WO2019095738A1

WO2019095738A1 - Communication method and communication device for unmanned aerial vehicle, and unmanned aerial vehicle

Info

Publication number: WO2019095738A1
Application number: PCT/CN2018/099216
Authority: WO
Inventors: 王冰春
Original assignee: 深圳市道通智能航空技术有限公司
Priority date: 2017-11-17
Filing date: 2018-08-07
Publication date: 2019-05-23
Also published as: CN114039682B; CN107968692A; CN114039682A; CN107968692B

Abstract

Embodiments of the present invention relate to the technical field of unmanned aerial vehicles, and provide a communication method and a communication device for an unmanned aerial vehicle, and the unmanned aerial vehicle. The communication method for an unmanned aerial vehicle comprises: a first unmanned aerial vehicle listens for a frequency channel number in a wireless signal frequency band; and when the first unmanned aerial vehicle hears first parameter information by means of the frequency channel number, the first unmanned aerial vehicle receives the first parameter information, the first parameter information being parameter information of other unmanned aerial vehicles in an airspace range where the first unmanned aerial vehicle is located; and the first unmanned aerial vehicle determines flight information of the first unmanned aerial vehicle according to the first parameter information. In this manner, mutual communication among multiple unmanned aerial vehicles can be implemented, thereby reducing control interference of a remote controller.

Description

Communication method, communication device and drone of drone

The application claims the priority of the Chinese patent application filed on November 17, 2017, the application number is 201711147755.4, and the application name is "a communication method, communication device and drone of a drone", the entire contents of which are incorporated by reference. Combined in this application.

[Technical Field]

The invention relates to the technical field of drones, in particular to a communication method, a communication device, a communication terminal and a drone of a drone.

【Background technique】

An Unmanned Aerial Vehicle (UAV) may be referred to simply as a "unmanned aerial vehicle", which is controlled by a remote control of a ground station, wherein the remote control of the ground station may include a wireless remote control device or other control device, for example, a user. Terminal, etc. The remote control of the ground station can control the flight of the drone, while the drone can send the information to the remote control of the ground in real time during flight.

However, when multiple drones appear in a certain airspace, the wireless control signals between the remote control of the ground station and the drone interfere with each other, thereby affecting the control and communication quality of each other's drones.

[Summary of the Invention]

The embodiment of the present application provides a communication method, a communication device, and a drone of a drone, which can realize mutual communication between multiple unmanned aerial vehicles in an airspace, and reduce control interference of the remote controller.

In a first aspect, an embodiment of the present application provides a communication method of a drone, including:

The first drone monitors the frequency point in the frequency band of the wireless signal;

When the first drone listens to the first parameter information through the frequency point, the first drone receives the first parameter information, and the first parameter information is the first drone Parameter information of other drones in the airspace;

The first drone determines flight information of the first drone according to the first parameter information.

In some embodiments, the first drone monitors frequency points in the wireless signal band, including:

The first drone continuously monitors a frequency point associated with the airspace range in the frequency band of the wireless signal; or

The first drone monitors a frequency point in a frequency band of the wireless signal at a time associated with the airspace range; or

The first drone listens to a frequency point associated with the airspace range in the wireless signal band at a time associated with the airspace range.

In some embodiments, after the first drone receives the first parameter information, the method further includes:

The first drone receives the second parameter information, and determines whether the drone to which the second parameter information belongs is the same as the drone to which the first parameter information belongs;

If the same, the flight information is updated according to the second parameter information.

In some embodiments, the method further includes: the first drone broadcasting third parameter information by using a frequency point in the radio signal band, the third parameter information being the first drone Parameter information.

In some embodiments, after the first drone receives the first parameter information, the first drone transmits the third parameter information by using a frequency point in the frequency band of the wireless signal, including:

The first drone broadcasts the first parameter information and the third parameter information by using a frequency point in the radio signal frequency band.

In a second aspect, an embodiment of the present application provides a communications apparatus, including:

a signal monitoring unit for monitoring frequency points in a frequency band of the wireless signal;

a signal receiving unit, configured to receive the first parameter information when the signal monitoring unit monitors the first parameter information by using the frequency point, where the first parameter information is within a spatial domain of the first drone Parameter information of other drones;

a first determining unit, configured to determine flight information of the first drone according to the first parameter information.

