WO2019061224A1

WO2019061224A1 - Control method of control terminal, and control terminal

Info

Publication number: WO2019061224A1
Application number: PCT/CN2017/104210
Authority: WO
Inventors: 尹小俊; 马宁; 吴旭科; 张志鹏
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-09-29
Filing date: 2017-09-29
Publication date: 2019-04-04
Also published as: CN108700886A

Abstract

A control method of a control terminal, and a control terminal. The method comprises: detecting a first selection operation of a user, and determining first identifier information according to the first selection operation (201); detecting a first control operation of the user, and determining a first control instruction according to the first control operation (202); and sending to a first unmanned aerial vehicle in an unmanned aerial vehicle relay system the first control instruction and the first identifier information, such that the first control instruction reaches, via the first unmanned aerial vehicle, a target unmanned aerial vehicle indicated by the first identifier information in the unmanned aerial vehicle relay system (203), wherein the first unmanned aerial vehicle is an unmanned aerial vehicle connected to a control terminal. The method can reduce the number of control terminals required for relay flights, thus improving feasibility of relay flights.

Description

Control method and control terminal of control terminal

Technical field

The present invention relates to the field of flight technologies, and in particular, to a control method and a control terminal for a control terminal.

Background technique

With the continuous advancement of science and technology, the functions of unmanned aerial vehicles (UAVs) and other aircraft are continuously enriched, and their application fields are also expanding, including professional aerial photography, agricultural irrigation, electric power cruise, remote sensing mapping, and public security monitoring. In an occlusion environment or a special use environment, when the drone is flying over a long distance, it is necessary to use the drone to relay the flight.

At present, when the UAV is relayed, in order to ensure flight safety, a control terminal is generally required to control one drone, and multiple control terminals are required in multi-hop relay, for example, one-hop flight for the drone. Two control terminals are required to control the drone, and so on. For multi-hop flight, multiple control terminals are required, which leads to complicated operation, which may lead to an increase in the number of flying hands, resulting in lower applicability of the relay flight.

Summary of the invention

The embodiment of the invention discloses a control method and a control terminal for controlling a terminal, so as to reduce the number of control terminals required for relay flight, simplify operation and improve the applicability of relay flight.

A first aspect of the embodiments of the present invention discloses a control method for controlling a terminal, including:

Detecting a first selection operation of the user, and determining first identification information according to the first selection operation;

Detecting a first control operation of the user, determining a first control instruction according to the first control operation;

Transmitting the first control instruction and the first identification information to a first drone in the UAV relay system, so that the first control instruction passes the first drone to reach the The target drone indicated by the first identification information in the human-machine relay system, wherein the first drone is a drone connected to the control terminal.

The second aspect of the embodiment of the present invention discloses a control device for controlling a terminal, including:

Detection module for:

a sending module, configured to send the first control instruction and the first identification information to a first drone in the UAV relay system, so that the first control instruction passes the first unmanned The machine arrives at the target drone indicated by the first identification information in the UAV relay system, wherein the first drone is a drone connected to the control terminal.

A third aspect of the embodiments of the present invention discloses a control terminal, including: a memory and a processor,

The memory is configured to store program instructions;

The processor is configured to invoke the program instruction, and when the program instruction is executed, perform the following operations:

In the embodiment of the present invention, by selecting a target drone in the UAV relay system to be controlled and determining a control command for the target drone, the control terminal can pass the first in the UAV relay system connected thereto A drone sends control commands to the target drone, so that a plurality of drones in the UAV relay system can be controlled by one control terminal, thereby reducing the number of control terminals required for relay flight, and improving The suitability of relay flights.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings to be used in the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without paying for creative labor.

1 is a schematic structural diagram of a UAV relay system according to an embodiment of the present invention;

2 is a schematic flowchart of a control method of a control terminal according to an embodiment of the present invention;

3A is a schematic structural diagram of a UAV relay system according to an embodiment of the present invention;

3B is a schematic structural diagram of a UAV relay system according to another embodiment of the present invention;

3C is a schematic structural diagram of a UAV relay system according to another embodiment of the present invention;

3D is a schematic structural diagram of a UAV relay system according to another embodiment of the present invention;

3E is a schematic structural diagram of a UAV relay system according to another embodiment of the present invention;

FIG. 3F is a schematic structural diagram of a UAV relay system according to another embodiment of the present invention; FIG.

