WO2019104633A1 - 无人机系统和通信方法 - Google Patents

无人机系统和通信方法 Download PDF

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Publication number
WO2019104633A1
WO2019104633A1 PCT/CN2017/113923 CN2017113923W WO2019104633A1 WO 2019104633 A1 WO2019104633 A1 WO 2019104633A1 CN 2017113923 W CN2017113923 W CN 2017113923W WO 2019104633 A1 WO2019104633 A1 WO 2019104633A1
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WIPO (PCT)
Prior art keywords
communication system
drone
communication
camera
image
Prior art date
Application number
PCT/CN2017/113923
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English (en)
French (fr)
Inventor
马宁
陈颖
张冬
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201780006862.7A priority Critical patent/CN108521852B/zh
Priority to PCT/CN2017/113923 priority patent/WO2019104633A1/zh
Publication of WO2019104633A1 publication Critical patent/WO2019104633A1/zh
Priority to US16/865,815 priority patent/US20200264602A1/en

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18502—Airborne stations
    • H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0038—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L5/00—Arrangements affording multiple use of the transmission path
    • H04L5/14—Two-way operation using the same type of signal, i.e. duplex
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
    • H04L69/14—Multichannel or multilink protocols
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography

Definitions

  • the present disclosure relates to the field of data communications, and more particularly, to a drone system and corresponding communication method.
  • a drone with one or more cameras can track the desired object and transmit the captured image and/or video to the user in real time in a wireless communication.
  • the present disclosure proposes a drone having two communication systems, one of which can communicate using a proprietary communication protocol and the other of which can communicate using a standard communication protocol.
  • the two communication systems can work simultaneously, increasing the communication bandwidth and making the transmission of image/video data faster.
  • a drone comprising: a camera configured to capture an image or video; a first communication system configured to communicate according to a private communication protocol; and a second communication system configured to Communicating according to a standard communication protocol; and a controller configured to control operations of the first communication system and the second communication system such that the first communication system and the second communication system simultaneously transmit images or video captured by the camera.
  • an unmanned aerial vehicle system including a drone and a remote controller.
  • the drone includes: a camera configured to capture an image or video; a first communication system configured to communicate in accordance with a proprietary communication protocol; and a second communication system configured to be in accordance with a standard The communication protocol communicates; and the controller is configured to control operations of the first communication system and the second communication system such that the first communication system and the second communication system simultaneously transmit images or video captured by the camera.
  • the remote control is configured to receive an image or video captured by the camera from the drone by communicating with the first communication system and/or the second communication system of the drone.
  • a method performed by a drone includes a camera, a first communication system, a second communication system, and a controller.
  • the method includes: the camera captures an image or video; the first communication system communicates according to a private communication protocol; the second communication system communicates according to a standard communication protocol; and the controller controls operations of the first communication system and the second communication system such that A communication system and a second communication system simultaneously transmit images or video captured by the camera.
  • a method performed by a drone system includes a drone and a remote control.
  • the drone includes a camera, a first communication system, a second communication system, and a controller.
  • the method includes: the camera captures an image or video; the first communication system communicates according to a private communication protocol; the second communication system communicates according to a standard communication protocol; and the controller controls operations of the first communication system and the second communication system such that the first The communication system and the second communication system simultaneously transmit the image or video captured by the camera; and the remote controller receives the image or video captured by the camera from the drone by communicating with the first communication system and/or the second communication system of the drone .
  • a computer readable storage medium storing a computer program, when executed by at least one processor, causes at least one processor to perform the method described above.
  • the communication bandwidth of the drone can be increased, and the transmission speed of the image/video data can be improved.
  • FIG. 1 is a block diagram showing a drone according to an embodiment of the present disclosure.
  • FIG. 2 is a flow chart showing a method performed by a drone in accordance with one embodiment of the present disclosure.
  • FIG. 3 is a block diagram showing a drone system in accordance with one embodiment of the present disclosure.
  • FIG. 4 is a flow chart showing a method performed by a drone system in accordance with one embodiment of the present disclosure.
  • FIG. 5 is a schematic diagram showing a computer readable storage medium in accordance with one embodiment of the present disclosure.
  • FIG. 6 is a schematic diagram showing drone data communication in accordance with one embodiment of the present disclosure.
  • the principles of the present disclosure are applicable to drones having two or more sets of communication systems, wherein at least one set of communication systems can communicate according to a proprietary communication protocol and at least another set of communication systems can communicate according to standard communication protocols.
  • the principle of the present disclosure will be described in detail with a drone having two sets of communication systems: one is a communication system that communicates according to a private map transfer protocol, and the other is a communication system that communicates according to a WIFI communication protocol.
  • the principles of the present disclosure are equally applicable to drone/unmanned systems having two or more sets of communication systems employing other classes of proprietary communication protocols and standard communication protocols.
  • FIG. 1 is a block diagram showing a drone according to an embodiment of the present disclosure.
  • the drone 10 includes a first communication system 110, a second communication system 120, a controller 130, and a camera 140.
  • the first communication system 110 is configured to communicate in accordance with a proprietary communication protocol.
  • the first communication system 110 can communicate with a remote control or user equipment in accordance with a private map transfer protocol to transmit information such as image/video data and/or signaling.
  • the private map transfer protocol may be an Ocusync communication protocol.
  • the second communication system 120 is configured to communicate in accordance with a standard communication protocol.
  • the second communication system 120 can communicate with a remote control or user equipment in accordance with a WIFI communication protocol to transmit information such as image/video data and/or signaling.
  • Camera 140 is configured to capture an image or video.
  • camera 140 may include one or more cameras, which may be visible light cameras and/or infrared cameras, and the like.
