
  • the working data includes status data of the drone 500
  • the control command includes a second control instruction for acquiring status data
  • the remote monitoring device 100 according to the control is performed in step S14.
  • the instruction to acquire the work data of the drone 500 includes:
  • S142 The remote monitoring device 100 acquires status data from the server 300 according to the second control instruction.
  • step S142 can be implemented by the first processor 10. That is, the first processor 10 is further configured to acquire status data from the server 300 according to the second control instruction.
  • the server 300 transmits a second control command to the base station 200, and the base station 200 transmits the second control unit 500.
  • the status data is sent to the server 300, which then sends the status data to the remote monitoring device 100.
  • the user can observe the real-time flight status of the drone 500 through the remote monitoring device 100.
  • the operational data may also include status data for the base station 200.
  • the status data of the base station 200 includes location information of the base station 200 and the like.
  • the control method of the present embodiment can obtain the state data of the base station 200 by transmitting a control command for acquiring the state data of the base station 200 by the remote monitoring device 100.
  • the work data includes both the status data of the drone 500 and the status of the base station 200
  • the control method of the present embodiment can obtain the state data of the drone 500 and the state data of the base station 200 by executing the step S142 and transmitting a control command for acquiring the state data of the base station 200 by the remote monitoring device 100.
  • the status data of the drone 500 includes at least one of flight parameters, attitude information, location information, pan/tilt attitude information, and power information of the drone 500.
  • the user can grasp the flight state of the drone 500 in real time according to the state data of the drone 500.
  • step S142 The remote monitoring device 100 acquires status data from the server 300 according to the second control instruction, including:
  • the remote monitoring device 100 receives the status data sent from the server 300 through a preset network protocol according to the second control instruction.
  • step S1421 can be implemented by the first processor 10. That is to say, the first processor 10 is further configured to receive the status data transmitted from the server 300 through the preset network protocol according to the second control instruction.
  • the remote monitoring device 100 and the server 300 can communicate through various network protocols.
  • the preset network protocol is one or more of a variety of network protocols.
  • the remote monitoring device 100 communicates with the server 300 according to a preset network protocol to ensure the accuracy and stability of the state data transmission.
  • the preset network protocol includes a Websocket network protocol.
  • duplex communication between the remote monitoring device 100 and the server 300 is implemented using the Websocket network protocol.
  • the Websocket network protocol ensures a persistent connection between the remote monitoring device 100 and the server 300, improving the stability and accuracy of state data transmission.
  • step S142 The remote monitoring device 100 acquires status data from the server 300 according to the second control instruction.
  • the remote monitoring device 100 receives one or more of all status data or status data according to the second control instruction.
  • the status data of the drone 500 includes flight parameters, posture information, position information, pan/tilt posture information, power amount information, and the like of the drone 500.
  • the user needs to obtain all the state data of the drone 500 in some cases, and in some cases only needs to obtain one or several of the state data.
  • the remote monitoring device 100 can acquire only the state information that the user needs to know according to the indication of the second control instruction.
  • control instructions include third control commands for controlling the flight of the plurality of drones 500, and the third control commands are used to control the plurality of drones 500 to operate simultaneously and/or to poll for work.
  • a user may require multiple drones 500 to perform tasks simultaneously or in turn. Therefore, the user can issue a third control command to the remote monitoring device 100 to control the plurality of drones 500 to perform tasks according to user requirements.
  • control instructions include a fourth control command for controlling the flight of the drone 500, and the fourth control command is for controlling the drone 500 to execute the preset course.
  • the user can control the drone 500 to pass the preset navigation by issuing a fourth control command to the remote monitoring device 100. Line flight.
  • the preset route includes a route stored in the server 300 and/or a route entered through the remote monitoring device 100.
  • the preset route can be stored in the server 300, wherein the user can operate the remote monitoring device 100, and store multiple routes or routes that need to be executed frequently through the remote monitoring device 100 in the server 300.
  • the user can select the route stored in the memory on the remote monitoring device 100, and control the drone to execute the route; in addition, the user can also edit or set the route in the remote monitoring device 100, and remotely monitor
  • the device 100 transmits the edited or set route to the server 300, and the server 300 transmits the route to the base station 200 connected to the drone 500, and the drone 500 can fly according to the route.
  • the drone 100 has a large degree of freedom of flight, and can further satisfy the user's use requirements.
  • control method of the embodiment of the present invention further includes:
  • the remote monitoring device 100 determines an image processing instruction of the image data according to a user's operation.
  • the remote monitoring device 100 transmits an image processing instruction to the server 300, and the image processing instruction is used to process the image data captured by the drone 500 buffered in the streaming server 400.
