WO2019113733A1

WO2019113733A1 - Handover control method, control terminal, and unmanned aerial vehicle

Info

Publication number: WO2019113733A1
Application number: PCT/CN2017/115455
Authority: WO
Inventors: 尹小俊; 郑德恩
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-12-11
Filing date: 2017-12-11
Publication date: 2019-06-20
Also published as: CN109155927A

Abstract

Provided in the present invention are a handover control method, a control terminal, and an unmanned aerial vehicle. The handover control method comprises: if a first unmanned aerial vehicle is downlink desynchronised in a first communication network, then a control terminal hands over from the first communication network to a second communication network in order to communicate with the first unmanned aerial vehicle; sending first handover information by means of at least one of a first physical channel allocated to the first unmanned aerial vehicle in the first communication network and the second communication network, the first handover information being used for instructing the first unmanned aerial vehicle to hand over from the first communication network to the second communication network in order to communicate with the control terminal; the control terminal and the first unmanned aerial vehicle are pre-attached to the second communication network and complete the handshake. The handover control method provided in the present invention shortens the handover time of the control terminal and the unmanned aerial vehicle from the first communication network to the second communication network, enhancing the seamless handover effect between the control terminal and the unmanned aerial vehicle.

Description

Switching control method, control terminal and drone

Technical field

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

Background technique

With the advancement of technology and the reduction of costs, more and more users are beginning to use drones for aerial photography, transportation, competition, entertainment and other activities. In the UAV industry application, the wireless ad hoc network is often used to control the drone, which is characterized by low cost, easy deployment, and convenient networking. For example, remote controls and drones typically use a 2.4 GHz or 5.8 GHz band to establish a connection directly. However, due to the small network coverage of the wireless ad hoc network and the obstruction of objects and buildings in flight, the wireless ad hoc network may fail. The flight of the drone is special, and it is necessary to keep the aircraft controllable at all times. Therefore, in industrial applications, it is often switched to a public wireless communication network to ensure that the drone is controllable.

At present, the handover between the wireless ad hoc network and the public wireless communication network is based on the network selection mechanism of the Access Network Discovery and Selection Function (ANDSF). Specifically, based on the interface above the network layer, the link selection is completed according to the user's preference, the location of the drone, and the link quality.

However, the link selection time based on the network layer is long, including the reconstruction process of the physical layer, the data link layer, and the network layer, and the switching time is long. In the process of switching, the aircraft may be uncontrollable, the aircraft position is inaccurate, etc., and in serious cases, the bomber and the wounding event may occur.

Summary of the invention

The invention provides a switching control method, a control terminal and a drone, which shortens the switching time of the control terminal and the drone to switch from the first communication network to the second communication network, and improves the connection between the control terminal and the drone. Seamless switching effect.

In a first aspect, an embodiment of the present invention provides a handover control method, which is applied to a control terminal, and includes:

Determining whether the first drone is out of step in the first communication network,

If the first drone is out of synchronization in the first communication network, switching from the first communication network to the second communication network to communicate with the first drone,

Transmitting first handover information to the first drone by using at least one of a first physical channel and a second communication network allocated for the first drone in the first communication network, where the first handover information is used to indicate the first The drone switches from the first communication network to the second communication network to communicate with the control terminal, wherein the control terminal and the first drone are pre-attached to the second communication network and complete the handshake.

In a second aspect, an embodiment of the present invention provides a handover control method, which is applied to a drone, and includes:

Receiving, by the at least one of the first physical channel and the second communication network, the first handover information sent by the control terminal, where the first physical channel is allocated by the control terminal for the UAV in the first communication network, and the first handover information is used by the first handover information. Instructing the drone to switch from the first communication network to the second communication network to communicate with the control terminal, wherein the control terminal and the drone are pre-attached to the second communication network and complete the handshake,

Switching from the first communication network to the second communication network according to the first handover information to communicate with the control terminal.

In a third aspect, an embodiment of the present invention provides a handover control method, which is applied to a drone, and includes:

Determining whether the downlink is out of synchronization in the first communication network,

If the downlink is out of synchronization in the first communication network, the first communication network is switched to the second communication network to communicate with the control terminal, wherein the control terminal and the drone are pre-attached to the second communication network and complete the handshake.