3G is a schematic structural diagram of a UAV relay system according to another embodiment of the present invention;

4 is a schematic structural diagram of a control device for controlling a terminal according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a control terminal according to an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

FIG. 1 is a schematic structural diagram of a UAV relay system according to an embodiment of the present invention. The system includes the control terminal 101, the first drone 102, and the remote drone 103. In some cases, The relay drone system 104 further includes a relay drone 104, and the relay drone 104 may be one or more. The control terminal 101 may be one or more of a remote controller, a smart phone, a tablet computer, a drone ground control station, and a wearable device (such as a watch, a wristband, video glasses, etc.).

The first drone 102 is a drone that establishes a direct communication connection with the control terminal 101. In the embodiment of the present invention, the control terminal 101 can establish a direct communication connection with the first drone through one or more of WIFI, Bluetooth, zigbee, and 3G/4G. The control terminal 101 can send a control command to the first drone 102, wherein the control command can be a control command to the first drone, and the control command can also be other targets in the UAV relay system. The drone (such as the remote drone 103 or the relay drone 104) performs control commands for controlling, and the control command passes through the first drone to reach the target drone. The control terminal can also receive image data acquired from the photographing device on the first drone 102, and can also receive status information from the first drone 102, and the control terminal can also receive the drone through the first drone. Number of images acquired by the shooting device on other target drones in the system According to and/or status information. The status information may be data indicating any type of status of the drone. Specifically, the status information may be one or more of power data, location data, attitude data, wireless communication connection status, and operating status of the sensor.

The remote drone 103 is a drone at the end of the communication in the UAV relay system. Usually, the remote drone is a drone that performs work tasks. Specifically, when the UAV relay system includes the control terminal 101, the first drone 102, and the remote drone 103, the control command to the remote drone 103 needs to be forwarded by the first drone 102. Upon reaching the remote drone 103, the image data and status information acquired by the photographing device on the remote drone 103 need to pass through the first drone 102 to be transmitted to the control terminal 101. When the relay drone 104 exists in the drone relay system, the control command to the remote drone 103 needs to be forwarded through the first drone 102 and each relay drone 104 in order to reach the far end. The drone 103, the image data and the status information acquired by the photographing device on the remote drone 103 need to be transmitted to the control terminal 101 through each of the relay drones 104 and the first drone 102 in sequence.

At present, in a conventional UAV relay system, a UAV corresponds to a control terminal. For example, when the UAV relay system includes a first UAV and a remote UAV, the UAV relay system further includes A control terminal corresponding to the drone, and a control terminal corresponding to the remote drone. When performing specific tasks, the shortage of personnel is a bottleneck. Therefore, operators frequently switch between two or more control terminals. Operators need to frequently switch control terminals, which is easy to cause misoperation. Therefore, it is extremely inconvenient to use in industrial applications. The applicability of the relay flight is low.

The embodiment of the present invention sends the first control instruction and the first identification information to the first drone in the UAV relay system, so that the first control instruction passes through the first drone to reach the UAV relay system. The target unmanned aerial vehicle indicated by the first identification information can be operated by a control terminal, and the operator does not need to frequently switch the control terminal, thereby reducing the number of control terminals required for relay flight and improving The suitability of relay flights.

FIG. 2 is a schematic flowchart diagram of a control method of a control terminal according to an embodiment of the present invention. Specifically, as shown in FIG. 2, the control method of the control terminal according to the embodiment of the present invention may include the following steps:

201. Detect a first selection operation of the user, and determine first identification information according to the first selection operation.

Specifically, the control terminal may specifically include: one of a remote controller, a wearable device, a smart phone, a tablet computer, or a drone ground control station, or a combination thereof. The user may perform a first selection operation on the interaction interface of the control terminal, and the control terminal may determine the first identification information according to the first selection operation.

For example, the control terminal may display an icon of each drone in the UAV relay system on the interactive interface. When the user needs to control one of the UAV relay systems through the control terminal, When the target drone is in control, the icon of the target drone can be clicked on the interactive interface, or the icon of the target drone can be selected by the arrow keys, and the control terminal controls the terminal after detecting the first selection operation of the user. The first identification information may be determined according to the first selection operation, where the first identification information indicates a target drone that the user wants to control in the UAV relay system, wherein the target may be a The control unit can control any one of the first drone, the relay drone or the remote drone, that is, the user can select any one of the drone relay systems on the control terminal.

Optionally, the control terminal may detect the user's identification information editing operation, and configure identification information for each of the UAV relay systems according to the identification information editing operation. Taking the structure diagram of the UAV relay system shown in FIG. 3A as an example, the UAV relay system includes a control terminal, a first drone, a relay drone 1, and a relay drone 2 And the remote drone, the user performs the identification information editing operation on the control terminal, and sets each of the first drone, the relay drone 1, the relay drone 2, and the remote drone Corresponding identification information.

