WO2019104652A1 - 一种无人机系统及其通信方法、遥控装置 - Google Patents

一种无人机系统及其通信方法、遥控装置 Download PDF

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Publication number
WO2019104652A1
WO2019104652A1 PCT/CN2017/113981 CN2017113981W WO2019104652A1 WO 2019104652 A1 WO2019104652 A1 WO 2019104652A1 CN 2017113981 W CN2017113981 W CN 2017113981W WO 2019104652 A1 WO2019104652 A1 WO 2019104652A1
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WIPO (PCT)
Prior art keywords
remote control
control device
data
interaction data
unit
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2017/113981
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English (en)
French (fr)
Inventor
陶冶
端海旺
艾楚越
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
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 SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN201780013385.7A priority Critical patent/CN108780603A/zh
Priority to PCT/CN2017/113981 priority patent/WO2019104652A1/zh
Publication of WO2019104652A1 publication Critical patent/WO2019104652A1/zh
Priority to US16/869,283 priority patent/US20200264604A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio 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
    • G05D1/0011—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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
    • H04B1/38—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
    • H04B1/3827—Portable transceivers
    • H04B1/3833—Hand-held transceivers
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/02—Protecting privacy or anonymity, e.g. protecting personally identifiable information [PII]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/03—Protecting confidentiality, e.g. by encryption
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/10—Integrity
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup
    • H04W76/14—Direct-mode setup
    • 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
    • B64U2101/20—UAVs specially adapted for particular uses or applications for use as communications relays, e.g. high-altitude platforms
    • 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
    • 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
    • B64U2101/45—UAVs specially adapted for particular uses or applications for releasing liquids or powders in-flight, e.g. crop-dusting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls

Definitions

  • the embodiment of the invention belongs to the field of UAV communication, and particularly relates to a UAV system, a communication method thereof and a communication method thereof, and a remote control device applied to the UAV system.
  • UAVs are developing rapidly, and their application areas include police, urban management, agriculture, geology, meteorology, electric power, disaster relief, and video shooting.
  • the aerial drone can be loaded with pan/tilt and pan/tilt cameras for video capture, which can be used for road monitoring, power inspection, street scene shooting, etc.
  • Classes of drones are loaded with medicine boxes, spraying equipment or monitoring equipment to spray or collect data on farmland; for example, environmentally-friendly drones are equipped with environmental monitoring equipment to observe the conditions of air, soil and water quality, or Real-time rapid tracking and monitoring of the development of sudden environmental pollution events.
  • the operator sometimes needs to remotely control the drone while remotely controlling the load. Therefore, the drone system with dual remote controls is derived, and the two operators respectively separate the drone and the load. Remote control for higher handling accuracy.
  • the inventors have found that at least the following problems exist in the prior art: when performing double remote operation, the operators of the two remote controllers have real-time communication requirements if the distance is long, and the existing communication method Use short-range communication equipment such as walkie-talkies for communication, or use third-party applications on mobile devices based on cellular data communication to communicate.
  • the frequency band of the walkie-talkie will interfere with the frequency band of the drone, resulting in no
  • the control signal may be affected, thereby affecting the operation of the drone, and when the communication is performed by the third-party application of the mobile device based on the cellular data communication, while increasing the complexity of the operation of the UAV system, Additional communication costs may also be incurred, especially when the cellular data communication signals in the field are poor.
  • an embodiment of the present invention provides an unmanned aerial vehicle system to solve the existing dual remote control control scenario.
  • the frequency band of the walkie-talkie may interfere with the frequency band of the drone.
  • the control signal may be affected, thereby affecting the operation of the drone, and when the two remote terminals communicate with the third-party application of the cellular data communication-based mobile device, the increase is not increased.
  • the embodiment of the present invention also provides a communication party applied to the drone system. Method, and a remote control device applied to the drone system.
  • an embodiment of the present invention provides a drone system including a first remote control device, a second remote control device, a drone, and a functional device mounted on the drone, a remote control device for transmitting remote control information to control the drone, and a second remote control device for transmitting remote control information to control the functional device;
  • the first remote control device and the second remote control device are communicably connected to form a communication link, and the first remote control device and the second remote control device mutually transmit and receive interaction data based on the communication link, the interaction data At least text data or audio data is included.
  • the unmanned aerial vehicle system directly communicates and forms a communication link by two remote control devices, and the two remote control devices can directly exchange mutual data, thereby realizing real-time two-way communication between the two remote control devices. It will not affect the remote control signal, but also ensure the security and privacy of the transmitted data, and eliminate the need for third-party applications of mobile devices based on cellular data communication, avoiding additional cost and simplifying the UAV system. Complexity, real-time two-way communication between two remote control devices can also be realized in the case of poor cellular data communication signals.
  • an embodiment of the present invention provides a communication method of a UAV system, including:
  • the first remote control device establishes a communication connection with the drone, the second remote control device establishes a communication connection with the function device loaded on the drone, and the first remote control device establishes a communication connection with the second remote control device, wherein The first remote control device transmits remote control information to control the drone, and the second remote control device transmits remote control information to control the functional device;
  • the first remote control device sends interaction data to the second remote control device, and receives interaction data sent by the second remote control device, where the interaction data includes at least text data or audio data.
  • real-time two-way communication between the two remote control devices of the UAV can be realized without affecting the remote control signal, and the transmission data can be secured.
  • Sex and privacy at the same time, do not need to use third-party applications of cellular data communication-based mobile devices to communicate, avoiding additional costs, while simplifying the complexity of the UAV system, in the case of poor cellular data communication signals Real-time two-way communication between two remote control devices is possible.
  • an embodiment of the present invention further provides a remote control device applied to the unmanned aerial vehicle system, wherein the remote control device includes a data collection unit, a data processing unit, a communication unit, and an output unit, and the remote control device passes the communication.
  • the unit can be communicatively coupled to another remote control device;
  • the data collection unit is configured to collect interaction data, where the interaction data includes at least text data or audio data; the data processing unit is configured to perform group package processing on the interaction data collected by the data collection unit; Transmitting the interaction data processed by the data processing unit group packet to the another remote control device;
  • the communication unit is further configured to receive interaction data sent by the another remote control device;
  • the processing unit is further configured to perform parsing processing on the interaction data received by the communication unit;
  • the output unit is configured to output the interaction data after the data processing unit parses the processing.
  • the remote control device provided by the embodiment of the present invention can realize real-time two-way communication between the two remote control devices of the UAV without affecting the remote control signal. It also guarantees the security and privacy of transmitted data. At the same time, it does not need to use third-party applications of mobile devices based on cellular data communication to communicate, avoiding additional cost, and simplifying the complexity of the UAV system in cellular data. Real-time two-way communication between two remote control devices can also be achieved in the case of poor communication signals.
  • FIG. 1 is a structural block diagram of a UAV system according to an embodiment of the present invention.
  • FIG. 2 is another structural block diagram of a UAV system according to an embodiment of the present invention.
  • FIG. 3 is another structural block diagram of a UAV system according to an embodiment of the present invention.
  • FIG. 4 is another structural block diagram of a UAV system according to an embodiment of the present invention.
  • FIG. 5 is a flowchart of a communication method of a drone system according to an embodiment of the present invention.
  • FIG. 6 is a structural block diagram of a remote control device according to an embodiment of the present invention.
  • a process, method, system, product, or device that comprises a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units not listed, or alternatively Other steps or units inherent to these processes, methods, products, or equipment.
  • references to "an embodiment” herein mean that a particular feature, structure, or characteristic described in connection with the embodiments can be included in at least one embodiment of the invention.
  • the appearances of the phrases in various places in the specification are not necessarily referring to the same embodiments, and are not exclusive or alternative embodiments that are mutually exclusive. Those skilled in the art will understand and implicitly understand that the embodiments described herein can be combined with other embodiments.
  • an embodiment of the present invention provides an unmanned aerial vehicle system including a first remote control device 10 , a second remote control device 20 , a drone 30 , and a drone 30 .
  • the first remote control device 10 is communicatively coupled to the drone 30 for transmitting remote control information to control the drone 30.
  • the second remote control device 20 is communicatively coupled to the functional device 40 for transmitting remote control information to control the functional device 40; wherein the second remote control device 20 is in communication with the functional device 40, which may be a direct communication connection; the second remote control device 20 and the functional device 40 communication connection may also be the second remote control device 20 is communicatively connected with the drone 30, and the drone 30 is further communicatively/electrically connected to the functional module; the second remote control device 20 may also be the first remote control in communication with the functional device 40.