  • the controller 130 is configured to control operations of the first communication system 110 and the second communication system 120 such that the first communication system 110 and the second communication system 120 simultaneously transmit images or video captured by the camera 140.
  • the controller 130 may be configured to control operations of the first communication system 110 and the second communication system 120 such that one of the first communication system 110 and the second communication system 120 transmits the camera 140 to the first device.
  • One of the first communication system 110 and the second communication system 120 transmits the camera 140 to the first device.
  • An image or video, and another of the first communication system 110 and the second communication system 120 transmits an image or video captured by the camera 140 to the second device.
  • the first device may include, for example, a remote controller for controlling the drone 10.
  • the second device may, for example, comprise a user device having an application capable of communicating with the first communication system 110 or the second communication system 120.
  • the user device can be a mobile phone.
  • the controller 130 can control the first communication system 110 and the second communication system 120 to operate in a full duplex manner using a variety of means.
  • An example of such a control scheme is the use of Multipath Transmission Control Protocol (MPTCP).
  • MPTCP Multipath Transmission Control Protocol
  • the controller 130 may perform connection initialization, data mapping, data transmission, and retransmission, in accordance with the MPTCP, for the private communication link provided by the first communication system 110 and the standard communication link provided by the second communication system 120, Congestion control, link management, etc., enable the first communication system 110 and the second communication system 120 to operate simultaneously in a full duplex manner without affecting each other. In this way, since the bandwidth provided by the two communication systems can be utilized at the same time, the speed of data transmission is greatly improved, and the accuracy of data transmission is ensured.
  • MPTCP Multipath Transmission Control Protocol
  • the first communication system 110 and the second communication system 120 can operate on different frequency bands in order to achieve mutual interference during full duplex communication.
  • the communication according to the OcuSync private map transfer protocol can use the 5.8 GHz frequency band, and according to the WIFI Communication by the communication protocol can use the 2.4 GHz band.
  • the communication according to the OcuSync private map transfer protocol can use the 2.4 GHz band, and the communication according to the WIFI communication protocol can use the 5.8 GHz band, and so on.
  • the communication bandwidth of the drone can be increased, and the transmission speed of the image/video data can be improved.
  • FIG. 2 is a flow chart showing a method performed by a drone in accordance with one embodiment of the present disclosure.
  • the method can be performed by the drone 10 including the first communication system, the second communication system, the controller, and the camera shown in FIG.
  • the camera of the drone captures an image or video.
  • the camera may include one or more cameras, which may be visible light cameras and/or infrared cameras, and the like.
  • the captured image or video may be a visual and/or infrared image and/or video.
  • the first communication system of the drone communicates in accordance with a private communication protocol.
  • the first communication system can communicate with the remote control or user equipment in accordance with the Ocusync private map transfer protocol.
  • the second communication system of the drone communicates in accordance with a standard communication protocol.
  • the second communication system can communicate with the remote controller or user equipment in accordance with the WIFI communication protocol.
  • the controller of the drone controls the operations of the first communication system and the second communication system such that the first communication system and the second communication system simultaneously transmit images or video captured by the camera of the drone.
  • the controller may control operations of the first communication system and the second communication system such that one of the first communication system and the second communication system transmits the image or video captured by the camera to the first device, and the first communication system And another communication system in the second communication system transmits the image or video captured by the camera to the second device.
  • the first device may include, for example, a remote controller for controlling the drone.
  • the second device may, for example, comprise a user device having an application capable of communicating with the first communication system or the second communication system.
  • the user device can be a mobile phone.
  • the controller can control the first communication system and the second communication system in a plurality of ways to fully double Work in a way. As described above, the controller can perform connection initialization, data mapping, data transmission, retransmission, and congestion for the private communication link provided by the first communication system and the standard communication link provided by the second communication system in the manner of MPTCP. Control, link management, etc., enable the first communication system and the second communication system to operate simultaneously in a full duplex manner without affecting each other.
  • the first communication system and the second communication system operate on different frequency bands.
  • the first communication system can communicate using the 5.8 GHz band
  • the second communication system can communicate using the 2.4 GHz band and vice versa.
  • FIG. 3 is a block diagram showing a drone system in accordance with one embodiment of the present disclosure.
  • the drone system 30 includes a drone 10 and a remote controller 310.
  • the drone 10 can be the drone 10 shown in FIG.
  • the operation of each component in the unmanned aerial vehicle system 30 shown in Fig. 3 will be described in detail.
  • the drone 10 can include a first communication system 110, a second communication system 120, a controller 130, and a camera 140, as shown in FIG.
  • the first communication system 110 can be configured to communicate in accordance with a proprietary communication protocol (eg, an Ocusync private graphics protocol), and the second communication system 120 can be configured to operate in accordance with a standard communication protocol (eg, a WIFI communication protocol).
  • Communication can be configured to take an image or video.
  • camera 140 may include one or more cameras, which may be visible light cameras and/or infrared cameras, and the like.
  • the controller 130 in the drone 10 can be configured to control the operations of the first communication system 110 and the second communication system 120 such that the first communication system 110 and the second communication system 120 simultaneously transmit images or video captured by the camera 140.
  • the controller 130 may be configured to control operations of the first communication system 110 and the second communication system 120 such that one of the first communication system 110 and the second communication system 120 transmits the camera 140 to the remote controller 140.
  • Image or video and the first communication system Another communication system in 110 and second communication system 120 transmits the image or video captured by camera 140 to the second device.
  • the remote control 140 can be configured to receive images or video captured by the camera 140 from the drone 10 by communicating with the first communication system 110 and/or the second communication system 120 of the drone 10 . Further, the remote controller 140 may transmit an image or video received from the drone to the second device or receive an image or video received by the second device from the drone from the second device.