  • step S15 and step S16 can be implemented by the first processor 10. That is to say, the first processor 10 can also be used to:
  • the image processing instructions are sent to the server 300 for processing the image data captured by the drone 500 buffered in the streaming server 400.
  • the remote monitoring device 100 acquires the image data
  • the user may wish to process the image data. For example, in some cases users would like to be able to store some of the more important data in the image data.
  • the user issues an image processing instruction to the remote monitoring device 100, and the remote monitoring device 100 transmits an image processing instruction to the server 300, and then the server 300 transmits the image processing instruction to the streaming server 400 that caches the image data corresponding to the image processing instruction.
  • the streaming server 400 performs corresponding processing on the image data according to the image processing instruction.
  • the image processing instructions include processing, storing, sorting, watermarking, and extracting one or more of the image objects for processing.
  • image data can be processed in various ways to meet the user's needs.
  • the server 300 when the user issues an image processing instruction for storing image data through the remote monitoring device 100, the server 300 receives the image processing instruction and transmits it to the streaming server 400.
  • the streaming server 300 executes the image processing instruction to store the corresponding image data in the object storage system 600 included or external to the streaming server 400.
  • the object storage system 600 is external.
  • the object storage system 600 and the streaming server 400 may also be the same.
  • control methods include:
  • the base station 200 receives a control command sent by the server 300 for controlling the drone 500;
  • S22 The base station 200 controls the drone 500 according to the control command.
  • a control method according to an embodiment of the present invention may be implemented by a base station 200 according to an embodiment of the present invention.
  • the base station 200 of the embodiment of the present invention includes a second processor 20.
  • Step S21 and step S22 may be implemented by the second processor 20. That is to say, the second processor 20 is used to:
  • the drone 500 is controlled in accordance with a control command.
  • the base station 200 can control the flight or data transmission of the drone 500 according to the control command. Since the control command is transmitted from the remote monitoring device 100 to the server 300 and then forwarded to the base station 200 by the server 300, the effect of the user remotely controlling the drone 500 is achieved.
  • base station 200 includes a communication client module 22 and a first service module 24.
  • Step S21 The base station 200 receives the control command sent by the server 300 for controlling the drone 500, including:
  • the communication client module 22 of the base station 200 receives the control instruction sent by the server 300;
  • S212 The communication client module 22 of the base station 200 sends a control command to the first service module 24.
  • Step S22 The base station 200 controls the drone 500 according to the control instruction, including:
  • S221 The first service module 24 of the base station 200 controls the drone 500 according to the control command.
  • step S211 and step S212 can be implemented by the second processor 20. That is to say, the second processor 20 is also used to:
  • the communication client module 22 of the control base station 200 receives the control command sent by the server 300;
  • the first service module 24 of the control base station 200 controls the drone 500 in accordance with a control command.
  • the communication client module 22 receives the control command sent by the server 300 and transmits the control command to the first service module 24.
  • the first service module 24 performs control of the drone 500 according to the received control command. action.
  • the communication between the communication client module 22 and the first service module 24 includes communication using the Websocket network protocol.
  • the base communication client module 22 includes a first client module 221 and a second client module 222, and the communication client module 22 of the base station 200 receives the server in step S211.
  • the control commands sent by 300 include:
  • the first client module 221 of the base station 200 receives the control command sent by the server 300;
  • S2112 The first client module 221 of the base station 200 transparently transmits a control command to the second client module 222.
  • Step S212 The communication client module 22 of the base station 200 sends a control command to the first service module 24, including:
  • S2121 The second client module 222 of the base station 200 sends a control command to the first service module 24.
  • step S2111 and step S2112 can be implemented by the second processor 20. That is to say, the second processor 20 is further used to:
  • the first client module 221 of the control base station 200 receives the control command sent by the server 300;
  • the second client module 222 controlling the base station 200 sends a control command to the first service module 24.
  • the first client module 221 receives the control command sent by the server 300 and transmits the control command to the second client module 222 , and then sends the control command to the first service module 24 by the second client module 222 .
  • the first service module 24 performs an action of controlling the drone 500 in accordance with the control command.
  • dividing the communication client module 22 into the first client module 221 and the second client module 222 can simplify the programming process of implementing the control method of the embodiment of the present invention, and can further modularize communication between the server and the base station. .
  • step S22 base station 200 controls drone 500 according to a control instruction, including:
  • S222 The base station 200 controls the drone 500 to send the working data according to the control instruction.
  • the base station 200 receives the work data
  • the base station 200 transmits the working data.