  • the device 10 is communicatively coupled to the drone 30, and the second remote control device 20 is coupled to the functional device 40 via the first remote control device 10, or the second remote control device 20 is coupled to the drone 30 via the first remote control device 10, the drone 30 is then in communication/electrical connection with the functional device 40.
  • the first remote control device 10 and the second remote control device 20 are communicably connected to form a communication link, and the first remote control device 10 and the second remote control device 20 mutually transmit and receive interaction data based on the communication link, the interaction data including at least text data or audio data.
  • the communication frequency band when the first remote control device and the second remote control device send the remote control information is different from the communication frequency band when the first remote control device and the second remote control device transmit and receive interactive data.
  • the first remote control device 10 and the second remote control device 20 operate in a communication frequency band corresponding to 2.4 GHz when transmitting remote control information, and the first remote control device 10 and the second remote control device 20 operate at a communication frequency band corresponding to 5.8 GHz when transmitting and receiving interactive data.
  • the first remote control device 10 and the second remote control device 20 operate in a communication frequency band corresponding to 5.8 GHz when transmitting the remote control information, and the first remote control device 10 and the second remote control device 20 operate in a communication frequency band corresponding to 2.4 GHz when transmitting and receiving interactive data. .
  • the communication link formed by the first remote control device 10 and the second remote control device 20 is independent of other communication links, it can be directly used for mutual interaction of the first remote control device 10 and the second remote control device 20, thereby realizing the first
  • the real-time two-way communication between the remote control device 10 and the second remote control device 20 does not affect the remote control signal, and ensures the security and privacy of the transmitted data, and does not require the use of a third-party application of the mobile device based on cellular data communication.
  • real-time two-way communication between the first remote control device 10 and the second remote control device 20 can also be realized in the case of a poor cellular data communication signal.
  • the first remote control device 10 of the control drone 30 is the primary control device
  • the second remote control device 20 of the control function module is the secondary control device.
  • the unmanned aerial vehicle system may include a main control device. And including one or more secondary control devices; alternatively, in some embodiments, the primary control device and the secondary control device can switch to each other.
  • the first remote control device 10, the controlled device and the second remote control device 20 are sequentially communicatively coupled to form another communication link, the controlled device being the drone 30 and/or the functional device 40, first The remote control device 10 and the second remote control device 20 can also transmit and receive interactive data to each other based on the other communication link.
  • the first remote control device 10 sends the interaction data to the controlled device, and the controlled device identifies the received object of the interaction data and sends the interaction data to the identified receiving object, where the interaction data can be sent separately from the remote control information.
  • the method may be included in the remote control information and sent to the controlled device.
  • the controlled device reads the interaction data contained in the remote control information and sends the interaction data to the identified receiving object. In this way, the controlled device can be used as the medium.
  • the communication station realizes mutual transmission and reception of interaction data between the first remote control device 10 and the second remote control device 20.
  • the first remote control device 10 and the second remote control device 20 may be a remote controller with an interactive interface and an operating handle, or a mobile terminal with an interactive interface, or a mobile terminal with an interactive interface and an operating handle A combination of remote controls, wherein the mobile terminal having an interactive interface can be a mobile phone, a tablet or other mobile electronic device having a communication module.
  • the mobile terminal and the remote controller can be connected via a wireless connection or via a USB. Connected, the two remotes can be connected via WiFi.
  • the drone 30 can be an unmanned aerial vehicle, an unmanned vehicle, or an unmanned vehicle;
  • the functional device 40 can be a pan/tilt and/or camera, a spray device, or an environmental monitoring device.
  • the first remote control device 10 includes a first data collection unit 11, a first data processing unit 12, a first communication unit 13, and a first output unit 14;
  • the first data collection unit 11 is configured to collect the interaction data, and transmit the collected interaction data to the first data processing unit 12.
  • the collected interaction data is also simultaneously transmitted to the storage unit of the first remote control device 10 (attached Backup storage is not shown in the figure.
  • the first data processing unit 12 is configured to perform group packet processing on the interaction data collected by the first data collection unit 11 and transmit the interaction data processed by the group packet to the first communication unit 13.
  • the first communication unit 13 is configured to transmit the interaction data processed by the first data processing unit 12 to the second remote control device 20.
  • the first communication unit 13 is a wireless communication module, such as a WiFi module.
  • the first communication unit 13 is further configured to receive the interaction data sent by the second remote control device 20; in some embodiments, when receiving the interaction data sent by the second remote control device 20, the first communication unit 13 will receive the received data. The interactive data is verified to ensure the accuracy and integrity of the received interactive data.
  • the first data processing unit 12 is further configured to perform parsing processing on the interaction data received by the first communication unit 13; the first output unit 14 is configured to output the interaction data after the first data processing unit 12 parses the processing, specifically, The first output unit 14 can output the interactive data in an audio play or visual display manner.
  • the mobile terminal when the first remote control device 10 is a mobile terminal and an interface with an interactive interface
  • the mobile terminal may include the first data collecting unit 11, and the remote controller includes the first data processing unit 12 and the first communication unit 13, and the interaction data collected by the mobile terminal is transmitted in a transparent manner.
  • the mobile terminal may include the first data collection unit 11 and the first data processing unit 12, and the remote controller includes the first communication unit 13, and the mobile terminal collects interaction data and performs data processing. It is transmitted to the remote controller for further operations; and the first output unit 14 can be disposed on the mobile terminal, can also be disposed on the remote controller, or can be set on both the mobile terminal and the remote controller.
  • the first data processing unit 12 is further configured to perform encryption processing on the interaction data collected by the first data collection unit 11 and decryption processing on the interaction data received by the first communication unit 13. By encrypting the interactive data, the security and privacy of the data transfer can be further ensured.
  • the first communication unit 13 is further configured to identify a receiving object of the interaction data after the packet processing of the first data processing unit 12, to send the first when the identified receiving object is the second remote control device 20
  • the data processing unit 12 packs the processed interaction data to the second remote control device 20. If there are multiple receiving objects, the directional data transmission can be realized by identifying the receiving object.
  • the receiving object may be the above implementation.
  • the second remote control device 20 includes a second data collection unit 21, a second data processing unit 22, a second communication unit 23, and a second output unit 24;
  • the second data collection unit 21 is configured to collect the interaction data and transmit the collected interaction data to the second data processing unit 22.
  • the collected interaction data is also simultaneously transmitted to the storage unit of the second remote control device 20 (FIG. Not shown in the backup storage.
  • the second data processing unit 22 is configured to perform grouping processing on the interaction data collected by the second data collection unit 21, and transmit the interaction data processed by the group packet to the second communication unit 23.
  • the second communication unit 23 is configured to transmit the interaction data processed by the second data processing unit 22 to the first remote control device 10.
  • the second communication unit 23 is a wireless communication module, such as a WiFi module.
  • the second communication unit 23 is further configured to receive the interaction data sent by the first remote control device 10; in some embodiments, the second communication unit 23, when receiving the interaction data sent by the first remote control device 10, will receive the received data. The interactive data is verified to ensure the accuracy and integrity of the received interactive data.
  • the second data processing unit 22 is further configured to perform parsing processing on the interaction data received by the second communication unit 23; the second output unit 24 is configured to output the interaction data after the second data processing unit 22 parses the processing, specifically, The second output unit 24 can output the interactive data in an audio play or visual display manner.
  • the mobile terminal when the second remote control device 20 is a combination of a mobile terminal with an interactive interface and a remote controller with an operating handle, the mobile terminal may include the second data collecting unit 21 while The remote controller includes a second data processing unit 22 and a second communication unit 23, and the interaction data collected by the mobile terminal is transmitted to the remote controller for further operation in a transparent manner; or the mobile terminal includes the second data collection unit 21 and the The second data processing unit 22, the remote controller includes a second communication unit 23, the mobile terminal collects interactive data and performs data processing, and then transmits the data to the remote controller for further operations; and the second output unit 24 can be disposed on the mobile terminal. It can also be set on the remote control or on both the mobile terminal and the remote control.
  • the second data processing unit 22 is further configured to perform encryption processing on the interaction data collected by the second data collection unit 21 and decryption processing on the interaction data received by the second communication unit 23. By encrypting the interactive data, the security and privacy of the data transfer can be further ensured.
  • the second communication unit 23 is further configured to identify the receiving object of the interaction data after the packet processing by the second data processing unit 22, to be the second when the identified receiving object is the first remote control device 10.