  • the second device may include, for example, a user device having an application capable of communicating with the first communication system 110 or the second communication system 120.
  • the user device can be a mobile phone.
  • the controller 130 can control the first communication system 110 and the second communication system 120 to operate in a full duplex manner using various ways, such as the Multipath Transmission Control Protocol (MPTCP) described above.
  • MPTCP Multipath Transmission Control Protocol
  • the first communication system 110 and the second communication system 120 of the drone 10 can operate on different frequency bands in order to avoid interference with each other during duplex communication.
  • the first communication system 110 can communicate using a frequency band of 5.8 GHz
  • the second communication system 120 can communicate using a frequency band of 2.4 GHz, and vice versa.
  • FIG. 4 is a flow chart showing a method performed by a drone system in accordance with one embodiment of the present disclosure.
  • the method can be performed by the drone system including the drone and the remote controller shown in FIG.
  • the camera of the drone captures an image or video.
  • the camera may include one or more cameras, which may be visible light cameras and/or infrared cameras, and the like.
  • the first communication system of the drone communicates in accordance with a proprietary communication protocol.
  • the first communication system can communicate with the remote control or user equipment in accordance with the Ocusync private map transfer protocol.
  • the second communication system of the drone communicates in accordance with a standard communication protocol.
  • the second communication system can be performed with the remote controller or user equipment according to the WIFI communication protocol. Communication.
  • the controller of the drone controls the operations of the first communication system and the second communication system such that the first communication system and the second communication system simultaneously transmit images or video captured by the camera.
  • the controller may control operations of the first communication system and the second communication system such that one of the first communication system and the second communication system transmits an image or video captured by the camera to the remote controller, and the first communication system and Another communication system in the second communication system transmits the image or video captured by the camera to the second device.
  • the remote control receives images or video captured by the camera from the drone by communicating with the first communication system and/or the second communication system of the drone. Further, the remote controller may also transmit an image or video received from the drone to the second device or receive an image or video received by the second device from the drone from the second device.
  • the "second device” may be a user device having an application capable of communicating with the first communication system or the second communication system.
  • the first communication system and the second communication system can operate on different frequency bands.
  • the first communication system can communicate using the 5.8 GHz band
  • the second communication system can communicate using the 2.4 GHz band and vice versa.
  • embodiments of the present disclosure may be implemented by means of a computer program product.
  • the computer program product can be a computer readable storage medium.
  • a computer program is stored on a computer readable storage medium, and when executed on a computing device, related operations can be performed to implement the above-described aspects of the present disclosure.
  • Figure 5 is a block diagram showing a computer readable storage medium 50 in accordance with one embodiment of the present disclosure.
  • computer readable storage medium 50 includes computer program 510.
  • the computer program 510 when executed by at least one processor, causes at least one processor to perform various portions of the method, such as described in accordance with FIGS. 2 and 4.
  • examples of computer readable storage medium 50 include, but are not limited to, a semiconductor storage medium, an optical storage medium, a magnetic storage medium, or any other form of computer readable storage medium.
  • FIG. 6 is a schematic diagram showing drone data communication in accordance with one embodiment of the present disclosure.
  • the drone e.g., can be implemented using the drone 10 shown in Figure 1
  • the communication system using the WIFI communication protocol
  • the remote control is shown connected to the user equipment via a universal serial bus (USB) interface.
  • USB universal serial bus
  • the remote control can also be connected to the user device by other means such as, but not limited to, a serial connection, an infrared connection, and the like.
  • the images and/or videos captured by the camera of the drone can be transmitted to the remote controller through a private map transfer protocol, and can be transmitted to the user equipment through WIFI communication.
  • a controller in a drone can use MPTCP to control private graphics protocol communication and WIFI communication so that both can work simultaneously and without affecting each other.
  • the 2.4 GHz band can be used for WIFI communication and the 5.8 GHz band for OcuSync communication.
  • the remote control can transmit the image and/or video data it receives from the drone to the user device via a USB connection.
  • the user device can combine the image and/or video data it receives from the drone with the image and/or video data received from the remote control to produce a final image and/or video for display to the user.
  • the image and/or video data received by the remote controller from the drone is transmitted from the remote controller to the user equipment in FIG. 6, data transmission in the opposite direction is also possible.
  • the user device can transmit image and/or video data it receives from the drone to the remote control.
  • the remote control can also combine the image and/or video data it receives directly from the drone with the image and/or video data received from the user device, thereby producing the final image and/or video and displaying it to the user. (if the remote control has a display).
  • At least two communication systems of the drone can simultaneously transmit image/video data captured by the drone. This effectively increases the communication bandwidth, making the transmission of image/video data faster, greatly improving the user experience.
  • Such an arrangement of the present disclosure is typically provided as software, code, and/or other data structures, such as one or more, that are arranged or encoded on a computer readable medium such as an optical medium (eg, CD-ROM), floppy disk, or hard disk.
  • a computer readable medium such as an optical medium (eg, CD-ROM), floppy disk, or hard disk.
  • Software or firmware or such a configuration may be installed on the computing device such that one or more processors in the computing device perform the technical solutions described in the embodiments of the present disclosure.
  • each functional module or individual feature of the device used in each of the above embodiments may be implemented or executed by circuitry, typically one or more integrated circuits.
  • Circuitry designed to perform the various functions described in this specification can include general purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs) or general purpose integrated circuits, field programmable gate arrays (FPGAs), or others.
  • a general purpose processor may be a microprocessor, or the processor may be an existing processor, controller, microcontroller, or state machine.