In some embodiments, the signal monitoring unit is specifically configured to:

Continuously monitoring a frequency point associated with the airspace range in the frequency band of the wireless signal; or

Monitoring the frequency point in the frequency band of the wireless signal at a time associated with the airspace range; or,

A frequency point associated with the airspace range in the wireless signal band is monitored at a time associated with the airspace range.

In some embodiments, the apparatus further includes:

a second determining unit, configured to receive the second parameter information, and determine whether the drone to which the second parameter information belongs is the same as the drone to which the first parameter information belongs;

And an updating unit, configured to update the flight information according to the second parameter information if the second determining unit determines the same.

In some embodiments, the apparatus further includes:

And a broadcast unit, configured to broadcast third parameter information by using a frequency point in the radio signal frequency band, where the third parameter information is parameter information of the first drone.

In some embodiments, the broadcast unit is specifically configured to:

And broadcasting the first parameter information and the third parameter information by using a frequency point in the wireless signal frequency band.

In a third aspect, an embodiment of the present application provides a drone, including: at least one processor;

a memory coupled to the at least one processor; wherein the memory stores computer instructions; the at least one processor is operative to invoke the computer instructions to perform the method of the first aspect.

In a fourth aspect, an embodiment of the present application provides a readable storage medium, including computer instructions for being executed by a processor to implement any one of the foregoing methods.

In the embodiment of the present invention, in the same airspace, any one of the plurality of drones can receive the parameter information of the other drones by monitoring the frequency points in the frequency band of the wireless signal, so that the parameter information can be determined according to the parameter information. Flight information for drones. The above communication method can realize mutual communication between multiple unmanned aerial vehicles in an airspace, and reduce control interference of the remote controller.

[Description of the Drawings]

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present invention, and those skilled in the art can obtain drawings of other embodiments according to the drawings without any creative work.

FIG. 1 is a schematic diagram of a communication system according to an embodiment of the present invention;

2 is a schematic flowchart of a communication method of a drone according to an embodiment of the present invention;

3 is a schematic flowchart of a communication method of a drone according to another embodiment of the present invention;

FIG. 4 is a schematic flowchart diagram of a communication method of a drone according to another embodiment of the present invention; FIG.

FIG. 5 is a schematic flowchart of a communication method of a drone according to still another embodiment of the present invention; FIG.

FIG. 6 is a schematic structural diagram of a communication apparatus according to an embodiment of the present invention;

FIG. 7 is a schematic structural diagram of a drone according to an embodiment of the present invention.

【Detailed ways】

The embodiments of the present invention will be described below with reference to the accompanying drawings.

The communication method, the communication device, the drone, and the communication system of the UAV provided by the embodiments of the present invention can be applied to multiple application scenarios, such as photographing, collaboration, and the like.

FIG. 1 is a schematic diagram of a communication system according to an embodiment of the present invention. The communication system may be configured by a plurality of drones capable of executing the communication method of the drone provided by the embodiment of the present invention.

Specifically, as shown in FIG. 1, the communication system may illustratively include: a first drone 10, a second drone 20, a third drone 30, and a fourth drone 40. The number of drones that can be included in the communication system is not limited herein. The drones in the communication system are in the same airspace.

The first drone 10, the second drone 20, the third drone 30, and the fourth drone 40 may be any type of drone, such as a multi-rotor drone or a tilting rotor. Man-machine. The first drone 10, the second drone 20, the third drone 30, and the fourth drone 40 may be the same type of drone, for example, the four drones are multi-rotor unmanned Alternatively, different types of drones may be used. For example, the first drone 10 and the second drone 20 are multi-rotor drones, while the third drone 30 and the fourth drone 40 are The embodiment of the present invention is not specifically limited.

2 is a schematic flowchart of a communication method of a UAV according to an embodiment of the present invention. As shown in FIG. 2, the UAV communication method according to the embodiment of the present invention includes but is not limited to:

S101. The first drone monitors a frequency point in a frequency band of the wireless signal.