  • step S222, step S23, and step S24 can be implemented by the second processor 20. That is to say, the second processor 20 is further used to:
  • the base station 200 receives the work data from the drone 500 and transmits the work data to the server 300 in accordance with the control command. Since the server 300 communicates with the remote monitoring device 100, that is, the server 300 transmits the work data to the remote monitoring device 100, the user can view the work data of the drone 500 on the remote monitoring device 100.
  • the work data includes image data captured by the drone 500
  • the control command includes first control instructions for acquiring image data
  • the base station 200 and the streaming server 400 Communication step S222, the base station 200 controls the drone 500 to transmit the working data according to the control instruction, including:
  • the base station 200 controls the drone 500 to transmit image data according to the first control instruction.
  • Step S23 The base station 200 receives the working data, including:
  • the base station 200 receives image data.
  • Step S24 The base station 200 sends the working data to include:
  • the base station 200 transmits image data to the streaming server 400.
  • step S2221, step S231, and step S241 can be implemented by the second processor 20. That is to say, the second processor 20 is further used to:
  • the image data is sent to the streaming server 400.
  • the base station 200 receives the image data transmitted by the drone 200 in accordance with the control command, and transmits the image data to the streaming server 400.
  • the remote monitoring device 100 and the streaming server 400 communicate to achieve acquisition of image data.
  • the image data includes an image or video taken by the drone 500.
  • the sending, by the base station 200, the image data to the streaming server 400 in step S241 includes:
  • the base station 200 sends the image data to the streaming media server 400 by using a preset network protocol according to the first control instruction.
  • step S2411 can be implemented by the second processor 20. That is, the second processor 20 is further configured to send image data to the streaming server 400 through a preset network protocol according to the first control instruction.
  • the base station 200 communicates with the streaming server 400 according to a preset network protocol to ensure the accuracy of image data transmission.
  • the preset network protocol includes an RTMP network protocol.
  • the RTMP network protocol is a real-time message transmission protocol.
  • the transmission of image data using the RTMP network protocol can transmit images or video to the streaming server 400 in real time, and the remote monitoring device 100 can also acquire image data in real time.
  • the work data includes status data of the drone 500
  • the control command includes a second control command for acquiring status data
  • the base station 200 controls the drone 500 to transmit according to the control command.
  • Work data includes:
  • the base station 200 controls the drone 500 to transmit status data according to the second control instruction.
  • Step S23 The base station 200 receives the working data, including:
  • S232 The base station 200 receives the status data.
  • Step S24 The base station 200 sends the working data to include:
  • S242 The base station 200 transmits status data to the server 300.
  • the second processor 20 is further configured to:
  • the base station 200 receives the status data transmitted by the drone 500 according to the control command, and transmits the status data of the drone 500 to the server 300.
  • the remote monitoring device 100 communicates with the server 300 to effect acquisition of status data.
  • the operational data may also include status data for the base station 200.
  • the status data of the base station 200 includes location information of the base station 200 and the like.
  • the control method of the present embodiment only needs to perform step S242.
  • step S2222, step S232, and step S242 are performed.
  • the sending, by the base station 200, the status data to the server 300 in step S242 includes:
  • the first service module 24 of the base station 200 sends status data to the second client module 222;
  • the second client module 222 of the base station 200 transparently transmits the status data to the first client module 221;
  • S2423 The first client module 221 of the base station 200 sends status data to the server 300.
  • step S2421, step S2422, and step S2423 can each be implemented by the second processor 20. That is to say, the second processor 20 is further used to:
  • the first client module 221 of the control base station 200 transmits status data to the server 300.
  • the status data is received by the first service module 24 of the base station 200, it is sent by the first service module 24 to the second client module 222 and transparently transmitted by the second client module 222 to the first client.
  • the end module 221 is finally sent by the second client module 221 to the server 300.
  • the transmission of the state data is realized, and the remote monitoring device 100 and the server 300 can realize the acquisition of the state data according to the foregoing manner, wherein the first client module 221 is responsible for processing the communication with the server 300, and the second client module 222 is configured.
  • the base station 200 further includes a third client module, wherein the third client module can provide the user with an interaction interface of the base station 200, and the user operates the interaction interface of the base station 200 and inputs corresponding control control commands.
  • the base station 200 can control the drone 500 according to the control command.
  • the client module in the present invention may be an application program, a hardware module, or a combination of an application module and a hardware module.
  • the sending, by the base station 200, the status data to the server 300 in step S242 includes:
  • the base station 200 sends the status data to the server 300 by using a preset network protocol according to the second control instruction.
  • step S2424 can be implemented by the second processor 20. That is to say, the second processor 20 is configured to send the status data to the server 300 through the preset network protocol according to the second control instruction.