  • the data processing unit 22 sends the processed data to the first remote control device 10. If there are multiple receiving objects, the directional data transmission can be realized by identifying the receiving object.
  • the receiving object may be the above.
  • the first data collection unit 11 and the second data acquisition unit 21 may be an imaging device and/or a voice collection device such as a microphone.
  • the first output unit 14 and the second output unit 24 may be speakers, display devices, or a combination thereof, and may display pictures, characters, interface operations, and play audio and video, and the like.
  • a data packet consisting of a packet header, an extension header, and a packet body is generated, where the packet header includes the size information, version information, and header verification information of the data packet;
  • the type of the sending body and the receiving object of the data packet, the command set and the command ID are included; and the body is the interactive data itself or the interactive data itself after the encryption processing.
  • the types of the sending body and the receiving object mainly define the hardware source and the receiving flow direction of the sending packet.
  • the first data processing unit 12 may define the first remote control in the extended packet header when processing the interactive data packet.
  • the device 10 is a transmitting body, and the second remote device 20 is a receiving object; the command set and the command ID are used to determine the type of the interaction data, for example, the command set may be a communication command set, a camera command set, a battery command set, etc., in this embodiment.
  • the communication command set includes a structure and a format for defining the interaction data, and the command ID is a specific instruction in one of the command sets.
  • the interaction data includes text data, graphic data, audio data, video data, and One or more of the operation data, wherein the generated data when the operation is performed on the operation interfaces of the first remote control device 10 and the second remote control device 20 is operation data, such as performing virtual panning on the operation interface of the first remote control device 10
  • the operation data such as the direction angle and the moving distance of the virtual joystick moving on the interface will be After being collected, and then after the data packet
  • the operation is transmitted to the second remote control device 20 to synchronize the operation data on the operation interface of the second remote control device 20, so that the effect of the operation synchronization can be achieved between the first remote control device 10 and the second remote control device 20.
  • the packet-processed interaction data further includes the packet verification information, so that the first remote control device 10 and the second remote control device 20 perform data verification according to the packet verification information when receiving the interaction data to ensure interaction. The accuracy and completeness of data reception.
  • the first remote control device 10 transmits audio data to the second remote control device 20: the first data collection unit 11 collects audio data, wherein the audio data is actually an audio data stream; the first data processing unit 12 performs the packet processing on the audio data. Sending to the first communication unit 13, transmitting the packet-processed audio data to the second communication unit 23 of the second remote control device 20 through the first communication unit 13; wherein the audio data can be encrypted during the data group package process Further, the second communication unit 23 receives the audio data sent by the first communication unit 13 and transmits it to the second data processing unit 22, and then parses the audio data by the second data processing unit 22, and parses the audio data.
  • the audio data is sent to the second output module, and the audio is played through the second output module, thereby completing the transfer of the audio data from the first remote control device 10 to the second remote control device 20; wherein the second communication unit 23 receives the audio data It can also be verified; if the audio data is encrypted, the second data processing unit 22 will parse the audio data Frequency data decryption operation.
  • the process of transmitting the audio data by the second remote control device 20 to the first remote control device 10 is the reverse process of the foregoing process, and the description will not be made here.
  • the transmission process is similar to the transmission of audio data, the main difference is that the first data processing unit 12 needs to perform group packet processing for different types of interaction data.
  • the data format is defined correspondingly.
  • the two remote control devices directly communicate with each other to form a communication link, and the two remote control devices can directly exchange the interactive data through the communication link, thereby realizing the two remote control devices.
  • Real-time two-way communication which does not affect the remote control signal, guarantees the security and privacy of the transmitted data, and eliminates the need for third-party applications of mobile devices based on cellular data communication, avoiding additional cost and simplifying
  • the complexity of the UAV system enables real-time two-way communication between two remote control devices in the case of poor cellular data communication signals.
  • the embodiment of the present invention further provides a communication method.
  • the communication method includes:
  • the first remote control device establishes a communication connection with the drone, the second remote control device establishes a communication connection with the function device loaded on the drone, and the first remote control device establishes a communication connection with the second remote control device.
  • the first remote control device transmits remote control information to control the drone, and the second remote control device transmits remote control information to control the functional device;
  • the first remote control device sends interaction data to the second remote control device, and receives interaction data sent by the second remote control device, where the interaction data includes at least text data or audio data.
  • the interaction data may include one or more of the following data: text data, graphic data, audio data, video data, and operation data. It should be noted that the communication frequency band when the first remote control device and the second remote control device transmit the remote control information is different from the communication frequency band when the first remote control device and the second remote control device transmit and receive interactive data.
  • the first remote control device 10 and the second remote control device 20 operate in a communication frequency band corresponding to 2.4 GHz when transmitting remote control information, and the first remote control device 10 and the second remote control device 20 operate at a communication frequency band corresponding to 5.8 GHz when transmitting and receiving interactive data.
  • the first remote control device 10 and the second remote control device 20 operate in a communication frequency band corresponding to 5.8 GHz when transmitting the remote control information, and the first remote control device 10 and the second remote control device 20 operate in a communication frequency band corresponding to 2.4 GHz when transmitting and receiving interactive data. .
  • the first remote control device sends the interaction data to the second remote control device
  • the interaction data sent by the second remote control device includes:
  • the first remote control device After collecting the interaction data, the first remote control device performs group packet processing on the collected interaction data, and sends the interaction data processed by the group packet to the second remote control device; the first remote control device receives the second remote control device. After the interaction data sent by the device, the received interaction data is parsed, and the parsed interaction data is output.
  • the composition of the interaction data after the packet processing refer to the related content in the foregoing embodiment, and the description is not extended here.
  • the method when the first remote control device receives the interaction data sent by the second remote control device, the method further includes: the first remote control device checks the received interaction data to ensure data. The accuracy and completeness of the reception.
  • the performing packet processing on the collected interaction data includes performing encryption processing on the collected interaction data; further, the parsing processing on the received interaction data includes: The interactive data is decrypted. The security and privacy of data transfer can be further ensured by encrypting the interactive data.
  • the sending the group-processed interaction data to the second remote control device specifically includes: the first remote control device identifying the receiving object of the group-processed interaction data, and The group-processed interaction data is transmitted to the second remote control device when the identified receiving object is the second remote control device. In this way, when there are a plurality of receiving objects, information can be transmitted to any one of the receiving objects.
  • the method further includes:
  • the UAV can be used as a relay communication station to realize mutual transmission and reception of interaction data between the first remote control device and the second remote control device.
  • real-time two-way communication between the two remote control devices of the UAV can be realized without affecting the remote control signal, and the transmission data can be secured.
  • Sex and privacy at the same time, do not need to use third-party applications of cellular data communication-based mobile devices to communicate, avoiding additional costs, while simplifying the complexity of the UAV system, in the case of poor cellular data communication signals Real-time two-way communication between two remote control devices is possible.
  • the embodiment of the present invention further provides a remote control device, which is applied to the unmanned aerial vehicle system described in the above embodiments.
  • the remote control device includes a data collection unit 100, a data processing unit 200, and a communication.
  • the unit 300 and the output unit 400, the remote control device can be communicably connected to another remote control device through the communication unit;
  • the data collection unit 100 is configured to collect the interaction data, and the collected interaction data is transmitted to the data processing unit 200, where the interaction data includes at least text data or audio data. Specifically, in the embodiment of the present invention, the data collection unit 100 collects the data.
  • the interactive data includes one or more of the following data: text data, graphic data, audio data, video data, and operational data are optional, and the collected interactive data is also simultaneously transmitted to the storage unit of the remote control device (not shown in the drawing) Show) for backup storage.
  • the data processing unit 200 is configured to perform group packet processing on the interaction data collected by the data collection unit 100, and transmit the interaction data processed by the group packet to the communication unit 300.
  • the composition of the interaction data after the group packet processing Reference may be made to related content in the foregoing embodiments, and the description is not extended here.
  • the communication unit 300 is configured to transmit the interaction data processed by the data processing unit 200 to another remote control device.
  • the communication unit 300 is a wireless communication module, such as a WiFi module.
  • the communication unit 300 is further configured to receive interaction data sent by another remote control device; in some embodiments, when receiving the interaction data sent by another remote control device, the communication unit 300 will verify the received interaction data to ensure reception. The accuracy and completeness of the interactive data.