The wireless communication frequency band described in the embodiment of the present application may be a frequency band used by an ISM (Industrial Scientific Medical, Industrial, Scientific, Medical) band or a WIFI (Wireless Fidelity) technology, and specifically includes 2.405 GHz to 2.485. Wireless signal bands in the GHz and 5.15 GHz to 5.825 GHz range.

Illustratively, the specific manner in which the first drone monitors the frequency points in the wireless signal band includes but is not limited to the following three types:

In the first mode, the first drone continuously monitors the frequency points associated with the airspace range in the wireless signal band.

The airspace range in which the first drone is located is allocated with certain frequency domain resources. In the embodiment of the present invention, the airspace range may be allocated with one or more frequency points in the radio signal frequency band. One or more frequency points assigned to the airspace range may be understood to be frequency points associated with the airspace range.

Further, the number of the one or more frequency points may correspond to the number of drones in the airspace range, for example, the maximum number of drones that can be accommodated in the airspace range, or the current airspace range is currently in flight The number of drones in the state, etc., is not limited herein.

The different airspace ranges and the associated frequency points may be the same or different, and are not limited herein.

When there are multiple drones in the airspace range, each drone can correspond to one frequency point to use its corresponding frequency point for information reception or transmission. The plurality of drones may include a first drone and other drones, and the first drone may continuously monitor or periodically monitor frequency points corresponding to other drones within the airspace range. The listening time of the first drone is not limited herein. For example, there are four drones in the airspace range, and four of the drones include a first drone, a second drone, a third drone, and a fourth drone. The first drone corresponds to the frequency point A, the second drone corresponds to the frequency point B, the third drone corresponds to the frequency point C, and the fourth drone corresponds to the frequency point D. The first drone can continuously monitor the frequency point B, the frequency point C and the frequency point D to monitor whether the corresponding frequency information is transmitted by the corresponding drone, for example, by monitoring the frequency point to monitor other unmanned persons. Machine parameter information.

In a second mode, the first drone monitors a frequency point in a frequency band of the wireless signal at a time associated with the airspace range.

The airspace range in which the first drone is located is allocated with certain time domain resources. In the embodiment of the present invention, the airspace range may be allocated one or more moments. One or more moments assigned to the airspace range may be understood to be moments associated with the airspace range.

Further, the number of the one or more moments may correspond to the number of drones in the airspace range, for example, the maximum number of drones that can be accommodated in the airspace range, or the current flight state within the airspace range The number of drones, etc., is not limited here.

When there are multiple drones in the airspace range, each drone can correspond to one or more moments respectively to receive or transmit information at the corresponding moment. The plurality of drones may include a first drone and other drones, and the first drone is in the airspace range, and monitors one or more frequency points in the radio signal frequency band at the sending moments of the other drones. . Here, the frequency of the first drone monitoring is not limited. For example, there are four drones in the airspace range, and four of the drones include a first drone, a second drone, a third drone, and a fourth drone. The first drone corresponds to time 1, the second drone corresponds to time 2, the third drone corresponds to time 3, and the fourth drone corresponds to time 4. The first drone monitors one or more frequency points in the radio signal band at time 2, time 3, and time 4 in the airspace range.

In a third mode, the first drone monitors a frequency point associated with the airspace range in the wireless signal band at a time associated with the airspace range.

The airspace range in which the first drone is located is allocated with a certain time-frequency resource. In the embodiment of the present invention, the airspace range may be allocated one or more moments and one or more frequency points. The correspondence between the time and the frequency point may be a one-to-one correspondence, a one-to-many or a many-to-one relationship, which is not limited herein. The time and the corresponding frequency point can be combined to form a time-frequency resource. For example, if the time corresponds to multiple frequency points, the time and the corresponding frequency points can be combined to form a time-frequency resource.

Further, the number of the time-frequency resources may be in one-to-one correspondence with the number of the drones in the airspace range, for example, the maximum number of drones that can be accommodated in the airspace range, or the current flight state within the airspace range. The number of drones, etc., is not limited here.