  • the transmission of status data can be implemented between the base station 200 and the server 300 using a variety of network protocols.
  • the preset network protocol is one or more of a variety of network protocols.
  • the base station 200 communicates with the server 300 according to a preset network protocol to ensure the accuracy of the status data transmission.
  • the preset network protocol includes a Websocket network protocol.
  • duplex communication between the base station 200 and the server 300 is implemented using the Websocket network protocol.
  • the Websocket network protocol ensures a persistent connection between the base station 200 and the server 300, improving the stability and accuracy of state data transmission.
  • the status data of the drone 500 includes at least one of flight parameters, attitude information, location information, pan/tilt attitude information, and power information of the drone 500.
  • the status data of the drone 500 that the user often pays attention to includes flight parameters, posture information, position information, pan/tilt posture information, power amount information, and the like.
  • the base station 200 receives and transmits these status information to facilitate the user's grasp of the flight status of the drone 500.
  • the base station 200 receives status data that is periodically executed; the base station 200 transmits status data to the server 300 that is periodically performed.
  • the base station 200 needs to periodically receive the status data of the drone 500 and periodically transmit it to the server 300 to facilitate the user to grasp the flight status of the drone in real time.
  • the period in which each state data is received and the period in which the state data is transmitted are short, so that the purpose of updating the state data in real time can be achieved.
  • the receiving, by the base station 200, the control instruction sent by the server 300 for controlling the drone 500 includes:
  • the base station 200 receives a control instruction sent by the server 300 for controlling the drone 500 according to a preset network protocol.
  • step S213 can be implemented by the second processor 20. That is to say, the second processor 20 is further configured to receive a control command sent by the server 300 for controlling the drone 500 according to a preset network protocol.
  • the transmission of control commands can be implemented between the base station 200 and the server 300 using a variety of network protocols.
  • the preset network protocol is one or more of a variety of network protocols.
  • the base station 200 communicates with the server 300 according to a preset network protocol to ensure the accuracy of control command transmission.
  • the preset network protocol includes a Websocket network protocol.
  • the transmission of control commands between the base station 200 and the server 300 is implemented using the Websocket network protocol.
  • the Websocket network protocol can ensure a persistent connection between the base station 200 and the server 300, and improve the stability of control command transmission.
  • control instructions include third control commands for controlling the flight of the plurality of drones 500, and the third control commands are used to control the plurality of drones 500 to operate simultaneously and/or to poll for work.
  • the base station 200 can control the plurality of drones 500 to perform tasks according to user requirements according to the third control command.
  • control instructions include a fourth control command for controlling the flight of the drone 500, and the fourth control command is for controlling the drone 500 to execute the preset course.
  • the base station 200 can control the drone 500 to fly according to a preset route according to the fourth control command.
  • the preset route includes a route stored in the server 300 and/or a route entered through the remote monitoring device 100.
  • the preset route may be stored in the server 300 or may be a preset route input by the user through the remote monitoring device 100.
  • the drone 100 has a large degree of freedom of flight, and can further satisfy the user's use requirements.
  • base station 200 can include a dedicated remote control, smartphone, computer, watch, wristband, ground control station that can control drone 500, can automatically replace battery or charge for drone 500 Equipment, etc. and combinations thereof.
  • control methods include:
  • the server 300 receives a control instruction sent by the remote monitoring device 100 for controlling the drone 500;
  • S32 The server 300 transmits a control command to the base station 100.
  • control method of the embodiment of the present invention may be implemented by the server 300 of the embodiment of the present invention.
  • the server 300 of the embodiment of the present invention includes a third processor 30.
  • Step S31 and step S32 may be implemented by the third processor 30. That is to say, the third processor 30 is used to:
  • a control command is sent to the base station 100.
  • the server 300 acts as a relay station for communication between the remote monitoring device 100 and the base station 200, and forwards the control command sent by the remote monitoring device 100 to the base station 200 to implement remote monitoring of the drone 500 by the remote monitoring device 100.
  • the server 300 includes a communication service module 32.
  • the step S31 receives the control command sent by the remote monitoring device 100 for controlling the drone 500, including:
  • S311 The communication service module 32 of the server 300 receives the control instruction.
  • Step S32 The server 300 sends a control instruction to the base station 100, including:
  • S321 The communication service module 32 of the server 300 sends a control command to the base station 200.
  • step S311 and step S321 can be implemented by the third processor 30. That is to say, the third processor 30 is used to:
  • the communication service module 32 of the control server 300 receives the control instruction
  • the communication service module 32 of the control server 300 transmits a control command to the base station 200.