  • the above general purpose processor or each circuit may be configured by a digital circuit or may be configured by a logic circuit.
  • the present disclosure may also use integrated circuits obtained using the advanced technology.
  • the program running on the device may be a program that causes a computer to implement the functions of the embodiments of the present invention by controlling a central processing unit (CPU).
  • the program or information processed by the program may be temporarily stored in a volatile memory (such as a random access memory RAM), a hard disk drive (HDD), a non-volatile memory (such as a flash memory), or other memory system.
  • a program for realizing the functions of the embodiments of the present invention can be recorded on a computer readable recording medium.
  • the corresponding functions can be realized by causing a computer system to read programs recorded on the recording medium and execute the programs.
  • the so-called "computer system” herein may be a computer system embedded in the device, and may include an operating system or hardware (such as a peripheral device).

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  • Computer Networks & Wireless Communication (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
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  • Automation & Control Theory (AREA)
  • Astronomy & Astrophysics (AREA)
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Abstract

提供了一种无人机，包括：摄像机，被配置为拍摄图像或视频；第一通信系统，被配置为根据私有通信协议进行通信；第二通信系统，被配置为根据标准通信协议进行通信；以及控制器，被配置为控制第一通信系统和第二通信系统的操作，使得第一通信系统和第二通信系统同时传输摄像机拍摄的图像或视频。还提供了一种无人机系统和相应的方法。采用本公开的技术方案，可以增加无人机系统的通信带宽，提升图像/视频数据的传输速度。

Description

无人机系统和通信方法 技术领域
本公开涉及数据通信领域，更具体地，本公开涉及一种无人机系统和相应的通信方法。
背景技术
当前，具有摄像机的无人机得到了广泛的应用。例如，具有一个或更多个摄像机的无人机可以跟踪拍摄期望的对象，并将所拍摄的图像和/或视频以无线通信的方式实时传送给用户。
另外，随着互联网自媒体等的流行和发展，人们在使用无人机进行航拍之后，往往希望能够立刻将媒体资料下载到手机中，并通过编辑上传到网络。
随着无人机所携带的摄像机的画质的提升，所拍摄的视频和照片的尺寸也越来越大。这对无人机的图像数据和视频数据的即时传输提出了很高的要求。
发明内容
本公开提出了一种具有两个通信系统的无人机，其中一个通信系统可以使用私有通信协议进行通信，而另一个通信系统可以使用标准通信协议进行通信。在传输无人机拍摄的图像/视频数据时，这两个通信系统可以同时工作，增加了通信带宽，使得图像/视频数据的传输更快。
根据本公开的一个方面，提供了一种无人机，包括：摄像机，被配置为拍摄图像或视频；第一通信系统，被配置为根据私有通信协议进行通信；第二通信系统，被配置为根据标准通信协议进行通信；以及控制器，被配置为控制第一通信系统和第二通信系统的操作，使得第一通信系统和第二通信系统同时传输摄像机拍摄的图像或视频。
根据本公开的另一个方面，提供了一种无人机系统，包括无人机和遥控器。该无人机包括：摄像机，被配置为拍摄图像或视频；第一通信系统，被配置为根据私有通信协议进行通信；第二通信系统，被配置为根据标准 通信协议进行通信；以及控制器，被配置为控制第一通信系统和第二通信系统的操作，使得第一通信系统和第二通信系统同时传输摄像机拍摄的图像或视频。该遥控器被配置为：通过与无人机的第一通信系统和/或第二通信系统进行通信，从无人机接收摄像机拍摄的图像或视频。