  • the data processing unit 200 is further configured to perform parsing processing on the interaction data received by the communication unit 300.
  • the output unit 400 is configured to output the interaction data after the data processing unit 200 parses the processing. Specifically, the output unit 400 may output the interaction data in an audio play or a visual display manner.
  • the remote control device may be a remote controller with an interactive interface, or a mobile terminal with an interactive interface, or a combination of a mobile terminal having an interactive interface and a remote controller with an operating handle, wherein the interactive interface has an interactive interface.
  • the mobile terminal can be a mobile phone, a tablet or other mobile electronic device with a communication module.
  • the remote control device when the remote control device is a combination of a mobile terminal with an interactive interface and a remote controller with an operation handle, the mobile terminal and the remote controller can be connected through a wireless connection or via a USB connection, and between the two remote controllers. Connect via WiFi.
  • the mobile terminal may include the data collection unit 100, and the remote controller includes the data processing unit 200 and the communication unit 300, and the mobile terminal collects The interactive data is sent to the remote controller for further operation in a transparent manner; or it may be a mobile terminal
  • the data collection unit 100 and the data processing unit 200 are included, and the remote controller includes a communication unit 300.
  • the mobile terminal collects interaction data and performs data processing, and then transmits the data to the remote controller for further operations.
  • the output unit 400 can be disposed on the mobile terminal. It can also be set on the remote control or on both the mobile terminal and the remote control.
  • the data collection unit 100 is an imaging device or a voice collection device; the output unit 400 may be a speaker, a display device, or a combination thereof, and can display pictures, texts, interface operations, and play audio and video. Wait.
  • the data processing unit 200 is further configured to perform encryption processing on the interaction data collected by the data collection unit 100 and decryption processing on the interaction data received by the communication unit 300. By encrypting the interactive data, the security and privacy of the data transfer can be further ensured.
  • the communication unit 300 is further configured to identify the receiving object of the interaction data after the packet processing of the data processing unit 200, to send the data processing unit 200 after the packet processing is performed when the identified receiving object is another remote control device. Interactive data to another remote control. If there are multiple receiving objects, directional data transmission can be achieved by identifying the receiving objects.
  • the communication unit 300 is further configured to transmit, by using the controlled device, the interaction data processed by the data processing unit 200 to another remote control device, and receive the interaction data sent by another remote control device through the controlled device,
  • the controlled device is a drone and/or a functional device mounted on the drone.
  • the communication unit 300 sends the interaction data to the controlled device, and the controlled device identifies the received object of the interaction data and sends the interaction data to the identified receiving object, where the interaction data may be sent separately from the remote control information, or may include
  • the remote control information is sent to the controlled device together, and the controlled device reads the interaction data contained in the remote control information and sends the interaction data to the identified receiving object. In this way, the controlled device can be used as the relay communication.
  • the station implements real-time communication of the remote control device with another remote control device.