  • the remote monitoring device 100 receives the control command and is received by the communication service module 32 of the server 300, and the communication service module 32 transmits the control command to the base station 200.
  • the server 300 performs the relaying and transmitting of the control commands to enable remote monitoring of the drone 500 by the remote monitoring device 100.
  • the communication service module 32 includes a first communication service module 321 and a second communication service module 322.
  • Step S311 The communication service module 32 of the server 300 receives the control instruction, including:
  • the first communication service module 321 of the server 300 receives the control instruction
  • S3112 The first communication service module 321 of the server 300 transparently transmits the control command to the second communication service module 322.
  • Step S321 The communication service module 32 of the server 300 sends a control command to the base station 200, including:
  • the second communication service module 322 of the server 300 sends a control command to the base station 200.
  • step S1111, step S3112, and step S3211 can each be implemented by the third processor 30. That is to say, the third processor 30 is further used to:
  • the first communication service module 321 of the control server 300 receives the control instruction
  • the first communication service module 321 of the control server 300 transparently transmits the control command to the second communication service module 322;
  • the second communication service module 322 of the control server 300 transmits a control command to the base station 200.
  • the first communication service module 321 receives the control command sent by the remote monitoring device 100 and transmits the control command to the second communication service module 322, and the second communication service module 322 transmits the control command to the base station 200.
  • dividing the communication service module 32 into the first communication service module 321 and the second communication service module 322 can simplify the programming process of the server 300 of the embodiment of the present invention, wherein the first communication service module 321 is responsible for communicating with the remote monitoring device 100.
  • the second communication service module 322 is responsible for communicating with the base station 200, and the data between the first communication service module 321 and the second communication service module 322 are mutually transparent, so that the server 300 and the base station 200 and the remote monitoring device 100 can be
  • the communication link is more modular, facilitating modification and porting of the communication program of the later server 300.
  • control method of the embodiment of the present invention further includes:
  • S33 The server 300 receives the work data of the drone 500 according to the control command.
  • step S33 can be implemented by the third processor 30. That is to say, the third processor 30 is further configured to receive the work data of the drone 500 according to the control command.
  • the server 300 receives the work data of the drone 500, and the remote monitoring device 100 communicates with the server 300. Therefore, the remote monitoring 100 can acquire the working data of the drone 500 through the server 300, and realize remote monitoring of the drone 500.
  • the work data includes an image acquisition address of image data captured by the drone 500
  • the control instruction includes a first control instruction for acquiring an image acquisition address of the image data.
  • the server 300 communicates with the streaming media server 400 that caches image data. Step S33: The server 300 receives the working data of the drone 500 according to the control command, including:
  • S331 The server 300 receives an image acquisition address corresponding to the image data sent by the streaming media server 400 according to the first control instruction.
  • S34 The server 300 sends an image acquisition address to the remote monitoring device 100.
  • step S331 and step S34 can be implemented by the third processor 30. That is to say, the third processor 30 is also used to:
  • the server 300 receives an image acquisition address corresponding to the image data sent by the streaming server 400 according to the first control instruction;
  • the server 300 transmits an image acquisition address to the remote monitoring device 100.
  • the remote monitoring device 100 transmits the first control command to the server 300 and is forwarded by the server 300 to the base station 200. Subsequently, the base station 200 transmits image data to the streaming server 400.
  • the streaming server 400 buffers the image data, and transmits the image acquisition address corresponding to the buffered image data to the server 300.
  • the server 300 forwards the image acquisition address to the remote monitoring device 100.
  • the remote monitoring device 100 can obtain image data of the drone based on the image acquisition address.
  • the step S331 receives the image acquisition address corresponding to the image data sent by the streaming server 400 according to the first control instruction, and the first communication service module 321 of the control server 300 receives the streaming media according to the first control instruction.
  • the streaming media server 400 sends an image acquisition address to the server 300.
  • the first communication service module 321 in the server 300 receives the image acquisition address, and then the first communication service module 321 sends the image acquisition address to the remote monitoring device 100.
  • the step S331 receives the image acquisition address corresponding to the image data sent by the streaming server 400 according to the first control instruction
  • the server 300 receives the image data corresponding to the image data sent by the streaming server 400 according to the first control instruction.
  • the server 300 transmits an image acquisition address of one or more formats to the remote monitoring device 100.
  • the remote monitoring device 100 may include multiple devices, such as devices of the IOS system, Android systems.
  • the device or the like and thus the format of the image acquisition address between the remote monitoring device 100 and the streaming server 400 is also various.