When there are multiple drones in the airspace range, the plurality of drones include the first drone and other drones. The first drone monitors the frequency points corresponding to other drones (ie, associated with the airspace range) at the time corresponding to the other drones (ie, the time associated with the airspace range) within the airspace range. Frequency). For example, there are four drones in the airspace range, and four of the drones include a first drone, a second drone, a third drone, and a fourth drone. Wherein, the first drone corresponds to time 1, the second drone corresponds to time 2, the third drone corresponds to time 3, and the fourth drone corresponds to time 4; the first drone corresponds to frequency A, second The drone corresponds to the frequency point B, the third drone corresponds to the frequency point C, and the fourth drone corresponds to the frequency point D. The first drone monitors the frequency point B at time 2, the frequency point C at time 3, and the frequency point D at time 4 in the airspace range. By adopting the above method, signal interference during communication between drones can be effectively avoided, and the quality of information transmission can be ensured.

S102. When the first drone monitors the first parameter information by using the frequency point, the first drone receives the first parameter information, where the first parameter information is the first Parameter information of other drones in the airspace where the man-machine is located.

The first parameter information includes identifier information of the drone, location information, flight direction, flight speed, and one or more information in the flight task.

Illustratively, the first drone can know the drones corresponding to other frequency points. In this case, when the first drone monitors the first parameter information at a certain frequency point, the drone to which the first parameter information belongs can be known; for example, if the first drone is at the frequency point B When the first parameter information is monitored, the unmanned aerial vehicle to which the first parameter information belongs is known as the second drone.

Alternatively, the first drone only knows the frequency points associated with the airspace. In this case, when the first drone monitors the first parameter information at a certain frequency point, it is required to determine the drone to which the first parameter information belongs according to the identification information of the drone carried in the first parameter information. . At this time, the first parameter information includes at least the identification information of the drone.

The first drone can simultaneously monitor one or more parameter information through the frequency point and receive it, which is not limited herein.

S103. The first drone determines flight information of the first drone according to the first parameter information.

Wherein, the flight information includes one or more of a flight mission, a flight path or other information. The first drone may determine the flight path of the first drone according to the received first parameter information to avoid colliding with the drone to which the first parameter information belongs. If there are multiple drones transmitting parameter information in the airspace range, multiple parameter information can be obtained by the above method, and the flight path of the first drone is determined according to the parameter information to avoid collision with multiple drones. .

Further, the drone can also determine the flight task based on the parameter information. Among them, the mission can include photographing, collaboration, and the like.

For example, if there are multiple drones transmitting parameter information in the airspace range, the first drone receives the plurality of parameter information, and according to the plurality of parameter information, acquires a shooting angle of the other drones, thereby determining the first none. The flight task of the human machine is taking a picture, and the shooting angle of the first drone can be determined so that the shooting angle of the first drone is the same as or different from that of other drones.

For another example, among a plurality of drones in an airspace range, the first drone receives other drones to issue parameter information, and acquires information about the missions of other drones according to the parameter information, such as cooperative flight. The flight path of other drones, etc. Based on the above information, the first drone determines that the flight of the first drone is a cooperative flight and determines a flight path in the cooperative flight.

For another example, the mission can be determined by a combination of the two approaches described above. In an implementation manner, the first drone receives parameter information from other drones, and obtains identification information and flight tasks of other drones from the parameter information, and then determines the first drone according to the above information. Flight mission. The first drone can determine the shooting angle of the first drone and the flight path of the cooperative flight according to the above parameter information. Thereby, it is possible to realize a flight task in which a plurality of drones in the same airspace cooperate to fly a full-angle video or image.

FIG. 3 is a schematic flowchart of a communication method of a UAV according to another embodiment of the present invention. As shown in FIG. 3, the UAV communication method according to the embodiment of the present invention includes but is not limited to:

S201. The first drone monitors a frequency point in a frequency band of the wireless signal.

S202, when the first drone listens to the first parameter information by using the frequency point, the first drone receives the first parameter information, where the first parameter information is the first Parameter information of other drones in the airspace where the man-machine is located.

S203. The first drone determines flight information of the first drone according to the first parameter information.

For the description of the steps S201 to S203, refer to the related description of the corresponding steps in the foregoing embodiment, which is not limited herein.

S204. The first drone receives the second parameter information, and determines whether the drone to which the second parameter information belongs is the same as the drone to which the first parameter information belongs.

S205. If they are the same, update the flight information according to the second parameter information.