In some embodiments, the identification information configured for each drone may be obtained at the time of pairing. Specifically, after all the devices included in the UAV relay system are powered on, a point-to-point chain is established between every two nodes (such as a control terminal, a first drone, a relay drone or a remote drone). The road, when the control terminal and the first drone are paired, configure the identification information of the first drone; when the first drone and the relay drone are paired, configure the identification information of the relay drone When the relay drone and the remote drone are paired, configure the identification information of the remote drone. In some embodiments, the identification information for each drone configuration can be cured on the drone by writing a code.

202. Detect a first control operation of the user, and determine a first control instruction according to the first control operation.

Specifically, the user may perform a first control operation on the control terminal, and after the control terminal detects the first control operation of the user, the first control instruction may be determined according to the first control operation. Wherein, the first control instruction may include a connection control instruction, a return control command, a landing control instruction, and a speed control finger Order, height control command or direction control command.

It should be noted that the embodiment of the present invention does not limit the sequence of execution of step 201 and step 202. For example, the control terminal may perform step 202 after performing step 201; and, for example, the control terminal may perform step 201 after performing step 202; For example, the control terminal can perform step 201 and step 202 at the same time.

203. Send the first control instruction and the first identification information to the first drone in the UAV relay system, so that the first control instruction passes through the first drone to reach the first in the UAV relay system. The target drone indicated by the identification information.

Specifically, taking the structural diagram of the UAV relay system shown in FIG. 3A as an example, after the control terminal determines the first control instruction and the first identification information, the first control instruction and the first identification information may be sent to the first Drone. After receiving the first control instruction and the first identification information, the first drone may compare the identification information of the first drone with the first identification information, and the identification information and the first identification information of the first drone When the same, the target drone indicated by the first identification information is the first drone, and the first drone can perform corresponding operations according to the first control instruction; when the first drone identification information and the first identification information When not identical, the first drone transmits the first control command and the first identification information to the relay drone 1 that establishes a direct communication connection with the first drone. Similarly, after receiving the first control instruction and the first identification information, the relay drone 1 can compare the identification information of the relay drone 1 with the first identification information, and when the identification information of the relay drone 1 is relayed When the first identification information is the same, the target drone indicated by the first identification information is the relay drone 1, and the relay drone 1 can determine that the first control instruction is sent to the relay drone 1 And performing corresponding operations according to the first control instruction; when the identification information of the relay drone 1 and the first identification information are different, the relay drone 1 transmits the first control instruction and the first identification information to the relay The drone 1 establishes a relay drone 2 for direct communication connection. Similarly, after receiving the first control instruction and the first identification information, the relay UAV 2 can compare the identification information of the relay UAV 2 with the first identification information, and when the identification information of the UAV 2 is relayed When the first identification information is the same, the target drone indicated by the first identification information is the relay drone 2, and the relay drone 2 can determine that the first control instruction is sent to the relay drone 2 And performing corresponding operations according to the first control instruction; when the identification information of the relay drone 2 and the first identification information are different, the relay drone 2 sends the first control instruction and the first identification information to the relay The drone 2 establishes a remote drone that is directly connected to the communication. After receiving the first control instruction and the first identification information, the remote drone may Comparing the identification information of the remote drone with the first identification information, when the identification information of the remote drone is the same as the first identification information, the target drone indicated by the first identification information is the remote unmanned The remote drone can determine that the first control command is sent to the remote drone, and then perform corresponding operations according to the first control instruction; when the identification information of the remote drone is not related to the first identification information At the same time, the remote drone can perform a preset operation, such as deleting the first control command and the first identification information, or sending an indication message of the control failure to the relay drone 2.

Optionally, the control terminal may acquire status information of each of the UAVs in the UAV relay system by using the first drone. Specifically, the control terminal may acquire status information of each of the drones through the first drone with a preset duration.

Specifically, taking the structural diagram of the UAV relay system shown in FIG. 3A as an example, for example, the control terminal may receive status information of the first UAV sent by the first drone. For another example, the relay drone 1 can transmit the status information of the relay drone 1 to the first drone, and the control terminal acquires the status information of the relay drone 1 through the first drone. For another example, the relay drone 2 can transmit the status information of the relay drone 2 to the relay drone 1, and the relay drone 1 forwards the status information of the relay drone 2 to the first none. The human terminal controls the terminal to obtain the status information of the relay drone 2 through the first drone. For another example, the remote drone can send the status information of the remote drone to the relay drone 2, and the relay drone 2 forwards the status information of the remote drone to the relay drone 1 The relay drone 1 forwards the state information of the remote drone to the first drone, and the control terminal acquires the state information of the remote drone through the first drone.

Optionally, the control terminal may acquire image data acquired by the photographing device on the remote drone in the UAV relay system by using the first drone.