  • the streaming media server 400 transmits the image acquisition addresses in multiple formats, so that the selection freedom of the remote monitoring device 100 is greater, that is, the various types of remote monitoring devices 100 can obtain the addresses according to the images of the corresponding formats. Get image data.
  • the format of the image acquisition address includes three formats: HLS, RTMP, and M3U8.
  • the image acquisition address of the HLS format is applicable to devices of the IOS system, such as an Apple mobile phone, an Apple computer, and the like.
  • Image acquisition addresses in RTMP and M3U8 formats are available for non-IOS devices such as Android phones, Windows computers, and more.
  • the work data includes status data of the drone 500
  • the control command includes a second control command for acquiring status data
  • the server 300 receives the drone 500 according to the control command.
  • Work data includes:
  • S332 The server 300 receives the status data according to the second control instruction.
  • S35 The server 300 sends the status data to the remote monitoring device 100.
  • step S331 and step S36 can be implemented by the third processor 30. That is to say, the third processor 30 is also used to:
  • the server 300 forwards the state data of the drone 500 received from the base station 200 to the remote monitoring device 100, and the user can grasp the working flight state of the drone 500 in real time through the remote monitoring device 100.
  • the operational data may also include status data for the base station 200.
  • the status data of the base station 200 includes location information of the base station 200 and the like.
  • the control method of the present embodiment receives the status data of the base station 200 according to the control command for acquiring the status data of the base station 200 and performs the step S35 to send the status data of the base station 200 to the remote monitoring device. 100.
  • the control method of the present embodiment receives the status data of the base station 200 according to the control command for acquiring the status data of the base station 200, and performs the steps.
  • S332 receives the state data of the drone 500 according to the second control command, and then performs step S35 to transmit the state data of the base station 200 and the state data of the drone 500 to the remote monitoring device 100.
  • the step S332 receives the status data by the server 300 according to the second control instruction, including:
  • S3321 The second communication service module 322 of the server 300 receives the status data.
  • S3322 The second communication service module 322 of the server 300 transparently transmits the status data to the first communication service of the server 300.
  • Step S35 The server 300 sends the status data to the remote monitoring device 100, including:
  • S351 The first communication service module 321 of the server 300 sends the status data to the remote monitoring device 100.
  • step S3321 and step S3322 and step S351 can each be implemented by the third processor 30. That is to say, the third processor 30 is further used to:
  • the second communication service module 322 of the control server 300 receives the status data
  • the second communication service module 322 of the control server 300 transparently transmits the status data to the first communication service module 321 of the server 300;
  • the first communication service module 321 of the control server 300 transmits status data to the remote monitoring device 100.
  • the base station 200 transmits the status data of the drone 500 and then receives it from the second communication service module 322 and transparently transmits it to the first communication service module 321, and the first communication service module transmits the status data to the remote. Monitoring device 100. In this way, the user's grasp of the flight state of the drone 500 is achieved.
  • the status data of the drone 500 includes at least one of flight parameters, attitude information, location information, pan/tilt attitude information, and power information.
  • the status data of the drone 500 that the user frequently pays attention to includes flight parameters, posture information, position information, pan/tilt posture information, power amount information, and the like.
  • the server 300 forwards these status information to facilitate the user's grasp of the flight status of the drone 500.
  • control method of the embodiment of the present invention further includes:
  • the server 300 receives an image processing instruction of the image data sent by the remote monitoring device 100;
  • the server 300 sends an image processing instruction to the streaming server 400, and the image processing instruction is used to process the image data captured by the drone 500 buffered in the streaming server 400.
  • step S37 and step S38 can be implemented by the third processor 30. That is to say, the third processor 30 is also used to:
  • An image processing instruction for receiving image data transmitted by the remote monitoring device 100 is
  • the image processing instructions are sent to the streaming server 400 for processing the image data captured by the drone 500 buffered in the streaming server 400.
  • the user may wish to process image data taken by the drone 500.
  • the server 300 forwards the image processing instruction to the streaming server 400.
  • the streaming server 400 performs corresponding processing on the image data in accordance with the image processing instructions.
  • the image processing instructions include one or more of storing, classifying, watermarking, and extracting the target data.
  • image data can be processed in various ways to meet the user's needs.
  • server 300 also includes database 34 and algorithm engine 36.
  • the database 34 stores form information of the remote monitoring device 100, form information of the base station 200, routes, and the like.
  • the algorithm engine 36 stores an algorithm program for controlling the cooperation or polling work of the plurality of drones 500.
  • the server 300 receives the control command sent by the remote monitoring device 100
  • the database 34 matches the remote monitoring device 100 and the corresponding base station 200 according to the control command to find the corresponding execution base station 200 of the control command.