根据本公开的另一个方面，提供了一种由无人机执行的方法。该无人机包括摄像机、第一通信系统、第二通信系统和控制器。该方法包括：摄像机拍摄图像或视频；第一通信系统根据私有通信协议进行通信；第二通信系统根据标准通信协议进行通信；以及控制器控制第一通信系统和第二通信系统的操作，使得第一通信系统和第二通信系统同时传输摄像机拍摄的图像或视频。
根据本公开的另一个方面，提供了一种由无人机系统执行的方法。该无人机系统包括无人机和遥控器。该无人机包括摄像机、第一通信系统、第二通信系统和控制器。该方法包括：摄像机拍摄图像或视频；第一通信系统根据私有通信协议进行通信；第二通信系统根据标准通信协议进行通信；控制器控制第一通信系统和第二通信系统的操作，使得第一通信系统和第二通信系统同时传输摄像机拍摄的图像或视频；以及遥控器通过与无人机的第一通信系统和/或第二通信系统进行通信，从无人机接收摄像机拍摄的图像或视频。
根据本公开的另一个方面，提供了一种计算机可读存储介质，存储有计算机程序，当计算机程序由至少一个处理器运行时，使至少一个处理器执行上文所述的方法。
采用本公开的技术方案，可以增加无人机的通信带宽，提升图像/视频数据的传输速度。
附图说明
通过下文结合附图的详细描述，本公开的上述和其它特征将会变得更加明显，其中：
图1是示出了根据本公开一个实施例的无人机的框图。
图2是示出了根据本公开一个实施例的由无人机执行的方法的流程图。
图3是示出了根据本公开一个实施例的无人机系统的框图。
图4是示出了根据本公开一个实施例的由无人机系统执行的方法的流程图。
图5是示出了根据本公开一个实施例的计算机可读存储介质的示意图。
图6是示出了根据本公开一个实施例的无人机数据通信的示意图。
需要注意的是，附图不一定按比例绘制，重点在于示出本文公开的技术的原理。另外，为了清楚起见，贯穿附图中的相似的附图标记指代相似的元素。
具体实施方式
下面结合附图和具体实施方式对本公开进行详细阐述。应当注意，本公开不应局限于下文所述的具体实施方式。另外，为了简便起见，省略了对与本公开没有直接关联的公知技术的详细描述，以防止对本公开的理解造成混淆。
本公开的原理可以应用于具有两套或更多套通信系统的无人机，其中至少一套通信系统可以根据私有通信协议来通信，而至少另一套通信系统可以根据标准通信协议来通信。在下文的实施例中，以无人机具有两套通信系统来详细说明本公开的原理：一个是根据私有图传协议进行通信的通信系统，另一个是根据WIFI通信协议进行通信的通信系统。然而，本领域技术人员可以理解，本公开的原理同样可以应用于具有两套或更多套通信系统的、采用其他类别的私有通信协议和标准通信协议的无人机/无人机系统。
无人机和相应方法
图1是示出了根据本公开一个实施例的无人机的框图。如图1所示，无人机10包括第一通信系统110、第二通信系统120、控制器130和摄像机140。
第一通信系统110被配置为根据私有通信协议进行通信。例如，第一通信系统110可以根据私有图传协议与遥控器或用户设备进行通信，以传输图像/视频数据和/或信令等信息。本实施方式中，该私有图传协议可以为Ocusync通信协议。
第二通信系统120被配置为根据标准通信协议进行通信。例如，第二通信系统120可以根据WIFI通信协议与遥控器或用户设备进行通信，以传输图像/视频数据和/或信令等信息。
摄像机140被配置为拍摄图像或视频。例如，摄像机140可以包括一个或更多个摄像头，这些摄像头可以是可见光摄像头和/或红外摄像头，等等。
控制器130被配置为控制第一通信系统110和第二通信系统120的操作，使得第一通信系统110和第二通信系统120同时传输摄像机140拍摄的图像或视频。
例如，控制器130可以被配置为控制第一通信系统110和第二通信系统120的操作，使得第一通信系统110和第二通信系统120中的一个通信系统向第一设备传输摄像机140拍摄的图像或视频，并且第一通信系统110和第二通信系统120中的另一个通信系统向第二设备传输摄像机140拍摄的图像或视频。
这里，第一设备例如可以包括用于控制无人机10的遥控器。第二设备例如可以包括用户设备，该用户设备具有能够与第一通信系统110或第二通信系统120进行通信的应用。例如，该用户设备可以是移动电话。
控制器130可以使用多种方式来控制第一通信系统110和第二通信系统120以全双工的方式操作。这样的控制方式的一个示例是采用多路径传输控制协议(MPTCP)。具体地，控制器130可以按照MPTCP的方式，针对第一通信系统110提供的私有通信链路和第二通信系统120提供的标准通信链路来执行连接初始化、数据映射、数据传输和重传、拥塞控制、链路管理等操作，使得第一通信系统110和第二通信系统120能够以全双工的方式同时操作而互不影响。这样，由于能够同时利用两个通信系统所提供的带宽，极大地提升了数据传输的速度，同时保证了数据传输的准确性。
优选地，为了在全双工通信过程中做到互不干扰，第一通信系统110和第二通信系统120可以在不同的频段上工作。例如，如果第一通信系统110根据Ocusync私有图传协议进行通信，而第二通信系统120根据WIFI通信协议进行通信，那么根据OcuSync私有图传协议进行的通信可以使用5.8GHz的频段，而根据WIFI通信协议进行的通信可以使用2.4GHz的频段。 或者，根据OcuSync私有图传协议进行的通信可以使用2.4GHz的频段，而根据WIFI通信协议进行的通信可以使用5.8GHz的频段，以此类推。
采用本实施例的技术方案，能够增加无人机的通信带宽，提升图像/视频数据的传输速度。
图2是示出了根据本公开一个实施例的由无人机执行的方法的流程图。例如，该方法可以由图1所示的包括第一通信系统、第二通信系统、控制器和摄像机的无人机10来执行。
下面，详细介绍图2中的方法的各个部分。需要指出的是，该方法的各个部分(方框)不一定要按照图中所示的顺序来执行。相反，这些部分可以以不同的顺序来执行，以及单独和/或并行地执行。