Specifically, taking the structural diagram of the UAV relay system shown in FIG. 3A as an example, after the remote drone acquires image data through the photographing device, the image data can be sent to the relay drone 2, and the relay is relayed. The drone 2 forwards the image data to the relay drone 1, and the relay drone 1 forwards the image data to the first drone, and the control terminal can acquire the image data through the first drone.

Optionally, when one or more drones in the UAV relay system fail, the control terminal may detect the second selection operation of the user, determine the second identification information according to the second selection operation, and detect the second identification information of the user. Controlling operation, determining a second control command according to the second control operation; and establishing a direct communication connection with the target drone indicated by the second identification information in the UAV relay system, and then transmitting the target drone to the target drone Send a second control command.

Taking the structure diagram of the UAV relay system shown in FIG. 3B as an example, when the first drone fails and the user wants to control the relay drone 2 through the control terminal, the user can click on the control terminal to configure The physical button corresponding to the relay UAV 2, or the icon of the relay UAV 2 is clicked on the interactive interface of the control terminal, and after the control terminal detects the second selection operation of the user, the second identification information may be determined, wherein The second identification information indicates the relay drone 2, and the control terminal can establish a direct communication connection with the relay drone 2. The user performs a second control operation on the control terminal, and the control terminal can determine the second control command according to the second control operation, and the control control terminal sends the second control command to the middle based on the direct communication connection established with the relay drone 2 Following the drone 2, after receiving the control command, the relay drone 2 according to the control command according to a corresponding operation, such as a landing operation, a returning operation, an operation of transmitting the captured image data to the control terminal, and the like.

Taking the structure diagram of the UAV relay system shown in FIG. 3C as an example, when the first drone and the relay drone 2 fail, the user wants to control the remote drone, and the user can click control. The physical button corresponding to the remote drone configured on the terminal, or clicking the icon of the remote drone at the interactive interface of the control terminal, after the control terminal detects the second selection operation of the user, the control terminal may be controlled according to the second The operation determines a second control command, wherein the second identification information indicates a remote drone, and the control terminal can establish a direct communication connection with the remote drone. The user can also perform a second control operation on the remote drone, and the control terminal can determine the second control command according to the second control operation, and the control control terminal sets the second control command based on the direct communication connection established with the remote drone. Sending to the remote drone, after receiving the control command, the remote drone according to the control command according to the corresponding operation, such as the landing operation, the returning operation, the operation of transmitting the captured image data to the control terminal, etc. .

In the embodiment of the present invention, when one or more unmanned aerial vehicles in the UAV relay system fail, the control terminal may establish a direct connection with the target drone indicated by the second identification information in the UAV relay system. The communication connection further sends a second control command to the target drone, and the second control command is not forwarded to the target drone by other drones, thereby improving transmission efficiency.

Optionally, when the remote drone fails, detecting a third selection operation of the user, determining third identification information according to the third selection operation, and acquiring third identification information in the UAV relay system by using the first drone The image data acquired by the photographing device on the indicated target drone.

Specifically, in general, the remote drone is a drone that performs a work task, and the control terminal 1 Generally, the image data acquired by the shooting device on the remote drone is displayed. When the remote drone fails, the control terminal can determine that the remote drone is faulty, and the remote drone cannot be used on the remote drone. The image data acquired by the photographing device is sent to the control terminal, and based on this, the user can acquire the image data acquired by the photographing device on the other drones in the drone relay system through the control terminal. Taking the structure diagram of the UAV relay system shown in FIG. 3D as an example, when the user wants to obtain the image data acquired by the photographing device on the relay drone 2, the user can click on the relay configured on the control terminal. The physical button corresponding to the machine 2, or the icon of the relay drone 2 is clicked on the interactive interface of the control terminal, and after the control terminal detects the third selection operation of the user, the control terminal may determine the third according to the detected third selection. Identification information, the control terminal may send the third identification information and the control instruction for acquiring the image data to the first drone, and the third identification information and the control instruction for acquiring the image data arrive at the relay drone by the manner as described above. 2. The relay drone 2 transmits the image captured by the photographing device to the relay drone 1, and the relay drone 1 forwards the image data to the first drone after receiving the image data. The control terminal acquires image data acquired by the photographing device on the relay drone 2 from the first drone.

Optionally, when the first drone fails, the control terminal may establish a direct communication connection between the relay drone connected to the first drone in the UAV relay system, and the first control instruction and The first identification information is sent to the relay drone so that the first control command passes through the relay drone to reach the target drone indicated by the first identification information in the UAV relay system. It should be noted that when the first drone fails, the control terminal can automatically establish a direct communication connection between the relay drones connected to the first drone. Optionally, when the first drone fails, the user may perform a selection operation on the relay drone connected to the first drone, and after detecting the user's selection operation, the control terminal establishes the first drone. Direct communication connection between connected relay drones.