  • the algorithm engine 36 invokes a corresponding algorithm program to implement manipulation of the plurality of drones 500 according to the control command.
  • control methods include:
  • the streaming server 400 receives the image data captured by the drone 500 transmitted by the base station 200;
  • the streaming server 400 transmits an image acquisition address corresponding to the image data to the server 300.
  • the control method of the embodiment of the present invention may be implemented by the streaming server 400 of the embodiment of the present invention.
  • the streaming server 400 of the embodiment of the present invention includes a fourth processor 40.
  • Step S41 and step S42 may be implemented by the fourth processor 40. That is to say, the fourth processor 40 is used to:
  • An image acquisition address corresponding to the image data is transmitted to the server 300.
  • the streaming media server 400 buffers the image data of the drone 500, and the remote monitoring device 100 can acquire the image data of the drone 500 according to the image acquisition address sent by the streaming server 400 forwarded by the server 300. In this way, remote monitoring of the drone 500 by the user is achieved.
  • the streaming server 400 transmits an image acquisition address to the first communication service module 321 of the server 300, wherein the server 300 transmits the image acquisition address to the remote monitoring device 100 via the first communication service module 321 .
  • the streaming media server 400 receives the image data captured by the drone transmitted by the base station 200 in step S41.
  • the streaming server 400 receives the image data captured by the drone 500 sent by the base station 200 according to a preset network protocol.
  • step S411 can be implemented by fourth processor 40. That is to say, the fourth processor 40 is further configured to receive image data captured by the drone 500 transmitted by the base station 200 according to a preset network protocol.
  • the transmission of image data can be implemented between the streaming server 400 and the base station 200 according to various network protocols.
  • the preset network protocol is one or more of a variety of network protocols.
  • the streaming server 400 communicates with the base station 200 according to a preset network protocol to ensure the accuracy of image data transmission.
  • the preset network protocol includes an RTMP network protocol.
  • the RTMP network protocol is a real-time message transmission protocol.
  • the streaming media server 400 can receive the image data in real time by using the RTMP network protocol to receive the image data, and the remote monitoring device 100 can also acquire the image data in real time.
  • the step S42 that the streaming server 400 transmits the image acquisition address corresponding to the image data comprises transmitting an image acquisition address of one or more formats corresponding to the image data.
  • the remote monitoring device 100 may include various devices, such as devices of the IOS system, devices of the Android system, and the like, and thus the format of the image acquisition address between the remote monitoring device 100 and the streaming media server 400 is also various.
  • the streaming media server 400 transmits the image acquisition addresses in multiple formats, so that the selection freedom of the remote monitoring device 100 is greater, that is, the various types of remote monitoring devices 100 can obtain the addresses according to the images of the corresponding formats. Get image data.
  • the format of the image acquisition address includes three formats: HLS, RTMP, and M3U8.
  • the image acquisition address of the HLS format is applicable to devices of the IOS system, such as an Apple mobile phone, an Apple computer, and the like.
  • Image acquisition addresses in RTMP and M3U8 formats are available for non-IOS devices such as Android phones, Windows computers, and more.
  • control method of the embodiment of the present invention further includes:
  • the streaming server 400 receives an image processing instruction of the image data sent by the server 300.
  • the streaming server 400 processes the image data according to the image processing instruction.
  • step S43 and step S44 can be implemented by fourth processor 40. That is to say, the fourth processor 40 is also used to:
  • An image processing instruction that receives image data transmitted by the server 300.
  • the image data is processed in accordance with image processing instructions.
  • the user may wish to process image data taken by the drone 500.
  • the streaming server 400 can perform corresponding processing on the image data according to the image processing instruction.
  • the image processing instructions include one or more of storing, classifying, watermarking, and extracting the target data.
  • image data can be processed in various ways to meet the user's needs.
  • the control method for controlling the remote monitoring device 100, the base station 200, the server 300, and the streaming media server 400, respectively, of the embodiments of the present invention may implement the remote monitoring device 100 remotely from the drone 500. monitor.
  • the dotted line shown in FIG. 40 indicates the data flow direction of the image data captured by the drone 500
  • the solid line shown in FIG. 41 indicates the control command determined by the remote monitoring device 100 according to the user operation, the state data and image of the drone 100.
  • the data flow of the image acquisition address corresponding to the processing instruction and the image data.
  • the remote monitoring device 100 sends a control command to the first communication service module 321, and the first communication service module 321 transparently transmits the control command to the second communication service module. 322.
  • the second communication service module 322 sends a control command to the first client module 221, the first client module 221 transparently transmits the control command to the second client module 222, and the second client module 222 sends the control command to the first service module 24.