S206. If different, determine new flight information according to the first parameter information and the second parameter information.

Illustratively, when the first drone performs flight according to the above flight information, step S201 may continue to be performed, that is, the first drone may continue to monitor the frequency point. If the first drone receives the second parameter information through the monitoring frequency point, the first drone may be based on the drone identifier in the second parameter information or according to the frequency point used to carry the second parameter information. Determine the drone to which the second parameter information belongs. And determining whether the first parameter information is the same as the drone to which the second parameter information belongs. For example, if the drone to which the first parameter information belongs is the second drone, it is determined whether the drone to which the second parameter information belongs is also the second drone. If they are the same, it indicates that the second drone updates its parameter information, such as updating the location information or flight direction information in the parameter information. Then, the first drone can update the flight information according to the second parameter information to avoid colliding with the second drone. If it is different, it indicates that the first drone receives the parameter information of another drone, for example, receives the parameter information of the third drone. Furthermore, the first drone can determine new flight information based on the first parameter information and the second parameter information to avoid collision with the second drone and the third drone.

For example, when the flight information is updated, in the same airspace range, there is a first drone and a second drone. At time 1, the second drone is in flight state A, and at time 2, the second is absent. The man-machine is in flight B. The time parameter 2 is the next time of the time 1, the first parameter information is the parameter information of the second drone at time 1, and the second parameter information is the parameter information of the second drone at time 2. The first drone first receives the first parameter information, and determines flight information of the first drone according to the first parameter information; at the next moment, receiving the second parameter information, the first drone may be according to the first The two parameter information updates the flight information of the first drone.

FIG. 4 is a schematic flowchart of a communication method of a UAV according to another embodiment of the present invention. As shown in FIG. 4, the UAV communication method according to the embodiment of the present invention includes, but is not limited to:

S301. The first drone monitors a frequency point in a frequency band of the wireless signal.

S302, when the first drone listens to the first parameter information by using the frequency point, the first drone receives the first parameter information, where the first parameter information is the first Parameter information of other drones in the airspace where the man-machine is located.

S303. The first drone determines flight information of the first drone according to the first parameter information.

S304. The first drone broadcasts third parameter information by using a frequency point in the radio signal frequency band, where the third parameter information is parameter information of the first drone.

Here, the order of execution of steps S301 to S303 and step S304 is not limited. That is, step S304 may be performed before step S301 or simultaneously with step S301.

Alternatively, in another embodiment, the first drone may also perform only step S304, and steps S301-S303 are not performed. That is, the first drone can broadcast only without listening.

The third parameter information includes at least one of identifier information of the first drone, global positioning information, a moving direction, a speed, and/or a data information sending time.

The first drone broadcasts the third parameter information by using a frequency point in the frequency band of the wireless signal, including but not limited to the following manners:

In the first broadcast mode, the first drone broadcasts third parameter information in a frequency band associated with the airspace range in the wireless signal band.

When there are multiple drones in the airspace range, each drone can correspond to one frequency point to use its corresponding frequency point for information reception or transmission. Wherein, the plurality of drones may include a first drone and other drones, and the first drone is simultaneously associated with the frequency points of the other drones in the airspace range (ie, associated with the airspace range) The frequency point) broadcasts the third parameter information. For example, there are four drones in the airspace range, and four of the drones include a first drone, a second drone, a third drone, and a fourth drone. The first drone corresponds to the frequency point A, the second drone corresponds to the frequency point B, the third drone corresponds to the frequency point C, and the fourth drone corresponds to the frequency point D. The first drone broadcasts third parameter information at frequency point A within the airspace range.

In a second broadcast mode, the first drone broadcasts third parameter information at a time associated with the airspace range.

The airspace range in which the first drone is located is allocated with certain time domain resources. In an embodiment of the invention, the airspace range may be assigned one or more times to broadcast third parameter information. One or more moments assigned to the airspace range may be understood to be moments associated with the airspace range.

There are multiple drones in the airspace range, and multiple drones may include the first drone and other drones. Within the airspace range, the first drone broadcasts the parameter information of the first drone at the corresponding time, and listens to the frequency point at other times.