In a fourth aspect, an embodiment of the present invention provides a control terminal, including: a memory, a processor, and a transceiver.

Memory for storing program code,

The processor, the calling program code, when the program code is executed, is used to perform the following operations:

The transceiver is configured to: when the processor determines that the first drone is out of synchronization in the first communication network, the first physical channel and the second communication network allocated by the processor to the first drone in the first communication network At least one of the first handoff information is sent to the first drone, and the first switching information is used to indicate The first drone switches from the first communication network to the second communication network to communicate with the control terminal, wherein the control terminal and the first drone are pre-attached to the second communication network and complete the handshake.

In a fifth aspect, an embodiment of the present invention provides a drone, including: a memory, a processor, and a transceiver.

Memory for storing program code,

a transceiver, configured to receive, by using at least one of the first physical channel and the second communication network, first switching information that is sent by the control terminal, where the first physical channel is allocated by the control terminal to the drone in the first communications network, The first switching information is used to instruct the drone to switch from the first communication network to the second communication network to communicate with the control terminal, wherein the control terminal and the drone are pre-attached to the second communication network and complete the handshake.

In a sixth aspect, an embodiment of the present invention provides a drone, including: a memory, a processor, and a transceiver.

Memory for storing program code,

The invention provides a switching control method, a control terminal and a drone. If the first drone is out of synchronization in the first communication network, the control terminal switches from the first communication network to the second communication network to communicate with the first drone, and is the first in the first communication network. The at least one of the first physical channel and the second communication network allocated by the human machine transmits the first handover information to the first drone. The control terminal and the first drone are pre-attached to the second communication network and complete the handshake. According to the handover control method provided by the present invention, since the control terminal and the drone are pre-attached to the second communication network and complete the handshake, the control terminal and the drone can directly switch to the established communication link in the second communication network. Communication shortens the switching time and improves the seamless switching between the control terminal and the drone.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description of the drawings used in the embodiments or the prior art description will be briefly described below. Obviously, the drawings in the following description It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any inventive labor.

1 is a system architecture diagram of an unmanned flight system according to the present invention;

2 is a message interaction diagram of a handover control method according to Embodiment 1 of the present invention;

3 is a message interaction diagram of a handover control method according to Embodiment 2 of the present invention;

4 is a message interaction diagram of a handover control method according to Embodiment 3 of the present invention;

FIG. 5 is a flowchart of a handover control method according to Embodiment 4 of the present invention;

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

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

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. It is a partial embodiment of the invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

The terms "first", "second", "third", "fourth", etc. (if present) in the specification and claims of the present invention are used to distinguish similar objects, and are not necessarily used for Describe a specific order or order. It is to be understood that the data so used may be interchanged as appropriate, such that the embodiments of the invention described herein can be implemented, for example, in a sequence other than those illustrated or described herein.

1 is a system architecture diagram of an unmanned flight system according to the present invention. The unmanned flight system may include a control terminal and a drone, and the present invention does not limit the number and type of control terminals and drones. For example, the drones can be small drones, large drones, rotary wing drones, and the like. The control terminal and the drone can communicate via a communication network. The present invention does not limit the type of communication network. The communication network can be a wireless ad hoc network, for example, using 2.4 GHz or 5.8 GHz Band communication, Wireless Fidelity (WIFI), etc. The communication network may also be a public wireless communication network, for example, a Global System of Mobile communication (GSM) network, a Code Division Multiple Access (CDMA) network, and a Wideband Code Division Multiple Access (Wideband Code Division Multiple). Access, WCDMA) network, Time Division-Synchronous Code Division Multiple Access (TD-SCDMA) network, Long Term Evolution (LTE) network, 5G network, and the like. The control terminal and the drone can be switched between different communication networks to achieve continuous communication between the control terminal and the drone. Illustratively, as shown in FIG. 1, a control terminal 11, a drone 12, and a drone 13 are included. The control terminal 11 and the drone 12 can directly establish a connection through the self-organizing network for communication. The control terminal 11 and the drone 13 can establish a connection through a public wireless communication network for communication. Specifically, the control terminal 11 and the drone 13 can establish a connection through the base station 14, the server 16, and the base station 15 for communication. It should be noted that the present invention does not specifically limit how to establish a communication link between the control terminal and the drone.