在方框S200，无人机的摄像机拍摄图像或视频。例如，摄像机可以包括一个或更多个摄像头，这些摄像头可以是可见光摄像头和/或红外摄像头，等等。相应地，所拍摄的图像或视频可以是视觉和/或红外图像和/或视频。
在方框S210，无人机的第一通信系统根据私有通信协议进行通信。例如，第一通信系统可以根据Ocusync私有图传协议与遥控器或用户设备进行通信。
在方框S220，无人机的第二通信系统根据标准通信协议进行通信。如上文所述，第二通信系统可以根据WIFI通信协议与遥控器或用户设备进行通信。
在方框S230，无人机的控制器控制第一通信系统和第二通信系统的操作，使得第一通信系统和第二通信系统同时传输无人机的摄像机所拍摄的图像或视频。
例如，控制器可以控制第一通信系统和第二通信系统的操作，使得第一通信系统和第二通信系统中的一个通信系统向第一设备传输摄像机拍摄的图像或视频，并且第一通信系统和第二通信系统中的另一个通信系统向第二设备传输摄像机拍摄的图像或视频。
这里，第一设备例如可以包括用于控制无人机的遥控器。第二设备例如可以包括用户设备，该用户设备具有能够与第一通信系统或第二通信系统进行通信的应用。例如，该用户设备可以是移动电话。
控制器可以使用多种方式来控制第一通信系统和第二通信系统以全双 工的方式操作。如上文所述，控制器可以按照MPTCP的方式，针对第一通信系统提供的私有通信链路和第二通信系统提供的标准通信链路来执行连接初始化、数据映射、数据传输和重传、拥塞控制、链路管理等操作，使得第一通信系统和第二通信系统能够以全双工的方式同时操作而互不影响。
优选地，第一通信系统和第二通信系统在不同的频段上工作。例如，第一通信系统可以使用5.8GHz的频段来通信，而第二通信系统可以使用2.4GHz的频段来通信，反之亦然。
无人机系统和相应方法
以上，描述了根据本公开的一个实施例的无人机及其执行的方法。下面，对包括该无人机以及相应的遥控器的无人机系统以及该无人机系统执行的方法进行详细描述。
图3是示出了根据本公开一个实施例的无人机系统的框图。如图3所示，无人机系统30包括无人机10和遥控器310。其中，无人机10可以是图1所示的无人机10。下面，详细描述图3所示的无人机系统30中的各个组件的操作。
无人机10可以包括第一通信系统110、第二通信系统120、控制器130和摄像机140，如图1所示。如上文所述，第一通信系统110可以被配置为根据私有通信协议(例如Ocusync私有图传协议)进行通信，而第二通信系统120可以被配置为根据标准通信协议(例如WIFI通信协议)进行通信。摄像机140可以被配置为拍摄图像或视频。例如，摄像机140可以包括一个或更多个摄像头，这些摄像头可以是可见光摄像头和/或红外摄像头，等等。
无人机10中的控制器130可以被配置为控制第一通信系统110和第二通信系统120的操作，使得第一通信系统110和第二通信系统120同时传输摄像机140拍摄的图像或视频。
例如，控制器130可以被配置为控制第一通信系统110和第二通信系统120的操作，使得第一通信系统110和第二通信系统120中的一个通信系统向遥控器140传输摄像机140拍摄的图像或视频，并且第一通信系统 110和第二通信系统120中的另一个通信系统向第二设备传输摄像机140拍摄的图像或视频。
遥控器140可以被配置为通过与无人机10的第一通信系统110和/或第二通信系统120进行通信，从无人机10接收摄像机140拍摄的图像或视频。进一步地，遥控器140可以将从无人机接收的图像或视频发送给第二设备，或者从第二设备接收由第二设备从无人机接收的图像或视频。
这里，第二设备例如可以包括用户设备，该用户设备具有能够与第一通信系统110或第二通信系统120进行通信的应用。例如，该用户设备可以是移动电话。
控制器130可以使用多种方式来控制第一通信系统110和第二通信系统120以全双工的方式操作，例如上文描述的多路径传输控制协议(MPTCP)。
优选地，为了在双工通信过程中做到互不干扰，无人机10的第一通信系统110和第二通信系统120可以在不同的频段上工作。例如，第一通信系统110可以使用5.8GHz的频段来通信，而第二通信系统120可以使用2.4GHz的频段来通信，反之亦然。
图4是示出了根据本公开一个实施例的由无人机系统执行的方法的流程图。例如，该方法可以由图3所示的包括无人机和遥控器的无人机系统来执行。
下面，详细介绍图4中的方法的各个部分。需要指出的是，该方法的各个部分(方框)不一定要按照图中所示的顺序来执行。相反，这些部分可以以不同的顺序来执行，以及单独和/或并行地执行。
在方框S400，无人机的摄像机拍摄图像或视频。如上文所述，该摄像机可以包括一个或更多个摄像头，这些摄像头可以是可见光摄像头和/或红外摄像头，等等。
在方框S410，无人机的第一通信系统根据私有通信协议进行通信。例如，第一通信系统可以根据Ocusync私有图传协议与遥控器或用户设备进行通信。
在方框S420，无人机的第二通信系统根据标准通信协议进行通信。如上文所述，第二通信系统可以根据WIFI通信协议与遥控器或用户设备进行 通信。
在方框S430，无人机的控制器控制第一通信系统和第二通信系统的操作，使得第一通信系统和第二通信系统同时传输摄像机拍摄的图像或视频。
例如，控制器可以控制第一通信系统和第二通信系统的操作，使得第一通信系统和第二通信系统中的一个通信系统向遥控器传输摄像机拍摄的图像或视频，并且第一通信系统和第二通信系统中的另一个通信系统向第二设备传输摄像机拍摄的图像或视频。
在方框S440，遥控器通过与无人机的第一通信系统和/或第二通信系统进行通信，从无人机接收摄像机拍摄的图像或视频。进一步地，遥控器还可以将从无人机接收的图像或视频发送给第二设备，或者从第二设备接收由第二设备从无人机接收的图像或视频。
这里，“第二设备”可以是用户设备，该用户设备具有能够与第一通信系统或第二通信系统进行通信的应用。
优选地，第一通信系统和第二通信系统可以在不同的频段上工作。例如，第一通信系统可以使用5.8GHz的频段来通信，而第二通信系统可以使用2.4GHz的频段来通信，反之亦然。