Optionally, the first control instruction may be a return control command, a drop control command, or other types of control commands. The first control command can be used to control the target drone in the drone relay system to perform operations such as returning or landing. Or the first control command may be used to control each drone in the drone relay system to perform operations such as returning or landing.

Taking the structure diagram of the UAV relay system shown in FIG. 3E as an example, when the first drone fails, the control terminal can determine that the first drone has failed, and the control terminal cannot pass the first drone and none. If data is transmitted between other drones in the human-machine relay system, the control terminal can directly communicate with the relay drone 1 to send the first control command and the first identification information to the relay. Machine 1, The first identification information and the control instruction may reach the target drone indicated by the first identification information in the UAV relay system by relaying the drone 1 . Specifically, when the first identification information and the identification information of the relay drone 1 are the same, the relay drone 1 can perform a corresponding operation according to the first control instruction. When the first identification information and the identification information of the relay drone 1 are different, the relay drone 1 may send the first control instruction and the first identification information to the relay drone 2, when the first identification information When the identification information of the relay drone 2 is the same, the relay drone 2 can perform corresponding operations according to the first control instruction. When the first identification information and the identification information of the relay drone 2 are different, the relay drone 2 may transmit the first control instruction and the first identification information to the remote drone.

Further optionally, after the control terminal establishes a direct communication connection between the UAV relay system and the relay UAV connected to the first UAV, the relay can be connected to the first UAV The machine acquires status information of the relay drone and the remote drone in the drone relay system.

Taking the structure diagram of the UAV relay system shown in FIG. 3E as an example, after the control terminal establishes a direct communication connection with the relay drone 1, the relay drone 1 can be obtained from the relay drone 1 Status information. The relay drone 2 can transmit the status information of the relay drone 2 to the relay drone 1, and the control terminal acquires the status information of the relay drone 2 by relaying the drone 1. The remote drone can send the status information of the remote drone to the relay drone 2, and the relay drone 2 can send the status information of the remote drone to the relay drone 1, and control The terminal acquires the status information of the remote drone through the relay drone 1.

Optionally, when the first control instruction includes the connection control instruction, when the first relay drone in the relay drone included in the UAV relay system fails, the connection control instruction and the An identification information is sent to the first drone to cause the connection control command to pass the first drone to reach the target drone indicated by the first identification information.

The target drone indicated by the first identification information is a previous drone connected to the first relay drone, and the connection control command is used to indicate that the target drone is connected to the first relay drone. The direct communication connection of the latter drone. The first relay drone may be any one of the relay drones.

Taking the structure diagram of the UAV relay system shown in FIG. 3F as an example, the first relay UAV can be a relay UAV 1. When the relay UAV 1 fails, the user can perform the control at the control terminal. A selection operation selects the target drone before the relay drone 1, that is, the first drone, and the control terminal detects the The first selection operation determines the first identification information, the first identification information indicates the first drone, the user can establish a connection operation at the control terminal, and the control terminal determines the connection control instruction according to the detected connection establishment operation, and controls The terminal may send the connection control instruction and the identification information of the first drone to the first drone, and the first drone may establish a direct communication connection with the relay drone 2 according to the connection control instruction.

Taking the structure diagram of the UAV relay system shown in FIG. 3G as an example, the first relay drone can be a relay drone 2, and when the relay drone 2 fails, the user can perform the first in the control terminal. A selection operation selects the target drone before the relay drone 2, that is, relays the drone 1, and the control terminal determines the first identification information according to the detected first selection operation, and the first identification information indicates that the relay is unmanned Machine 1, the user can establish a connection operation at the control terminal, and the control terminal determines the connection control command according to the detected connection establishment operation, and the control terminal can send the connection control instruction and the identification information of the first drone to the first The drone, the first drone forwards the first identification information and the connection control command to the relay drone 1, and the relay drone 1 can establish a direct connection with the remote drone according to the connection control command Communication connection.

Optionally, the control terminal can detect whether the drone in the UAV relay system is invalid. Taking FIG. 3A as an example, the control terminal can detect whether the state information of the remote drone is received within a preset time period, and when the state information of the remote drone is not received within the preset time period, the control terminal It can be determined that the remote drone has failed. The control terminal can detect whether the state information of the remote drone and the relay drone 2 is received within a preset time period, and the remote drone and the relay are not received within the preset time period. When the status information of the machine 2 is obtained, the control terminal can determine that the relay drone 2 is invalid. The control terminal can detect whether the state information of the remote drone, the relay drone 2, and the relay drone 1 are received within a preset time period, and no remote end is received during the preset time period. When the human machine, the relay drone 2, and the relay drone 1 state information, the control terminal can determine that the relay drone 1 is invalid. The control terminal can detect whether state information of any drone in the UAV relay system is received within a preset time period, and when no state information of any drone is received within a preset time period, The control terminal can determine that the first drone has failed.