  • the remote control device provided by the embodiment of the present invention can realize real-time two-way communication between the two remote control devices of the UAV without affecting the remote control signal. It also guarantees the security and privacy of transmitted data. At the same time, it does not need to use third-party applications of mobile devices based on cellular data communication to communicate, avoiding additional cost, and simplifying the complexity of the UAV system in cellular data. Real-time two-way communication between two remote control devices can also be achieved in the case of poor communication signals.
  • each functional module in the foregoing various embodiments of the present invention may be integrated into one processing unit, or each module may exist physically separately, or two or more modules may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.
  • the above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium.
  • the above software functional unit is stored in a storage medium, including several instructions Part of the steps of the method of the various embodiments of the present invention are performed by a computer device (which may be a personal computer, a server, or a network device, etc.) or a smart terminal device or processor.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. .
  • the disclosed apparatus and method may be implemented in other manners.
  • the method and apparatus embodiments described above are merely illustrative.
  • the division of the modules is only a logical function division, and the actual implementation may have another division manner, for example, multiple modules or components. It can be combined or integrated into another system, or some features can be ignored or not executed.
  • the modules described as separate components may or may not be physically separated.
  • the components displayed as modules may or may not be physical modules, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

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Abstract

本发明实施例属于无人机通信领域，涉及一种无人机系统，包括第一遥控装置、第二遥控装置、无人机和装载于所述无人机上的功能装置，所述第一遥控装置用于发送遥控信息以控制所述无人机，所述第二遥控装置用于发送遥控信息以控制所述功能装置；其中，所述第一遥控装置和所述第二遥控装置通信连接形成通信链路，所述第一遥控装置和所述第二遥控装置基于所述通信链路互相收发交互数据，所述交互数据至少包括文本数据或音频数据。本发明提供的无人机系统可实现两个遥控装置之间实时的双向通讯，无需借助外部设备，也不会对遥控信号产生影响，可简化无人机系统的复杂度。本发明还提供该无人机系统的通信方法以及应用于该无人机系统的遥控装置。

Description

一种无人机系统及其通信方法、遥控装置 【技术领域】
本发明实施例属于无人机通信领域，尤其涉及一种无人机系统及其通信方法及其通信方法，以及应用于该无人机系统的遥控装置。
【背景技术】
无人机发展迅速，应用领域涉及警用、城市管理、农业、地质、气象、电力、抢险救灾、视频拍摄等。无人机在执行任务时，一般情况下将携带负载，比如航拍类的无人机装载云台和云台相机，进行视频采集，可用于路面监控、电力巡检、街景拍摄等，又比如植保类的无人机装载药箱、喷洒设备或者监测设备，对农田进行喷药或者数据采集；又比如环保类的无人机搭载环境监测设备，以观测空气、土壤和水质等的状况，也可以实时快速跟踪和监测突发环境污染事件的发展。在这些应用领域中，操作者在对无人机进行遥控的同时，有时还需要对负载进行遥控，因此衍生了双遥控器的无人机系统，由两个操作者分别对无人机和负载进行遥控，以获得更高的操控精度。
发明人在实现本发明的过程中发现，现有技术至少存在下述问题：在进行双遥控操作时，两个遥控器的操作者如果距离较远时存在实时沟通的需求，现有的通讯方式是采用短距离通讯设备比如对讲机进行通讯，或者采用基于蜂窝数据通信的移动设备上的第三方应用进行通讯，然而采用对讲机通讯时，由于对讲机的频段会对无人机的频段产生干扰，导致无人机在执行作业时控制信号可能受到影响，从而影响无人机的操作，而采用基于蜂窝数据通信的移动设备的第三方应用进行通讯时，在增加无人机系统工作的复杂度的同时，还可能产生额外通讯费用，特别在野外蜂窝数据通信信号差时将无法实现通讯。
【发明内容】
基于上述背景，本发明实施例提供一种无人机系统，以解决现有在双遥控的控制场景下，两个遥控端采用对讲机通讯时，由于对讲机的频段会对无人机的频段产生干扰，导致无人机在执行作业时控制信号可能受到影响，从而影响无人机的操作的问题，以及解决两个遥控端采用基于蜂窝数据通信的移动设备的第三方应用进行通讯时，在增加无人机系统工作的复杂度的同时，还可能产生额外成本的问题；此外，本发明实施例还提供应用于该无人机系统的通信方 法，以及应用于该无人机系统的遥控装置。
一方面，本发明实施例提供一种无人机系统，所述无人机系统包括第一遥控装置、第二遥控装置、无人机和装载于所述无人机上的功能装置，所述第一遥控装置用于发送遥控信息以控制所述无人机，所述第二遥控装置用于发送遥控信息以控制所述功能装置；
其中，所述第一遥控装置和所述第二遥控装置通信连接形成通信链路，所述第一遥控装置和所述第二遥控装置基于所述通信链路互相收发交互数据，所述交互数据至少包括文本数据或音频数据。
根据本发明实施例提供的无人机系统通过两个遥控装置直接通信连接形成的通信链路，两个遥控装置可直接进行交互数据的互相传递，从而实现两个遥控装置之间实时的双向通讯，既不会对遥控信号产生影响，还可保证传输数据的安全性和私密性，也无需采用基于蜂窝数据通信的移动设备的第三方应用，避免额外的成本产生，同时简化无人机系统的复杂度，在蜂窝数据通信信号差的情况下也可以实现可以两个遥控装置之间实时的双向通讯。
另一方面，本发明实施例还提供一种无人机系统的通信方法，包括：
第一遥控装置与无人机建立通信连接，第二遥控装置与装载在所述无人机上的功能装置建立通信连接，且所述第一遥控装置与所述第二遥控装置建立通信连接，其中，所述第一遥控装置发送遥控信息以控制所述无人机，所述第二遥控装置发送遥控信息以控制所述功能装置；
所述第一遥控装置发送交互数据至所述第二遥控装置，并接收所述第二遥控装置发送的交互数据，所述交互数据至少包括文本数据或音频数据。
根据本发明实施例提供的无人机系统的通信方法，在不对遥控信号产生影响的情况下，可以实现无人机的两个遥控装置之间的实时的双向通讯，还可保证传输数据的安全性和私密性，同时，无需采用基于蜂窝数据通信的移动设备的第三方应用进行通信，避免额外的成本产生，同时可以简化无人机系统的复杂度，在蜂窝数据通信信号差的情况下也可以实现两个遥控设备之间实时的双向通讯。
另一方面，本发明实施例还提供一种应用于上述无人机系统的遥控装置，所述遥控装置包括数据采集单元、数据处理单元、通信单元和输出单元，所述遥控装置通过所述通信单元可与另一遥控装置通信连接；
所述数据采集单元用于采集交互数据，所述交互数据至少包括文本数据或音频数据；所述数据处理单元用于对所述数据采集单元采集的交互数据进行组包处理；所述通信单元用于传输所述数据处理单元组包处理后的交互数据至所述另一遥控装置；
所述通信单元还用于接收所述另一遥控装置发送的交互数据；所述数据处 理单元还用于对所述通信单元接收的交互数据进行解析处理；所述输出单元用于输出所述数据处理单元解析处理后的交互数据。
在采用双遥控装置的无人机系统中，采用本发明实施例提供的遥控装置，在不对遥控信号产生影响的情况下，可以实现无人机的两个遥控装置之间的实时的双向通讯，还可保证传输数据的安全性和私密性，同时，无需采用基于蜂窝数据通信的移动设备的第三方应用进行通信，避免额外的成本产生，同时可以简化无人机系统的复杂度，在蜂窝数据通信信号差的情况下也可以实现两个遥控装置之间实时的双向通讯。
【附图说明】
为了更清楚地说明本发明或现有技术中的方案，下面将对实施例或现有技术描述中所需要使用的附图作一个简单介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例提供的无人机系统的结构框图；
图2为本发明实施例提供的无人机系统的另一结构框图；