FIG. 2 is a message interaction diagram of a handover control method according to Embodiment 1 of the present invention. As shown in FIG. 2, the handover control method provided in this embodiment may include:

S101. The control terminal determines whether the first drone is out of synchronization in the first communication network.

Specifically, the control terminal and the first drone communicate through the first communication network. During the communication process, the control terminal determines whether the first drone is out of synchronization in the first communication network. If the first drone is out of synchronization in the first communication network, then S102 is performed.

In the embodiment, the method for determining whether the first drone is out of synchronization in the first communication network is not limited, and the method for determining whether the drone is out of synchronization in the existing communication process may be used.

Optionally, the control terminal determines whether the first drone is out of synchronization in the first communication network, and may include:

The control terminal determines, at the physical layer of the first communication network, whether the first drone is out of synchronization in the first communication network.

Specifically, the control terminal may measure related parameters of the physical layer in the first communication network, and determine, according to the related parameters, whether the first drone is out of synchronization in the first communication network. Physical layer The relevant parameters determine whether the first drone is out of step in the first communication network, and the data processing speed is fast, which improves the speed of judging whether the drone is out of step.

Optionally, the related parameter may include at least one of the following: a signal to noise ratio, a bit error rate, a reference signal receiving power (RSRP), a reference signal receiving quality (RSRQ), and a receiving signal. The Received Signal Code Power (RSCP) and the Interference Signal Code Power (ISCP) are different depending on the type of the first communication network. Optionally, the controlling terminal determines, by the physical layer of the first communications network, whether the first drone is out of synchronization in the first communications network, and may include: if the first drone is incorrect in the first preset time period When the code rate is greater than the first preset threshold, it is determined that the first drone is out of synchronization in the first communication network. Optionally, the controlling terminal determines, by the physical layer of the first communications network, whether the first drone is out of synchronization in the first communications network, and may include: if the first drone is in the second preset time period If the error rate is greater than the second preset threshold and the signal to noise ratio is greater than the third preset threshold, determining that the first drone is out of synchronization in the first communication network. The specific values of the first preset time period, the second preset time period, the first preset threshold, the second preset threshold, and the third preset threshold are not limited in this embodiment. Of course, the control terminal can also adopt other existing methods that can determine whether the drone is out of synchronization in the communication network at the physical layer of the first communication network.

S102. If the first drone is out of synchronization in the first communication network, the control terminal switches from the first communication network to the second communication network to communicate with the first drone.

S103. The control terminal sends the first handover information to the first drone by using at least one of the first physical channel and the second communication network allocated for the first drone in the first communication network.

The first switching information is used to instruct the first drone to switch from the first communication network to the second communication network to communicate with the control terminal. The control terminal and the first drone are pre-attached to the second communication network and complete the handshake.

Specifically, the control terminal and the first drone have been attached to the second communication network and complete the handshake, that is, the control terminal and the first drone have established a communication link in the second communication network and maintained A low frequency link heartbeat. In this way, when the control terminal and the first drone need to switch to the second communication network, the registration time is saved, and communication can be directly performed through the established communication link. It should be noted that the specific implementation manner in which the control terminal and the first drone are attached to the second communication network is not limited in this embodiment, and may be different according to the type of the second communication network. Some communication network attachment processes. The specific implementation manner of the handshake between the control terminal and the first drone is not limited in this embodiment, and is different according to the handshake protocol used. The so-called handshake refers to the process of establishing communication parameters between the receiving device and the transmitting device after the communication link is established and before the information transmission starts.

If the first drone is out of synchronization in the first communication network, it indicates that the control terminal and the first drone have been unable to communicate normally through the first communication network, and the communication network needs to be switched to continue communication. The control terminal switches from the first communication network to the second communication network and notifies the first drone to also switch from the first communication network to the second communication network.