  • the first service module 24 controls the drone 500 to transmit image data according to the control command.
  • the image data is captured by the drone 500 and sent to the first service module 24, and then transmitted by the first service module 24 to the streaming server 400 for caching.
  • the streaming server 400 transmits an image acquisition address corresponding to the image data to the server 300, and is forwarded by the server 300 to the remote monitoring device 100.
  • the remote monitoring device 100 can acquire image data from the streaming server 400 based on the image acquisition address.
  • the status data of the drone 500 is transmitted by the drone 500 to the first service module 24 and forwarded by the first service module 24 to the second client module 222, and the second client module 222 transparently transmits the status data to the first
  • the client module 221 is sent by the first client module 221 to the second communication service module 322.
  • the second communication service module 322 transparently transmits the status data to the first communication service module 321, and finally is sent by the first communication service module 321 to the remote.
  • the monitoring device 100 is implemented to enable the user to grasp the flight state of the drone 500.
  • the remote monitoring device 100 transmits an image processing instruction to the first communication service module 321, and the first communication service module 321 sends the image processing instruction to the streaming server 400, which is executed by the streaming server 400.
  • the image processing instructions cache the image data into the object storage system 600.
  • the remote monitoring device 100 sends a control command to the first communication service module 321, and the server 300
  • the corresponding algorithm program is called from the algorithm engine 36 to achieve the target operation.
  • the service module in the present invention may be an application program, a hardware module, or a combination of an application program and a hardware module.
  • the user can easily realize the manipulation of the drone 500, and is suitable for various application scenarios such as security monitoring and out-of-office duty, and is convenient for the user to use.
  • Any process or method description in the flowcharts or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for performing the steps of a particular logical function or process. And the scope of the preferred embodiments of the invention includes additional implementations, which may not be in the order shown or discussed. The functions are performed in a substantially simultaneous manner or in the reverse order depending on the functions involved, as will be understood by those skilled in the art to which the embodiments of the present invention pertain.
  • a "computer-readable medium” can be any apparatus that can contain, store, communicate, propagate, or transport a program for use in an instruction execution system, apparatus, or device, or in conjunction with the instruction execution system, apparatus, or device.
  • computer readable media include the following: electrical connections (electronic devices) having one or more wires, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM).
  • the computer readable medium may even be a paper or other suitable medium on which the program can be printed, as it may be optically scanned, for example by paper or other medium, followed by editing, interpretation or, if appropriate, other suitable The method is processed to obtain the program electronically and then stored in computer memory.
  • portions of the invention may be implemented in hardware, software, firmware or a combination thereof.
  • multiple steps or methods may be performed by software or firmware stored in a memory and executed by a suitable instruction execution system.
  • a suitable instruction execution system For example, if executed in hardware, as in another embodiment, it can be performed by any one of the following techniques or combinations thereof known in the art: having logic gates for performing logic functions on data signals Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.
  • each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one module.
  • the above integrated modules can be executed in the form of hardware or in the form of software functional modules.
  • the integrated modules, if executed in the form of software functional modules and sold or used as separate products, may also be stored in a computer readable storage medium.
  • the above mentioned storage medium may be a read only memory, a magnetic disk or an optical disk or the like.

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Abstract

La présente invention se rapporte à un procédé de commande pour un dispositif de surveillance à distance (100), le dispositif de surveillance à distance (100) communiquant avec un serveur (300). Le procédé de commande comprend les étapes suivantes : (S11) un dispositif de surveillance à distance (100) détecte une opération d'un utilisateur ; (S12) le dispositif de surveillance à distance (100) détermine une instruction de commande servant à commander un véhicule aérien sans pilote (500) en fonction de l'opération de l'utilisateur ; et (S13) ce dispositif de surveillance à distance (100) envoie l'instruction de commande pour le véhicule aérien sans pilote (500) au serveur (300) de telle sorte que ledit véhicule aérien sans pilote (500) puisse acquérir l'instruction de commande. La présente invention a trait également à un procédé de commande pour une station de base (200), à un procédé de commande pour le serveur (300), à un procédé de commande pour un serveur multimédia de diffusion en continu (400), au dispositif de surveillance à distance (100), à la station de base (200), au serveur (300) et au serveur multimédia de diffusion en continu (400).
PCT/CN2017/075062 2017-02-27 2017-02-27 Procédé de commande, dispositif de surveillance à distance, station de base, serveur, et serveur multimédia de diffusion en continu WO2018152849A1 (fr)

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CN201780005204.6A CN108700889B (zh) 2017-02-27 2017-02-27 控制方法、远程监控设备、遥控器、服务器和流媒体服务器

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