For example, there are four drones in the airspace range, and four of the drones include a first drone, a second drone, a third drone, and a fourth drone. Each of the above-mentioned drones corresponds to time 1, time 2, time 3, and time 4; the above four drones can receive and transmit information through frequency point A. The first drone broadcasts third parameter information on the frequency point A only at time 1 in the airspace range; the second drone is in the airspace range only at time 2, at frequency point A. Broadcasting its parameter information; the third drone broadcasts its parameter information on the frequency point A only at time 3 in the airspace range; the fourth drone is in the airspace range only at time 4, The parameter information is broadcast on frequency point A.

In a third broadcast mode, the first drone broadcasts third parameter information at a time associated with the airspace range and a frequency point associated with the airspace range in the wireless signal band.

The airspace range in which the first drone is located is allocated with a certain time-frequency resource. In the embodiment of the present invention, the airspace range may be allocated one or more time points and one or more frequency points in the wireless signal frequency band. One or more frequency points assigned to the airspace range may be understood to be frequency points associated with the airspace range; one or more times assigned to the airspace range may be understood to be associated with the airspace range time. The correspondence between the time and the frequency point may be a one-to-one correspondence, a one-to-many or a many-to-one relationship, which is not limited herein. The time and the corresponding frequency point can be combined to form a time-frequency resource. For example, the time corresponds to a plurality of frequency points, and the time is combined with each corresponding frequency point to form a time-frequency resource.

There are multiple drones in the airspace range, and multiple drones include the first drone and other drones. The first drone monitors the frequency points of other drones in the airspace range at the time corresponding to other drones.

For example, there are four drones in the airspace range, and four of the drones include a first drone, a second drone, a third drone, and a fourth drone. The first drone corresponds to time 1, the second drone corresponds to time 2, the third drone corresponds to time 3, and the fourth drone corresponds to time 4. The first drone corresponds to the frequency point A, the second drone corresponds to the frequency point B, the third drone corresponds to the frequency point C, and the fourth drone corresponds to the frequency point D. The first drone broadcasts third parameter information on the frequency point A only at time 1 in the airspace range; the second drone is in the airspace range, only at time 2, at frequency point B. Broadcasting its parameter information; the third drone broadcasts its parameter information on the frequency point C only at time 3 in the airspace range; the fourth drone is in the airspace range only at time 4, The parameter information is broadcast on the frequency point D.

It should be specially pointed out that the frequency of transmitting information of the same drone can be the same as or different from the frequency of receiving information. In addition, the manner in which the drone transmits information may be broadcast on one frequency point, or broadcast on multiple frequency points, may be broadcasted in sequence at multiple frequency points, or may be simultaneously broadcasted on multiple frequency points, and is not limited herein.

5 is a schematic flowchart of a communication method of a UAV according to still another embodiment of the present invention. As shown in FIG. 5, the UAV communication method according to the embodiment of the present invention includes but is not limited to:

S401. The first drone monitors a frequency point in a frequency band of the wireless signal.

S402, when the first drone listens to the first parameter information by using the frequency point, the first drone receives the first parameter information, where the first parameter information is the first Parameter information of other drones in the airspace where the man-machine is located.

S403. The first drone determines flight information of the first drone according to the first parameter information.

S404. The first drone broadcasts the first parameter information and the third parameter information by using a frequency point in a frequency band of the wireless signal.

In order to improve the accuracy and efficiency of information transmission between multiple drones, one of the drones broadcasts its own parameter information (ie, the third parameter information), and can also receive and record other drones. The parameter information (ie, the first parameter information) is broadcasted together.

Specifically, after receiving the first parameter information sent by the other drone, the drone may record the first parameter information. In order to improve the efficiency of information exchange between multiple drones, and to ensure that the drone can receive the parameter information of other drones in time, the flight information is determined according to the parameter information. The first drone may broadcast the recorded first parameter information and the third parameter information by using the occupied transmission resources. For example, the first drone broadcasts using one or more frequency points, or one or more times, or a combination of the two. If the first drone corresponds to multiple frequency points, the first drone may separately broadcast the first parameter information and the third parameter information through the plurality of frequency points. If the first drone corresponds to a frequency point, the first drone can broadcast the first parameter information and the third parameter information simultaneously or in turn through the frequency point, which is not limited herein.