Optionally, after detecting that the target drone is invalid, the control terminal may output a prompt message to prompt the user that the target drone is invalid. For example, the control terminal can display the network topology in the display screen, and the network topology can include all the drones in the UAV relay system, and the connection of each drone The display color of the failed target drone is different from that of other drones to prompt the user to disable the target drone.

Compared with one or more unmanned aerial vehicles in the conventional UAV relay system, the embodiment of the present invention can automatically detect any of the UAV relay systems due to the failure to switch control in time to cause collision or crash. Whether a drone fails or not, in order to quickly control other drones, can improve the safety and reliability of the drone.

The embodiment of the present invention further provides a computer storage medium, where the computer storage medium stores program instructions, and the program may include some or all of the steps of the control method of the control terminal in the corresponding embodiment of FIG. 2 .

FIG. 4 is a schematic structural diagram of a control device for controlling a terminal according to an embodiment of the present invention. The control device for controlling the terminal described in this embodiment includes:

The detecting module 401 is configured to:

The sending module 402 is configured to send the first control instruction and the first identification information to the first drone in the UAV relay system, so that the first control instruction passes the first The human machine arrives at the target drone indicated by the first identification information in the UAV relay system, wherein the first drone is a drone connected to the control terminal.

Optionally, the target drone is any one of a relay drone, a remote drone or the first drone in the UAV relay system.

Optionally, the detecting module 401 is further configured to detect an identification information editing operation of the user, and configure an identification signal for each of the UAV relay systems according to the identification information editing operation. interest.

Optionally, the control device of the control terminal in the embodiment of the present invention may further include:

The receiving module 403 is configured to acquire, by using the first drone, status information of each of the UAV relay systems.

a connection establishing module 404, configured to establish a direct communication connection between the relay drone connected to the first drone in the UAV relay system when the first drone fails;

The sending module 402 is further configured to send the first control instruction and the first identification information to the relay drone, so that the first control instruction arrives through the relay drone The target drone indicated by the first identification information in the UAV relay system.

Optionally, the receiving module 403 is further configured to acquire, by using the relay drone, status information of the relay drone and the remote drone in the UAV relay system.

Optionally, the first control instruction includes a connection control instruction;

The sending module 402 sends the first control instruction and the first identification information to the first drone in the UAV relay system, so that the first control instruction passes the first unmanned The machine arrives at the target drone indicated by the first identification information in the UAV relay system, specifically for:

Sending the connection control instruction and the first identification information to the first unmanned when the first relay drone of the relay drone included in the UAV relay system fails Means, so that the connection control instruction passes the first drone to reach the target drone indicated by the first identification information;

The target drone indicated by the first identification information is a previous drone connected to the first relay drone, and the connection control command is used to indicate that the target drone is established and a direct communication connection of the latter drone connected by the first relay drone.

Optionally, the detecting module 401 is further configured to detect a second selection operation of the user when one or more of the UAV relay systems fails, and determine according to the second selection operation. Second identification information;

The detecting module 401 is further configured to detect a second control operation of the user, and determine a second control instruction according to the second control operation;

The control device for controlling the terminal in the embodiment of the present invention may further include:

a connection establishing module 404, configured to establish the second identifier information in the relay system of the drone Direct communication connection of the indicated target drone;

The sending module 402 is further configured to send the second control instruction to the target drone.

The receiving module 403 is configured to acquire, by using the first drone, image data acquired by a photographing device on the remote drone in the UAV relay system.

Optionally, the detecting module 401 is further configured to: when the remote drone fails, detect a third selecting operation of the user, and determine third identifier information according to the third selecting operation;

The receiving module 403 is further configured to acquire, by using the first drone, image data acquired by a photographing device on a target drone indicated by the third identifier information in the UAV relay system.

It can be understood that the functions of the functional modules of the control device of the control terminal of the embodiment of the present invention may be specifically implemented according to the method in the foregoing method embodiment, and the specific implementation process may refer to the related description of the foregoing method embodiment, where Let me repeat.

FIG. 5 is a schematic structural diagram of a control terminal according to an embodiment of the present invention. The control described in this embodiment includes a memory 501 and a processor 502. The above processor 502 and memory 501 are connected by a bus.