图3为本发明实施例提供的无人机系统的又一结构框图；
图4为本发明实施例提供的无人机系统的又一结构框图；
图5为本发明实施例提供的无人机系统的通信方法的流程图；
图6为本发明实施例提供的遥控装置的结构框图。
【具体实施方式】
为了使本技术领域的人员更好地理解本发明方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述。除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别不同对象，而不是用于描述特定顺序。此外，术语“包括”和“包含”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其他步骤或单元。
在本文中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本发明的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是，本文所描述的实施例可以与其它实施例相结合。
如图1所示，本发明实施例提供一种无人机系统，所述无人机系统包括第一遥控装置10、第二遥控装置20、无人机30和装载于所述无人机30上的功能装置40。
第一遥控装置10与无人机30通信连接，用于发送遥控信息以控制无人机30。第二遥控装置20与功能装置40通信连接，用于发送遥控信息以控制功能装置40；其中第二遥控装置20与功能装置40通信连接可以是直接的通信连接；第二遥控装置20与功能装置40通信连接也可以是第二遥控装置20与无人机30通信连接，无人机30再和功能模块通信/电性连接；第二遥控装置20与功能装置40通信连接还可以是第一遥控装置10与无人机30通信连接，而第二遥控装置20通过第一遥控装置10与功能装置40连接，或者第二遥控装置20通过第一遥控装置10与无人机30连接，无人机30再与功能装置40通信/电性连接。第一遥控装置10和第二遥控装置20通信连接形成通信链路，第一遥控装置10和第二遥控装置20基于该通信链路互相收发交互数据，所述交互数据至少包括文本数据或音频数据；其中第一遥控装置和第二遥控装置发送遥控信息时的通信频段与第一遥控装置和第二遥控装置收发交互数据时的通信频段不同。比如：第一遥控装置10和第二遥控装置20发送遥控信息时工作在2.4GHz对应的通信频段，而第一遥控装置10和第二遥控装置20收发交互数据时工作在5.8GHz对应的通信频段；或者第一遥控装置10和第二遥控装置20发送遥控信息时工作在5.8GHz对应的通信频段，而第一遥控装置10和第二遥控装置20收发交互数据时工作在2.4GHz对应的通信频段。由于第一遥控装置10和第二遥控装置20形成的通信链路独立于其他通信链路，可直接用于第一遥控装置10和第二遥控装置20交互数据的互相传递，由此可实现第一遥控装置10和第二遥控装置20实时的双向通讯，既不会对遥控信号产生影响，还可保证传输数据的安全性和私密性，也无需采用基于蜂窝数据通信的移动设备的第三方应用，避免产生额外成本，同时简化无人机系统的复杂度，在蜂窝数据通信信号差的情况下也可以实现第一遥控装置10和第二遥控装置20之间实时的双向通讯。
在本发明实施例中，控制无人机30的第一遥控装置10为主控制设备，控制功能模块的第二遥控装置20为副控制设备，具体的，无人机系统可以包括一个主控制设备，同时包括一个或多个副控制设备；可选的，在一些实施例中，主控制设备和副控制设备可互相切换。
在一些实施例中，第一遥控装置10、受控设备与第二遥控装置20依次通信连接形成另一通信链路，所述受控设备为无人机30和/或功能装置40，第一遥控装置10和第二遥控装置20还可基于该另一通信链路互相收发交互数据。具体地，第一遥控装置10发送交互数据至受控设备，受控设备识别该交互数据的接收对象后将该交互数据定向发送至识别的接收对象，其中交互数据可以与遥控信息分开发送，也可包含在遥控信息中一同发送给受控设备，受控设备读取遥控信息中包含的交互数据后将该交互数据定向发送至识别的接收对象，通过这种方式，可以将受控设备作为中继通信站实现第一遥控装置10和第二遥控装置20之间交互数据的互相收发。
在一些实施例中，第一遥控装置10和第二遥控装置20可以是带交互界面和操作手柄的遥控器，或者是具有交互界面的移动终端，或者是具有交互界面的移动终端与带操作手柄的遥控器的组合，其中，具有交互界面的移动终端可以手机、平板电脑或者其他具有通信模块的移动电子设备。在本实施例中，当第一遥控装置10和第二遥控装置20为带交互界面的移动终端与带操作手柄的遥控器的组合时，移动终端和遥控器可以通过无线连接，也可通过USB连接，两个遥控器之间可通过WiFi连接。
在一些实施例中，无人机30可以为无人飞行器、无人船或无人车；功能装置40可以为云台和/或相机、喷洒设备或环境监测设备。
进一步参阅图2，在本发明一些实施例中，第一遥控装置10包括第一数据采集单元11、第一数据处理单元12、第一通信单元13和第一输出单元14；
第一数据采集单元11用于采集交互数据，并将采集的交互数据传递至第一数据处理单元12，可选的，采集的交互数据还将同时传输至第一遥控装置10的存储单元(附图中未示出)进行备份存储。第一数据处理单元12用于对第一数据采集单元11采集的交互数据进行组包处理，并将组包处理后的交互数据传递给第一通信单元13。第一通信单元13用于传输第一数据处理单元12组包处理后的交互数据至第二遥控装置20。在本发明实施例中，第一通信单元13为无线通信模块，比如WiFi模块。
进一步地，第一通信单元13还用于接收第二遥控装置20发送的交互数据；在一些实施例中，第一通信单元13在接收第二遥控装置20发送的交互数据时，将对接收的交互数据进行校验，以保证接收的交互数据的准确性和完整性。进一步地，第一数据处理单元12还用于对第一通信单元13接收的交互数据进行解析处理；第一输出单元14用于输出第一数据处理单元12解析处理后的交互数据，具体的，第一输出单元14可以音频播放或者视觉展示的方式输出该交互数据。
在本发明一些实施例中，当第一遥控装置10为带交互界面的移动终端与带 操作手柄的遥控器的组合时，可以是移动终端包括第一数据采集单元11，同时遥控器包括第一数据处理单元12和第一通信单元13，移动终端采集的交互数据以透传的方式发送给遥控器进行进一步的操作；也可以是移动终端包括第一数据采集单元11和第一数据处理单元12，同时遥控器包括第一通信单元13，移动终端采集交互数据并进行数据处理，再透传给遥控器进行进一步的操作；而第一输出单元14可以设置在移动终端上，也可以设置在遥控器上，或者在移动终端和遥控器上均设置。
在本发明一些实施例中，第一数据处理单元12还用于对第一数据采集单元11采集的交互数据进行加密处理以及对第一通信单元13接收的交互数据进行解密处理。通过对交互数据进行加密，可以进一步保证数据传递的安全性和私密性。
在本发明一些实施例中，第一通信单元13还用于识别第一数据处理单元12组包处理后的交互数据的接收对象，以在识别的接收对象为第二遥控装置20时发送第一数据处理单元12组包处理后的交互数据至第二遥控装置20，假如存在多个接收对象时，通过识别接收对象，可以实现定向的数据传输；在本实施例中，接收对象可以是上述实施例的副控制设备、被控的无人机30或者功能装置40。
进一步参阅图3，在本发明另一些实施例中，第二遥控装置20包括第二数据采集单元21、第二数据处理单元22、第二通信单元23和第二输出单元24；
第二数据采集单元21用于采集交互数据并将采集的交互数据传递至第二数据处理单元22，可选的，采集的交互数据还将同时传输至第二遥控装置20的存储单元(附图中未示出)进行备份存储。第二数据处理单元22用于对第二数据采集单元21采集的交互数据进行组包处理，并将组包处理后的交互数据传递给第二通信单元23。第二通信单元23用于传输第二数据处理单元22组包处理后的交互数据至第一遥控装置10。在本发明实施例中，第二通信单元23为无线通信模块，比如WiFi模块。
进一步地，第二通信单元23还用于接收第一遥控装置10发送的交互数据；在一些实施例中，第二通信单元23在接收第一遥控装置10发送的交互数据时，将对接收的交互数据进行校验，以保证接收的交互数据的准确性和完整性。进一步地，第二数据处理单元22还用于对第二通信单元23接收的交互数据进行解析处理；第二输出单元24用于输出第二数据处理单元22解析处理后的交互数据，具体的，第二输出单元24可以音频播放或者视觉展示的方式输出该交互数据。
在本发明一些实施例中，当第二遥控装置20为带交互界面的移动终端与带操作手柄的遥控器的组合时，可以是移动终端包括第二数据采集单元21，同时 遥控器包括第二数据处理单元22和第二通信单元23，移动终端采集的交互数据以透传的方式发送给遥控器进行进一步的操作；也可以是移动终端包括第二数据采集单元21和第二数据处理单元22，同时遥控器包括第二通信单元23，移动终端采集交互数据并进行数据处理，再透传给遥控器进行进一步的操作；而第二输出单元24可以设置在移动终端上，也可以设置在遥控器上，或者在移动终端和遥控器上均设置。
在本发明一些实施例中，第二数据处理单元22还用于对第二数据采集单元21采集的交互数据进行加密处理以及对第二通信单元23接收的交互数据进行解密处理。通过对交互数据进行加密，可以进一步保证数据传递的安全性和私密性。
在本发明一些实施例中，第二通信单元23还用于识别第二数据处理单元22组包处理后的交互数据的接收对象，以在识别的接收对象为第一遥控装置10时将第二数据处理单元22组包处理后的交互数据发送至第一遥控装置10，假如存在多个接收对象时，通过识别接收对象，可以实现定向的数据传输；在本实施例中，接收对象可以是上述实施例的副控制设备、被控的无人机30或者功能装置40。
进一步地，在本发明上述实施例中，第一数据采集单元11和第二数据采集单元21可以是摄像装置和/或语音采集装置比如麦克风。
进一步地，在本发明上述实施例中，第一输出单元14和第二输出单元24可以是扬声器、显示装置或者它们的组合，可以显示图片、文字、界面操作，以及播放音频和视频等。