For example, in the above communication system, after the first drone 10 receives the first parameter information sent by the second drone 20, the first parameter information of the second drone 20 is recorded, and then the first The drone 10 broadcasts its own third parameter information together with the first parameter information of the second drone 20, and if the third drone 30 and the fourth drone 40 receive the parameter information, they can simultaneously acquire Parameter information of the first drone 10 and the second drone 20. Based on the above manner, improving the efficiency of information exchange between multiple unmanned aerial vehicles, and ensuring that the drone can receive data information of other drones in time to determine flight information of the first drone according to the parameter information. .

In addition, it should be noted that the communication method of the UAV provided by the embodiment of the present invention can be further extended to other suitable communication systems, and is not limited to the communication system shown in FIG. 1. Although only the first drone 10, the second drone 20, the third drone 30, and the fourth drone 40 are shown in FIG. 1, those skilled in the art can understand that in the actual application process. The communication system may also include more or fewer drones.

Referring to FIG. 6, FIG. 6 is a schematic structural diagram of a communication apparatus according to an embodiment of the present invention. As shown in FIG. 6, a communication apparatus 500 according to an embodiment of the present invention includes:

The signal monitoring unit 510 is configured to monitor frequency points in the frequency band of the wireless signal.

The signal receiving unit 520 is configured to receive the first parameter information when the signal monitoring unit 510 monitors the first parameter information by using the frequency point, where the first parameter information is where the first drone is located Parameter information of other drones in the airspace range. The first parameter information includes identifier information of the drone, location information, flight direction, flight speed, and one or more information in the flight task.

The first determining unit 530 is configured to determine flight information of the first drone according to the first parameter information. The flight information described above includes one or more of a mission, flight path, or other information.

Optionally, the signal monitoring unit 510 is specifically configured to:

Continuously monitoring a frequency point in the wireless signal band associated with the airspace range; or monitoring a frequency point in a wireless signal band at a time associated with the airspace range; or, in association with the airspace range The moment of monitoring the frequency point associated with the airspace range in the frequency band of the wireless signal.

Optionally, in order to avoid frequency repetition and the first data information and the second data information transmission time overlap each other, the device further includes:

The second determining unit 540 is configured to receive the second parameter information, and determine whether the drone to which the second parameter information belongs is the same as the drone to which the first parameter information belongs;

The updating unit 550 is configured to update the flight information according to the second parameter information if the second determining unit 540 determines the same.

Optionally, the device further includes:

The broadcast unit 560 is configured to broadcast third parameter information by using a frequency point in the frequency band of the wireless signal, where the third parameter information is parameter information of the first drone.

Optionally, the broadcast unit 460 is specifically configured to: broadcast the first parameter information and the third parameter information by using a frequency point in the radio signal frequency band.

Please refer to FIG. 7 , which is a schematic structural diagram of a drone according to an embodiment of the present invention. As shown in FIG. 7, the drone 600 provided by the embodiment of the present invention includes: at least one processor 610, such as a CPU, at least one communication interface 630, a memory 620, and at least one communication bus 640. Among them, the communication bus 640 is used to implement connection communication between these components. The communication interface 630 can optionally include a standard wired interface, a wireless interface (such as a WI-FI interface). The memory 620 may be a high speed RAM memory or a non-volatile memory such as at least one disk memory. The memory 620 can optionally also be at least one storage device located remotely from the aforementioned processor 610.

The memory 620 is a non-volatile computer readable storage medium that can be used to store operating systems, applications, computer instructions, and the like, such as applications for the communication method of the drone in the embodiment of the present invention. The processor can execute the communication method in the above method embodiment by calling an application or computer instruction stored in the memory.

For example, the method steps S101 to S104 in FIG. 2, the method steps S201 to S206 in FIG. 3, the method steps S301 to S304 in FIG. 4, the method steps S401 to S404 in FIG. 5, and the like are performed. Any of them.