计算机程序产品
此外，本公开的实施例可以借助于计算机程序产品来实现。例如，该计算机程序产品可以是计算机可读存储介质。计算机可读存储介质上存储有计算机程序，当在计算设备上执行该计算机程序时，能够执行相关的操作以实现本公开的上述技术方案。
例如，图5是示出了根据本公开一个实施例的计算机可读存储介质50的框图。如图5所示，计算机可读存储介质50包括计算机程序510。计算机程序510在由至少一个处理器运行时，使得至少一个处理器执行例如根据图2和图4所描述的方法的各个部分。本领域技术人员可以理解，计算机可读存储介质50的示例包括但不限于：半导体存储介质、光学存储介质、磁性存储介质、或任何其他形式的计算机可读存储介质。
示例应用场景
下面，结合附图6来描述本公开的技术方案的示例应用场景。
图6是示出了根据本公开一个实施例的无人机数据通信的示意图。在图6所示的场景中，无人机(例如，可以采用图1所示的无人机10来实现)通过第一通信系统(使用私有图传协议)与遥控器通信，并通过第二通信系统(使用WIFI通信协议)与用户设备进行通信。
在图6中，示出了遥控器通过通用串行总线(USB)接口与用户设备连接。然而，还可以通过其他方式将遥控器与用户设备连接，例如但不限于串口连接、红外连接，等等。
从图6可以看出，无人机的摄像机所拍摄的图像和/或视频可以通过私有图传协议通信发送到遥控器，并且可以通过WIFI通信发送到用户设备。例如，无人机中的控制器可以采用MPTCP来控制私有图传协议通信和WIFI通信，使得两者能够同时工作且互不影响。优选地，为了保证WIFI和OcuSync在通信过程中互不干扰，可以针对WIFI通信使用2.4GHz频段，针对OcuSync通信使用5.8GHz频段。或者，针对OcuSync通信使用2.4GHz频段，针对WIFI通信使用5.8GHz频段，等等。
同时，遥控器可以将其从无人机接收到的图像和/或视频数据通过USB连接发送到用户设备。这样，用户设备可以将其从无人机接收的图像和/或视频数据与从遥控器接收的图像和/或视频数据相合并，产生最终的图像和/或视频以显示给用户。
需要指出，尽管图6中示出了由遥控器向用户设备发送该遥控器从无人机接收的图像和/或视频数据，然而相反方向的数据传输也是可能的。例如，用户设备可以将其从无人机接收的图像和/或视频数据发送给遥控器。这样，遥控器也可以将其从无人机直接接收的图像和/或视频数据与从用户设备接收的图像和/或视频数据相合并，由此产生最终的图像和/或视频并显示给用户(如果遥控器具有显示器)。
总之，在本公开提出的无人机系统中，无人机的至少两个通信系统可以同时传输无人机拍摄的图像/视频数据。这有效地增加了通信带宽，使得图像/视频数据的传输更快，极大地提升了用户体验。
上文已经结合优选实施例对本公开的方法和涉及的设备进行了描述。 本领域技术人员可以理解，上面示出的方法仅是示例性的。本公开的方法并不局限于上面示出的方框和顺序。
应该理解，本公开的上述实施例可以通过软件、硬件或者软件和硬件两者的结合来实现。本公开的这种设置典型地提供为设置或编码在例如光介质(例如CD-ROM)、软盘或硬盘等的计算机可读介质上的软件、代码和/或其他数据结构、或者诸如一个或多个ROM或RAM或PROM芯片上的固件或微代码的其他介质、或一个或多个模块中的可下载的软件图像、共享数据库等。软件或固件或这种配置可安装在计算设备上，以使得计算设备中的一个或多个处理器执行本公开实施例所描述的技术方案。
此外，上述每个实施例中所使用的设备的每个功能模块或各个特征可以由电路实现或执行，所述电路通常为一个或多个集成电路。设计用于执行本说明书中所描述的各个功能的电路可以包括通用处理器、数字信号处理器(DSP)、专用集成电路(ASIC)或通用集成电路、现场可编程门阵列(FPGA)或其他可编程逻辑器件、分立的门或晶体管逻辑、或分立的硬件组件、或以上器件的任意组合。通用处理器可以是微处理器，或者所述处理器可以是现有的处理器、控制器、微控制器或状态机。上述通用处理器或每个电路可以由数字电路配置，或者可以由逻辑电路配置。此外，当由于半导体技术的进步，出现了能够替代目前的集成电路的先进技术时，本公开也可以使用利用该先进技术得到的集成电路。
运行在根据本发明的设备上的程序可以是通过控制中央处理单元(CPU)来使计算机实现本发明的实施例功能的程序。该程序或由该程序处理的信息可以临时存储在易失性存储器(如随机存取存储器RAM)、硬盘驱动器(HDD)、非易失性存储器(如闪速存储器)、或其他存储器系统中。用于实现本发明各实施例功能的程序可以记录在计算机可读记录介质上。可以通过使计算机系统读取记录在所述记录介质上的程序并执行这些程序来实现相应的功能。此处的所谓“计算机系统”可以是嵌入在该设备中的计算机系统，可以包括操作系统或硬件(如外围设备)。
如上，已经参考附图对本发明的实施例进行了详细描述。但是，具体的结构并不局限于上述实施例，本发明也包括不偏离本发明主旨的任何设计改动。另外，可以在权利要求的范围内对本发明进行多种改动，通过适 当地组合不同实施例所公开的技术手段所得到的实施例也包含在本发明的技术范围内。此外，上述实施例中所描述的具有相同效果的组件可以相互替代。

Claims (29)

  1. 一种无人机，包括：
    摄像机，被配置为拍摄图像或视频；
    第一通信系统，被配置为根据私有通信协议进行通信；
    第二通信系统，被配置为根据标准通信协议进行通信；以及
    控制器，被配置为控制第一通信系统和第二通信系统的操作，使得第一通信系统和第二通信系统同时传输所述摄像机拍摄的图像或视频。
  2. 根据权利要求1所述的无人机，其中，
    所述控制器被配置为控制第一通信系统和第二通信系统的操作，使得第一通信系统和第二通信系统中的一个通信系统向第一设备传输所述摄像机拍摄的图像或视频，并且第一通信系统和第二通信系统中的另一个通信系统向第二设备传输所述摄像机拍摄的图像或视频。