在本发明上述实施例中，交互数据被组包处理后，将生成由包头、扩展包头、包体组成的数据包，其中包头包括数据包的大小信息、版本信息和头校验信息；扩展包头包括数据包的发送主体和接收对象的类型、命令集和命令ID；而包体即为交互数据本身或者加密处理后的交互数据本身。具体的，在扩展包头中，发送主体和接收对象的类型主要定义了发包的硬件来源和接收流向，比如第一数据处理单元12在对交互数据组包处理时可在扩展包头中定义第一遥控装置10为发送主体，第二遥控装置20为接收对象；命令集和命令ID用于确定交互数据的类型，比如命令集可以是通信命令集、相机命令集、电池命令集等，在本实施例中，通信命令集中包括定义了交互数据的结构和格式，而命令ID则是其中一个命令集中的具体指令，在本发明实施例中，交互数据包含文本数据、图形数据、音频数据、视频数据和操作数据中一种或几种，其中第一遥控装置10和第二遥控装置20的操作界面上进行操作时的产生数据即为操作数据，比如在第一遥控装置10的操作界面上进行虚拟摇杆控制云台的操作中，虚拟摇杆在界面上移动的方向角度和移动距离等操作数据将被采集，而后经过数据组包后 发送给第二遥控装置20，在第二遥控装置20的操作界面上同步这些操作数据，使得第一遥控装置10和第二遥控装置20之间可以实现操作同步的效果。可选的，组包处理后的交互数据还包括包体校验信息，以便第一遥控装置10和第二遥控装置20在接收交互数据时根据包体校验信息进行数据校验，以确保交互数据接收的准确性和完整性。
下面结合图4，以音频数据的传输为例进行示例性说明：
第一遥控装置10向第二遥控装置20发送音频数据：第一数据采集单元11采集音频数据，其中该音频数据实际为音频数据流；第一数据处理单元12将该音频数据进行组包处理后发送给第一通信单元13，通过第一通信单元13将组包处理后的音频数据发送至第二遥控装置20的第二通信单元23；其中，在数据组包过程中可该音频数据进行加密；进一步地，第二通信单元23接收第一通信单元13发送的音频数据后将其发送给第二数据处理单元22，再由第二数据处理单元22对该音频数据进行解析，并将解析后的音频数据发送至第二输出模块，通过第二输出模块播放音频，由此完成音频数据从第一遥控装置10向第二遥控装置20的传递；其中，第二通信单元23接收该音频数据时还可对其进行校验；若该音频数据被加密，第二数据处理单元22对该音频数据进行解析的同时还将对该音频数据进行解密操作。
而第二遥控装置20向第一遥控装置10发送音频数据的过程则为前述过程的逆过程，在此不展开说明。
对于文本数据、图像数据、视频数据或者操作数据等交互数据，其传输的过程类似于音频数据的传输，主要区别在于：第一数据处理单元12对于不同类型的交互数据在进行组包处理时需对应地定义数据格式。
根据本发明实施例提供的无人机系统，两个遥控装置直接通信连接形成的通信链路，通过该通信链路两个遥控装置可直接进行交互数据的互相传递，从而实现两个遥控装置之间实时的双向通讯，既不会对遥控信号产生影响，还可保证传输数据的安全性和私密性，也无需采用基于蜂窝数据通信的移动设备的第三方应用，避免额外的成本产生，同时简化无人机系统的复杂度，在蜂窝数据通信信号差的情况下也可以实现可以两个遥控装置之间实时的双向通讯。
基于上述实施例提供的无人机系统，本发明实施例还提供一种通信方法，参阅图5，所述通信方法包括：
S10、第一遥控装置与无人机建立通信连接，第二遥控装置与装载在所述无人机上的功能装置建立通信连接，且所述第一遥控装置与所述第二遥控装置建立通信连接，其中，所述第一遥控装置发送遥控信息以控制所述无人机，所述第二遥控装置发送遥控信息以控制所述功能装置；
S20、所述第一遥控装置发送交互数据至所述第二遥控装置，并接收所述第二遥控装置发送的交互数据，所述交互数据至少包括文本数据或音频数据。具体的，所述交互数据可以包含如下的一种或者几种数据：文本数据、图形数据、音频数据、视频数据和操作数据。需要说明的是，第一遥控装置和第二遥控装置发送遥控信息时的通信频段与第一遥控装置和第二遥控装置收发交互数据时的通信频段不同。比如：第一遥控装置10和第二遥控装置20发送遥控信息时工作在2.4GHz对应的通信频段，而第一遥控装置10和第二遥控装置20收发交互数据时工作在5.8GHz对应的通信频段；或者第一遥控装置10和第二遥控装置20发送遥控信息时工作在5.8GHz对应的通信频段，而第一遥控装置10和第二遥控装置20收发交互数据时工作在2.4GHz对应的通信频段。
在本发明实施例中，所述第一遥控装置发送交互数据至所述第二遥控装置，并接收所述第二遥控装置发送的交互数据包括：
所述第一遥控装置采集交互数据后对采集的交互数据进行组包处理，并将组包处理后的交互数据发送至所述第二遥控装置；所述第一遥控装置接收所述第二遥控装置发送的交互数据后对接收的交互数据进行解析处理，并输出解析处理后的交互数据。其中，组包处理后的交互数据的构成可参考前述实施例中的相关内容，在此不展开说明。
在一些实施例中，所述第一遥控装置在接收所述第二遥控装置发送的交互数据时，所述方法还包括：所述第一遥控装置对接收的交互数据进行校验，以确保数据接收的准确性和完整性。
在本发明一些实施例中，所述对采集的交互数据进行组包处理包括对所述采集的交互数据进行加密处理；进一步地，所述对接收的交互数据进行解析处理包括对所述接收的交互数据进行解密处理。通过对交互数据的加密处理可以进一步保证数据传递的安全性和私密性。
在本发明一些实施例中，所述将组包处理后的交互数据发送至所述第二遥控装置具体包括：所述第一遥控装置识别所述组包处理后的交互数据的接收对象，并在识别的接收对象为第二遥控装置时将所述组包处理后的交互数据发送至第二遥控装置。通过这种方式，当在存在多个接收对象时，可向任意一个接收对象定向发送信息。
在本发明一些实施例中，所述方法还包括：
建立所述第一遥控装置、受控设备和所述第二遥控装置的通信链路，所述受控设备包括无人机和/或装载于所述无人机上的功能模块，所述第一遥控装置通过所述受控设备发送交互数据至所述第二遥控装置，并通过所述受控设备接收所述第二遥控装置发送的交互数据。通过这种方式可以将无人机作为中继通信站实现第一遥控装置和第二遥控装置之间交互数据的互相收发。
根据本发明实施例提供的无人机系统的通信方法，在不对遥控信号产生影响的情况下，可以实现无人机的两个遥控装置之间的实时的双向通讯，还可保证传输数据的安全性和私密性，同时，无需采用基于蜂窝数据通信的移动设备的第三方应用进行通信，避免额外的成本产生，同时可以简化无人机系统的复杂度，在蜂窝数据通信信号差的情况下也可以实现两个遥控设备之间实时的双向通讯。
本发明实施例还提供一种遥控装置，应用于上述实施例所述的无人机系统，参阅图6所示的遥控装置的结构框图，遥控装置包括数据采集单元100、数据处理单元200、通信单元300和输出单元400，遥控装置通过通信单元可与另一遥控装置通信连接；
数据采集单元100用于采集交互数据，并将采集的交互数据传递至数据处理单元200，所述交互数据至少包括文本数据或音频数据，具体的，在本发明实施例中，数据采集单元100采集的交互数据包含如下的一种或者几种数据：文本数据、图形数据、音频数据、视频数据和操作数据可选的，采集的交互数据还将同时传输至遥控装置的存储单元(附图中未示出)进行备份存储。
数据处理单元200用于对数据采集单元100采集的交互数据进行组包处理，并将组包处理后的交互数据传递给通信单元300；在本实施例中，组包处理后的交互数据的构成可参考前述实施例中的相关内容，在此不展开说明。
通信单元300用于传输数据处理单元200组包处理后的交互数据至另一遥控装置；在本发明实施例中，通信单元300为无线通信模块，比如WiFi模块。
通信单元300还用于接收另一遥控装置发送的交互数据；在一些实施例中，通信单元300在接收另一遥控装置发送的交互数据时，将对接收的交互数据进行校验，以保证接收的交互数据的准确性和完整性。
数据处理单元200还用于对通信单元300接收的交互数据进行解析处理。
输出单元400用于输出数据处理单元200解析处理后的交互数据，具体的，输出单元400可以音频播放或者视觉展示的方式输出该交互数据。
在本实施例汇总，遥控装置可以是带交互界面的遥控器，或者是具有交互界面的移动终端，或者是具有交互界面的移动终端与带操作手柄的遥控器的组合，其中，具有交互界面的移动终端可以手机、平板电脑或者其他具有通信模块的移动电子设备。在本实施例中，当遥控装置为带交互界面的移动终端与带操作手柄的遥控器的组合时，移动终端和遥控器可以通过无线连接，也可通过USB连接，两个遥控器之间可通过WiFi连接。进一步地，当遥控装置为带交互界面的移动终端与带操作手柄的遥控器的组合时，可以是移动终端包括数据采集单元100，同时遥控器包括数据处理单元200和通信单元300，移动终端采集的交互数据以透传的方式发送给遥控器进行进一步的操作；也可以是移动终端 包括数据采集单元100和数据处理单元200，同时遥控器包括通信单元300，移动终端采集交互数据并进行数据处理，再透传给遥控器进行进一步的操作；而输出单元400可以设置在移动终端上，也可以设置在遥控器上，或者在移动终端和遥控器上均设置。
进一步地，在本发明实施例中，数据采集单元100为摄像装置或者语音采集装置；输出单元400可以是扬声器、显示装置或者它们的组合，可以显示图片、文字、界面操作，以及播放音频和视频等。在本发明实施例中，数据处理单元200还用于对数据采集单元100采集的交互数据进行加密处理以及对通信单元300接收的交互数据进行解密处理。通过对交互数据进行加密，可以进一步保证数据传递的安全性和私密性。
在本发明实施例中，通信单元300还用于识别数据处理单元200组包处理后的交互数据的接收对象，以在识别的接收对象为另一遥控装置时发送数据处理单元200组包处理后的交互数据至另一遥控装置。假如存在多个接收对象时，通过识别接收对象，可以实现定向的数据传输。
在本发明实施例中，通信单元300还用于通过受控设备传输数据处理单元200组包处理后的交互数据至另一遥控装置，并通过受控设备接收另一遥控装置发送的交互数据，所述受控设备为无人机和/或装载于无人机上的功能装置。具体地，通信单元300发送交互数据至受控设备，受控设备识别该交互数据的接收对象后将该交互数据定向发送至识别的接收对象，其中交互数据可以与遥控信息分开发送，也可包含在遥控信息中一同发送给受控设备，受控设备读取遥控信息中包含的交互数据后将该交互数据定向发送至识别的接收对象，通过这种方式，可以将受控设备作为中继通信站实现所述遥控装置与另一遥控装置的实时通信。
在采用双遥控装置的无人机系统中，采用本发明实施例提供的遥控装置，在不对遥控信号产生影响的情况下，可以实现无人机的两个遥控装置之间的实时的双向通讯，还可保证传输数据的安全性和私密性，同时，无需采用基于蜂窝数据通信的移动设备的第三方应用进行通信，避免额外的成本产生，同时可以简化无人机系统的复杂度，在蜂窝数据通信信号差的情况下也可以实现两个遥控装置之间实时的双向通讯。