The processor 502 may be a central processing unit (CPU), and the processor may be another general-purpose processor, a digital signal processor (DSP), or an application specific integrated circuit (ASIC). ), a Field-Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, and the like. The general purpose processor may be a microprocessor or the processor or any conventional processor or the like.

The above memory 501 can include read only memory and random access memory and provides instructions and data to the processor 502. A portion of the memory 501 may also include a non-volatile random access memory. among them:

The memory 501 is configured to store program instructions;

The processor 502 is configured to invoke the program instruction, and when the program instruction is executed, perform the following operations:

Optionally, the processor 502 is further configured to detect an identification information editing operation of the user, and configure identification information for each of the UAV relay systems according to the identification information editing operation.

Optionally, the processor 502 is further configured to acquire, by using the first drone, status information of each of the UAV relay systems.

Optionally, the processor 502 is further configured to:

Establishing a direct communication connection between the relay drone connected to the first drone in the UAV relay system when the first drone fails;

Transmitting the first control instruction and the first identification information to the relay drone, so that the first control instruction passes through the relay drone to reach the UAV relay system The target drone indicated by the first identification information.

Optionally, the processor 502 is further configured to obtain, by using the relay drone, status information of the relay drone and the remote drone in the UAV relay system.

The processor 502 sends the first control instruction and the first identification information to a first drone in the UAV relay system, so that the first control instruction passes the first unmanned When the machine arrives at the target drone indicated by the first identification information in the UAV relay system, it is specifically used to:

When the first relay drone in the relay drone included in the UAV relay system fails, Transmitting the connection control instruction and the first identification information to the first drone, so that the connection control instruction passes the first drone to reach a target indicated by the first identification information. Man-machine

Optionally, the processor 502 is further configured to:

When the one or more drones in the UAV relay system fail, detecting a second selection operation of the user, and determining second identification information according to the second selection operation;

Detecting a second control operation of the user, and determining a second control instruction according to the second control operation;

Establishing a direct communication connection with the target drone indicated by the second identification information in the UAV relay system;

Sending the second control instruction to the target drone.

Optionally, the processor 502 is further configured to acquire, by using the first drone, image data acquired by a photographing device on the remote drone in the UAV relay system.

Optionally, the processor 502 is further configured to:

When the remote drone fails, detecting a third selection operation of the user, and determining third identification information according to the third selection operation;

Obtaining image data acquired by the photographing device on the target drone indicated by the third identification information in the UAV relay system by the first drone.

In a specific implementation, the processor 502 in the embodiment of the present invention may implement the implementation manner described in the control method of the control terminal provided in the embodiment of the present invention, and may also perform the control terminal described in FIG. 4 according to the embodiment of the present invention. The implementation of the control device will not be described here.

It should be noted that, for the foregoing various method embodiments, for the sake of simple description, they are all expressed as a series of action combinations, but those skilled in the art should understand that the present invention is not limited by the described action sequence. Because some steps may be performed in other orders or concurrently in accordance with the present application. In the following, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

One of ordinary skill in the art can understand that all or part of the various methods of the above embodiments can be completed by a program to instruct related hardware, and the program can be stored in a computer readable In the storage medium, the storage medium may include a flash disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

The control method, device, device and aircraft of the control terminal provided by the embodiment of the present invention are described in detail. The principle and implementation manner of the present invention are described in the following. The description of the above embodiment is only The method for understanding the present invention and its core idea; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in specific embodiments and application scopes. The description should not be construed as limiting the invention.

Claims

A control method for controlling a terminal, comprising:

Detecting a first selection operation of the user, and determining first identification information according to the first selection operation;

Detecting a first control operation of the user, determining a first control instruction according to the first control operation;

Transmitting the first control instruction and the first identification information to a first drone in the UAV relay system, so that the first control instruction passes the first drone to reach the The target drone indicated by the first identification information in the human-machine relay system, wherein the first drone is a drone connected to the control terminal.
The method of claim 1 wherein

The target drone is any one of a relay drone, a remote drone or the first drone in the UAV relay system.
The method according to claim 1 or 2, wherein the method further comprises:

The identification information editing operation of the user is detected, and the identification information is configured for each of the UAV relay systems according to the identification information editing operation.
The method according to any one of claims 1 to 3, wherein the method further comprises:

Obtaining status information of each of the unmanned aerial vehicles in the UAV relay system by the first drone.
The method of claim 4, wherein the method further comprises:

Establishing a direct communication connection between the relay drone connected to the first drone in the UAV relay system when the first drone fails;

Transmitting the first control instruction and the first identification information to the relay drone, so that the first control instruction passes through the relay drone to reach the UAV relay system The target drone indicated by the first identification information.
The method of claim 5, wherein the method further comprises:

Obtaining status information of the relay drone and the remote drone in the UAV relay system by the relay drone.
The method according to any one of claims 1 to 4, wherein the first control instruction comprises a connection control instruction;

Transmitting the first control instruction and the first identification information to a first drone in the UAV relay system, so that the first control instruction passes through the first drone to arrive at the first drone The target drone indicated by the first identification information in the UAV relay system includes:

Sending the connection control instruction and the first identification information to the first unmanned when the first relay drone of the relay drone included in the UAV relay system fails Means, so that the connection control instruction passes the first drone to reach the target drone indicated by the first identification information;

The target drone indicated by the first identification information is a previous drone connected to the first relay drone, and the connection control command is used to indicate that the target drone is established and a direct communication connection of the latter drone connected by the first relay drone.
The method according to any one of claims 1 to 7, wherein the method further comprises:

When the one or more drones in the UAV relay system fail, detecting a second selection operation of the user, and determining second identification information according to the second selection operation;

Detecting a second control operation of the user, and determining a second control instruction according to the second control operation;

Establishing a direct communication connection with the target drone indicated by the second identification information in the UAV relay system;

Sending the second control instruction to the target drone.
The method of claim 1 further comprising:

Obtaining image data acquired by the photographing device on the remote drone in the UAV relay system by the first drone.
The method of claim 9 wherein the method further comprises:

When the remote drone fails, detecting a third selection operation of the user, according to the third selection The operation determines the third identification information;

Obtaining image data acquired by the photographing device on the target drone indicated by the third identification information in the UAV relay system by the first drone.
A control terminal, comprising: a memory and a processor;

The memory is configured to store program instructions;

The processor is configured to invoke the program instruction, and when the program instruction is executed, perform the following operations:

Detecting a first selection operation of the user, and determining first identification information according to the first selection operation;

Detecting a first control operation of the user, determining a first control instruction according to the first control operation;

Transmitting the first control instruction and the first identification information to a first drone in the UAV relay system, so that the first control instruction passes the first drone to reach the The target drone indicated by the first identification information in the human-machine relay system, wherein the first drone is a drone connected to the control terminal.
The control terminal according to claim 11, wherein

The target drone is any one of a relay drone, a remote drone or the first drone in the UAV relay system.
A control terminal according to claim 11 or 12, characterized in that

The processor is further configured to detect an identification information editing operation of the user, and configure identification information for each of the UAV relay systems according to the identification information editing operation.
A control terminal according to any of claims 11-13, characterized in that

The processor is further configured to acquire, by the first drone, status information of each of the UAV relay systems.
The control terminal according to claim 14, wherein the processor is further configured to:

Establishing a direct communication connection between the relay drone connected to the first drone in the UAV relay system when the first drone fails;

Transmitting the first control instruction and the first identification information to the relay drone, so that the first control instruction passes through the relay drone to reach the UAV relay system The target drone indicated by the first identification information.
The control terminal according to claim 15, wherein

The processor is further configured to acquire status information of the relay drone and the remote drone in the UAV relay system by using the relay drone.
The control terminal according to any one of claims 11 to 14, wherein the first control instruction comprises a connection control instruction;

The processor sends the first control instruction and the first identification information to a first drone in the UAV relay system, so that the first control instruction passes the first drone When the target drone indicated by the first identification information in the UAV relay system is reached, it is specifically used to:

Sending the connection control instruction and the first identification information to the first unmanned when the first relay drone of the relay drone included in the UAV relay system fails Means, so that the connection control instruction passes the first drone to reach the target drone indicated by the first identification information;

The target drone indicated by the first identification information is a previous drone connected to the first relay drone, and the connection control command is used to indicate that the target drone is established and a direct communication connection of the latter drone connected by the first relay drone.
The control terminal according to any one of claims 11-17, wherein the processor is further configured to:

When the one or more drones in the UAV relay system fail, detecting a second selection operation of the user, and determining second identification information according to the second selection operation;

Detecting a second control operation of the user, and determining a second control instruction according to the second control operation;

Establishing a direct communication connection with the target drone indicated by the second identification information in the UAV relay system;

Sending the second control instruction to the target drone.
The control terminal according to claim 11, wherein

The processor is further configured to acquire, by using the first drone, image data acquired by a photographing device on a remote drone in the UAV relay system.
The control terminal according to claim 19, wherein the processor is further configured to:

When the remote drone fails, detecting a third selection operation of the user, and determining third identification information according to the third selection operation;

Obtaining image data acquired by the photographing device on the target drone indicated by the third identification information in the UAV relay system by the first drone.