In a practical application scenario, in the communication system shown in FIG. 1, the first drone 10, the second drone 20, and the third drone can be implemented by using the communication method of the drone provided by the embodiment of the present invention. Communication between 30 and the fourth drone 40. The first drone 10 can communicate with any one or more of the second drone 20, the third drone 30, or the fourth drone 40 via a standard communication interface, which can include but not Limited to: hardware interface circuits, transceivers, etc. This is not limited here. The specific communication mode is: the first drone monitors the frequency point in the wireless signal frequency band; when the first drone monitors the first parameter information through the frequency point, the first drone receives The first parameter information, the first parameter information is parameter information of other drones in the airspace of the first drone; the first drone determines according to the first parameter information Flight information of the first drone. Based on the above manner, the efficiency of information exchange between multiple unmanned aerial vehicles is improved, and the drone is able to receive parameter information of other drones in time to determine flight information according to the parameter information.

The above embodiments are only used to illustrate the technical solutions of the present invention, and are not limited thereto; in the idea of the present invention, the technical features in the above embodiments or different embodiments may also be combined, and the steps may be implemented in any order. And there are many other variations of the various aspects of the invention as described above, which are not provided in the details for the sake of brevity; although the invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or equivalent to some of the technical features, and the modifications or substitutions may not depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

A communication method for a drone, characterized in that it comprises:

The first drone monitors the frequency point in the frequency band of the wireless signal;

When the first drone listens to the first parameter information through the frequency point, the first drone receives the first parameter information, and the first parameter information is the first drone Parameter information of other drones in the airspace;

The first drone determines flight information of the first drone according to the first parameter information.
The communication method according to claim 1, wherein the first drone monitors frequency points in the frequency band of the wireless signal, including:

The first drone continuously monitors a frequency point associated with the airspace range in the frequency band of the wireless signal; or

The first drone monitors a frequency point in a frequency band of the wireless signal at a time associated with the airspace range; or

The first drone listens to a frequency point associated with the airspace range in the wireless signal band at a time associated with the airspace range.
The communication method according to claim 1, wherein after the first drone receives the first parameter information, the method further comprises:

The first drone receives the second parameter information, and determines whether the drone to which the second parameter information belongs is the same as the drone to which the first parameter information belongs;

If the same, the first drone updates the flight information according to the second parameter information.
The communication method according to any one of claims 1 to 3, wherein the method further comprises:

The first drone broadcasts third parameter information through a frequency point in the radio signal frequency band, and the third parameter information is parameter information of the first drone.
The communication method according to claim 4, wherein after the first drone receives the first parameter information, the first drone transmits a third point through a frequency point in the frequency band of the wireless signal Parameter information, including:

The first drone broadcasts the first parameter information and the third parameter information through a frequency point in the radio signal band.
A communication device, comprising:

a signal monitoring unit for monitoring frequency points in a frequency band of the wireless signal;

a signal receiving unit, configured to receive the first parameter information when the signal monitoring unit monitors the first parameter information by using the frequency point, where the first parameter information is within a spatial domain of the first drone Parameter information of other drones;

a first determining unit, configured to determine flight information of the first drone according to the first parameter information.
The device according to claim 6, wherein the signal monitoring unit is specifically configured to:

Continuously monitoring a frequency point associated with the airspace range in the frequency band of the wireless signal; or

Monitoring the frequency point in the frequency band of the wireless signal at a time associated with the airspace range; or,

A frequency point associated with the airspace range in the wireless signal band is monitored at a time associated with the airspace range.
The device of claim 6 wherein said device further comprises:

a second determining unit, configured to receive the second parameter information, and determine whether the drone to which the second parameter information belongs is the same as the drone to which the first parameter information belongs;

And updating, if the second determining unit determines the same, updating the flight information according to the second parameter information.
The device of any of claims 6-8, wherein the device further comprises:

And a broadcast unit, configured to broadcast third parameter information by using a frequency point in the radio signal frequency band, where the third parameter information is parameter information of the first drone.
The device according to claim 9, wherein the broadcast unit is specifically configured to:

And broadcasting the first parameter information and the third parameter information by using a frequency point in the wireless signal frequency band.
A drone, characterized in that it comprises:

At least one processor; and,

a memory coupled to the at least one processor;

Wherein the memory stores computer instructions;

The at least one processor is operative to invoke the computer instructions to perform the method of any one of claims 1 to 5.
A readable storage medium, comprising: computer instructions for being executed by a processor to implement the method of any one of claims 1 to 5.