  3. 根据权利要求1所述的无人机，其中，
    第一通信系统和第二通信系统在不同的频段上工作。
  4. 根据权利要求1所述的无人机，其中，
    所述私有通信协议包括OcuSync通信协议。
  5. 根据权利要求1所述的无人机，其中，
    所述标准通信协议包括WiFi通信协议。
  6. 根据权利要求2所述的无人机，其中，
    所述第一设备包括用于控制所述无人机的遥控器。
  7. 根据权利要求2所述的无人机，其中，
    所述第二设备包括用户设备，所述用户设备具有能够与第一通信系统或第二通信系统进行通信的应用。
  8. 一种无人机系统，包括无人机和遥控器，其中，
    所述无人机包括：
    摄像机，被配置为拍摄图像或视频；
    第一通信系统，被配置为根据私有通信协议进行通信；
    第二通信系统，被配置为根据标准通信协议进行通信；以及
    控制器，被配置为控制第一通信系统和第二通信系统的操作，使得第一通信系统和第二通信系统同时传输所述摄像机拍摄的图像或视频；
    所述遥控器被配置为：通过与所述无人机的第一通信系统和/或第二通信系统进行通信，从所述无人机接收所述摄像机拍摄的图像或视频。
  9. 根据权利要求8所述的无人机系统，其中，
    所述控制器被配置为控制第一通信系统和第二通信系统的操作，使得第一通信系统和第二通信系统中的一个通信系统向所述遥控器传输所述摄像机拍摄的图像或视频，并且第一通信系统和第二通信系统中的另一个通信系统向第二设备传输所述摄像机拍摄的图像或视频。
  10. 根据权利要求8所述的无人机系统，其中，
    第一通信系统和第二通信系统在不同的频段上工作。
  11. 根据权利要求8所述的无人机系统，其中，
    所述私有通信协议包括OcuSync通信协议。
  12. 根据权利要求8所述的无人机系统，其中，
    所述标准通信协议包括WiFi通信协议。
  13. 根据权利要求9所述的无人机系统，其中，
    所述第二设备包括用户设备，所述用户设备具有能够与第一通信系统或第二通信系统进行通信的应用。
  14. 根据权利要求9所述的无人机系统，其中，所述遥控器被配置为：
    将从所述无人机接收的图像或视频发送给所述第二设备；或者
    从所述第二设备接收由所述第二设备从所述无人机接收的图像或视频。
  15. 一种由无人机执行的方法，所述无人机包括摄像机、第一通信系统、第二通信系统和控制器，所述方法包括：
    所述摄像机拍摄图像或视频；
    第一通信系统根据私有通信协议进行通信；
    第二通信系统根据标准通信协议进行通信；以及
    所述控制器控制第一通信系统和第二通信系统的操作，使得第一通信系统和第二通信系统同时传输所述摄像机拍摄的图像或视频。
  16. 根据权利要求15所述的方法，其中，
    所述控制器控制第一通信系统和第二通信系统的操作，使得第一通信系统和第二通信系统中的一个通信系统向第一设备传输所述摄像机拍摄的图像或视频，并且第一通信系统和第二通信系统中的另一个通信系统向第二设备传输所述摄像机拍摄的图像或视频。
  17. 根据权利要求15所述的方法，其中，
    第一通信系统和第二通信系统在不同的频段上工作。
  18. 根据权利要求15所述的方法，其中，
    所述私有通信协议包括OcuSync通信协议。
  19. 根据权利要求15所述的方法，其中，
    所述标准通信协议包括WiFi通信协议。
  20. 根据权利要求16所述的方法，其中，
    所述第一设备包括用于控制所述无人机的遥控器。
  21. 根据权利要求16所述的方法，其中，
    所述第二设备包括用户设备，所述用户设备具有能够与第一通信系统或第二通信系统进行通信的应用。
  22. 一种由无人机系统执行的方法，所述无人机系统包括无人机和遥控器，所述无人机包括摄像机、第一通信系统、第二通信系统和控制器，所述方法包括：
    所述摄像机拍摄图像或视频；
    第一通信系统根据私有通信协议进行通信；
    第二通信系统根据标准通信协议进行通信；
    所述控制器控制第一通信系统和第二通信系统的操作，使得第一通信系统和第二通信系统同时传输所述摄像机拍摄的图像或视频；以及
    所述遥控器通过与所述无人机的第一通信系统和/或第二通信系统进行通信，从所述无人机接收所述摄像机拍摄的图像或视频。
  23. 根据权利要求22所述的方法，其中，
    所述控制器控制第一通信系统和第二通信系统的操作，使得第一通信系统和第二通信系统中的一个通信系统向所述遥控器传输所述摄像机拍摄的图像或视频，并且第一通信系统和第二通信系统中的另一个通信系统向 第二设备传输所述摄像机拍摄的图像或视频。
  24. 根据权利要求22所述的方法，其中，
    第一通信系统和第二通信系统在不同的频段上工作。
  25. 根据权利要求22所述的方法，其中，
    所述私有通信协议包括OcuSync通信协议。
  26. 根据权利要求22所述的方法，其中，
    所述标准通信协议包括WiFi通信协议。
  27. 根据权利要求23所述的方法，其中，
    所述第二设备包括用户设备，所述用户设备具有能够与第一通信系统或第二通信系统进行通信的应用。
  28. 根据权利要求23所述的方法，其中，
    所述遥控器将从所述无人机接收的图像或视频发送给所述第二设备；或者
    所述遥控器从所述第二设备接收由所述第二设备从所述无人机接收的图像或视频。
  29. 一种计算机可读存储介质，存储有计算机程序，当所述计算机程序在至少一个处理器上运行时，使所述至少一个处理器执行根据权利要求15-28中的任一项所述的方法。
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