需要说明的是，在本发明上述各个实施例中的各功能模块可以集成在一个处理单元中，也可以是各个模块单独物理存在，也可以两个或两个以上模块集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。
上述以软件功能单元的形式实现的集成的单元，可以存储在一个计算机可读取存储介质中。上述软件功能单元存储在一个存储介质中，包括若干指令用 以使得一台计算机装置(可以是个人计算机，服务器，或者网络装置等)或智能终端设备或处理器(Processor)执行本发明各个实施例所述方法的部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
在本发明所提供的上述实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的方法和装置实施例仅仅是示意性的，例如，所述模块的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如，多个模块或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。
所述作为分离部件说明的模块可以是或者也可以不是物理上分开的，作为模块显示的部件可以是或者也可以不是物理模块，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。
显然，以上所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例，附图中给出了本发明的较佳实施例，但并不限制本发明的专利范围。本发明可以以许多不同的形式来实现，相反地，提供这些实施例的目的是使对本发明的公开内容的理解更加透彻全面。尽管参照前述实施例对本发明进行了详细的说明，对于本领域的技术人员来而言，其依然可以对前述各具体实施方式所记载的技术方案进行修改，或者对其中部分技术特征进行等效替换。凡是利用本发明说明书及附图内容所做的等效结构，直接或间接运用在其他相关的技术领域，均同理在本发明专利保护范围之内。

Claims (27)

  1. 一种无人机系统，其特征在于，包括第一遥控装置、第二遥控装置、无人机和装载于所述无人机上的功能装置，所述第一遥控装置用于发送遥控信息以控制所述无人机，所述第二遥控装置用于发送遥控信息以控制所述功能装置；
    其中，所述第一遥控装置和所述第二遥控装置通信连接形成通信链路，所述第一遥控装置和所述第二遥控装置基于所述通信链路互相收发交互数据，所述交互数据至少包括文本数据或音频数据。
  2. 根据权利要求1所述的无人机系统，其特征在于，所述第一遥控装置包括第一数据采集单元、第一数据处理单元、第一通信单元和第一输出单元；
    所述第一数据采集单元用于采集交互数据；所述第一数据处理单元用于对所述第一数据采集单元采集的交互数据进行组包处理；所述第一通信单元用于传输所述第一数据处理单元组包处理后的交互数据至所述第二遥控装置；
    所述第一通信单元还用于接收所述第二遥控装置发送的交互数据；所述第一数据处理单元还用于对所述第一通信单元接收的交互数据进行解析处理；所述第一输出单元用于输出所述第一数据处理单元解析处理后的交互数据。
  3. 根据权利要求2所述的无人机系统，其特征在于，所述第一数据处理单元还用于对所述第一数据采集单元采集的交互数据进行加密处理，以及对所述第一通信单元接收的交互数据进行解密处理。
  4. 根据权利要求2所述的无人机系统，其特征在于，所述第一通信单元还用于识别所述第一数据处理单元组包处理后的交互数据的接收对象，以在识别的接收对象为第二遥控装置时发送所述第一数据处理单元组包处理后的交互数据至所述第二遥控装置。
  5. 根据权利要求2所述的无人机系统，其特征在于，所述第一数据采集单元为摄像装置和/或语音采集装置。
  6. 根据权利要求2所述的无人机系统，其特征在于，所述第一输出单元为扬声器、显示装置或者两者的结合。
  7. 根据权利要求1或2所述的无人机系统，其特征在于，所述第二遥控装置包括第二数据采集单元、第二数据处理单元、第二通信单元和第二输出单元；
    所述第二数据采集单元用于采集交互数据；所述第二数据处理单元用于对所述第二数据采集单元采集的交互数据进行组包处理；所述第二通信单元用于传输所述第二数据处理单元组包处理后的交互数据至所述第一遥控装置；
    所述第二通信单元还用于接收所述第一遥控装置发送的交互数据；所述第二数据处理单元还用于对所述第二通信单元接收的交互数据进行解析处理；所述第二输出单元用于输出所述第二数据处理单元解析处理后的交互数据。
  8. 根据权利要求7所述的无人机系统，其特征在于，所述第二数据处理单元还用于对所述第二数据采集单元采集的交互数据进行加密处理，以及对所述第二通信单元接收的交互数据进行解密处理。
  9. 根据权利要求7所述的无人机系统，其特征在于，所述第二通信单元还用于识别所述第二数据处理单元组包处理后的交互数据的接收对象，以在识别的接收对象为第一遥控装置时将所述第二数据处理单元组包处理后的交互数据发送至所述第一遥控装置。
  10. 根据权利要求7所述的无人机系统，其特征在于，所述第二数据采集单元为摄像装置和/或语音采集装置。
  11. 根据权利要求7所述的无人机系统，其特征在于，所述第二输出单元为扬声器、显示装置或者两者的结合。
  12. 根据权利要求1所述的无人机系统，其特征在于，所述第一遥控装置、受控设备与所述第二遥控装置依次通信连接形成另一通信链路，所述受控设备为所述无人机和/或所述功能装置，所述第一遥控装置和所述第二遥控装置还可基于所述另一通信链路互相收发交互数据。
  13. 根据权利要求1所述的无人机系统，其特征在于，所述第一遥控装置和/或所述第二遥控装置为带交互界面和操作手柄的遥控器；或者
    所述第一遥控装置和/或所述第二遥控装置为带交互界面的移动终端；或者
    所述第一遥控装置和/或所述第二遥控装置为带交互界面的移动终端与带操作手柄的遥控器的组合。
  14. 根据权利要求1所述的无人机系统，其特征在于，所述功能装置为云台和/或相机、喷洒设备或环境监测设备。
  15. 根据权利要求1所述的无人机系统，其特征在于，所述无人机为无人飞行器、无人船或无人车。
  16. 一种无人机系统的通信方法，其特征在于，包括：
    第一遥控装置与无人机建立通信连接，第二遥控装置与装载在所述无人机上的功能装置建立通信连接，且所述第一遥控装置与所述第二遥控装置建立通信连接，其中，所述第一遥控装置发送遥控信息以控制所述无人机，所述第二遥控装置发送遥控信息以控制所述功能装置；
    所述第一遥控装置发送交互数据至所述第二遥控装置，并接收所述第二遥控装置发送的交互数据，所述交互数据至少包括文本数据或音频数据。
  17. 根据权利要求16所述的无人机系统的通信方法，其特征在于，所述第一遥控装置发送交互数据至所述第二遥控装置，并接收所述第二遥控装置发送的交互数据包括：
    所述第一遥控装置采集交互数据后对采集的交互数据进行组包处理，并将 组包处理后的交互数据发送至所述第二遥控装置；
    所述第一遥控装置接收所述第二遥控装置发送的交互数据后对接收的交互数据进行解析处理，并输出解析处理后的交互数据。
  18. 根据权利要求17所述的无人机系统的通信方法，其特征在于，所述对采集的交互数据进行组包处理包括：对所述采集的交互数据进行加密处理；
    所述对接收的交互数据进行解析处理包括：对所述接收的交互数据进行解密处理。
  19. 根据权利要求17所述的无人机系统的通信方法，其特征在于，所述将组包处理后的交互数据发送至所述第二遥控装置还包括：
    所述第一遥控装置识别所述组包处理后的交互数据的接收对象，并在识别的接收对象为第二遥控装置时将所述组包处理后的交互数据发送至所述第二遥控装置。
  20. 根据权利要求16所述的无人机系统的通信方法，其特征在于，所述方法还包括：
    建立所述第一遥控装置、受控设备和所述第二遥控装置的通信链路，所述受控设备包括无人机和/或装载于所述无人机上的功能装置，所述第一遥控装置通过所述受控设备发送交互数据至所述第二遥控装置，并通过所述受控设备接收所述第二遥控装置发送的交互数据。
  21. 一种遥控装置，应用于无人机系统，其特征在于，所述遥控装置包括数据采集单元、数据处理单元、通信单元和输出单元，所述遥控装置通过所述通信单元可与另一遥控装置通信连接；
    所述数据采集单元用于采集交互数据，所述交互数据至少包括文本数据或音频数据；所述数据处理单元用于对所述数据采集单元采集的交互数据进行组包处理；所述通信单元用于传输所述数据处理单元组包处理后的交互数据至所述另一遥控装置；
    所述通信单元还用于接收所述另一遥控装置发送的交互数据；所述数据处理单元还用于对所述通信单元接收的交互数据进行解析处理；所述输出单元用于输出所述数据处理单元解析处理后的交互数据。
  22. 根据权利要求21所述的遥控装置，其特征在于，所述数据处理单元还用于对所述数据采集单元采集的交互数据进行加密处理，以及对所述通信单元接收的交互数据进行解密处理。
  23. 根据权利要求21所述的遥控装置，其特征在于，所述通信单元还用于识别所述数据处理单元组包处理后的交互数据的接收对象，以在识别的接收对象为所述另一遥控装置时发送所述组包处理后的交互数据至所述另一遥控装置。
  24. 根据权利要求21所述的遥控装置，其特征在于，所述通信单元还用于通过受控设备传输所述组包处理后的交互数据至所述另一遥控装置，并通过所述受控设备接收所述另一遥控装置发送的交互数据，所述受控设备为无人机和/或装载于所述无人机上的功能模块。
  25. 根据权利要求21所述的遥控装置，其特征在于，所述遥控装置为带带交互界面和操作手柄的遥控器；或者
    所述遥控装置为带交互界面的移动终端；或者
    所述遥控装置为带交互界面的移动终端与带操作手柄的遥控器的组合。
  26. 根据权利要求21所述的遥控装置，其特征在于，所述数据采集单元为摄像装置或者语音采集装置。
  27. 根据权利要求21所述的遥控装置，其特征在于，所述输出单元为扬声器、显示装置或者两者的结合。
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