In an implementation manner, the control terminal may send the first handover information to the first drone through the first physical channel allocated for the first drone in the first communication network. Since the first handover information is directly sent to the first drone through the first physical channel, the transmission time of the first handover information is shortened. The first drone quickly receives the first switching information through the first physical channel, thereby quickly switching the communication network.

In another implementation manner, the control terminal may send the first handover information to the first drone through the second communication network. Since the control terminal and the first drone are pre-attached to the second communication network and complete the handshake, the control terminal can directly pass through the established communication link with the first drone in the second communication network. The drone transmits the first switching information, which shortens the transmission time of the first switching information. The first drone quickly receives the first switching information through the second communication network, thereby quickly switching the communication network.

In another implementation manner, the control terminal may send the first handover information to the first drone by using the first physical channel allocated for the first drone in the first communication network, and at the same time, the control terminal may pass the second The communication network transmits the first handover information to the first drone. The control terminal simultaneously transmits the first switching information to the first drone through the first physical channel and the second communication network, shortening the transmission time of the first switching information, and improving the transmission reliability of the first switching information.

S104. The first drone receives the first handover information sent by the control terminal by using at least one of the first physical channel and the second communication network of the first communication network.

The first physical channel is allocated by the control terminal to the first drone in the first communication network.

Specifically, after S103, one of the following scenarios may occur. Scenario 1. The first drone receives the first cut by the control terminal in the first communication network for the first physical channel allocated by the first drone. Change information. At this time, the first drone can immediately switch from the first communication network to the second communication network, shortening the switching time. Scenario 2: The first drone receives the first switching information through the second communication network. At this time, the first drone can immediately switch from the first communication network to the second communication network, thereby shortening the switching time. Scenario 3: The first drone receives the first switching information through the first physical channel and the second communication network. At this time, the first drone can immediately switch from the first communication network to the second communication network, shortening the switching time.

S105. The first drone switches from the first communication network to the second communication network according to the first handover information to communicate with the control terminal.

Specifically, the first drone and the control terminal both switch from the first communication network to the second communication network, so that communication can continue in the second communication network. During the handover process, since the control terminal and the first drone are pre-attached to the second communication network and complete the handshake, the low-frequency link heartbeat is maintained between the control terminal and the first drone through the second communication network. Therefore, when the first drone is switched from the first communication network to the second communication network, the physical layer, the data link layer, and the network layer are not required to be reconstructed, but can be directly switched to the second communication network. The communication link communicates. Compared with the prior art, the switching time is shortened, the seamless switching effect between the control terminal and the drone is improved, and the communication continuity between the control terminal and the drone is ensured.

It can be seen that, in the handover control method provided by this embodiment, when the control terminal determines that the first drone is out of synchronization in the first communication network, the control terminal allocates the first to the first drone in the first communication network. At least one of the physical channel and the second communication network transmits the first handover information to the first drone, shortening the information transmission time. Since the control terminal and the first drone are pre-attached to the second communication network and complete the handshake, the communication link that has been established in the second communication network can be directly switched for communication, the switching time is shortened, and the control terminal is improved. Seamless switching between man and machine.

It should be noted that, in this embodiment, after S103, the following scenario may also occur. Scene 4: The first drone does not receive the first switching information. At this time, since the first drone cannot communicate normally with the control terminal through the first communication network, the first drone will switch from the first communication network to the second communication network.

It should be noted that, in this embodiment, the types of the first communication network and the second communication network are not limited, and are set as needed.

Optionally, in order to improve communication efficiency, the first communication network may be an ad hoc communication network.

Optionally, in order to improve the communication success rate between the control terminal and the drone after the handover, the second communication network may be a public wireless communication network. This embodiment does not limit the type of the public wireless communication network, and may be, for example, a GSM network, a CDMA network, a WCDMA network, a TD-SCDMA network, or a 5G network.

Optionally, in S103, the control terminal sends the first handover information to the first drone by using the first physical channel allocated for the first drone in the first communication network, which may include:

Transmitting, by the first physical channel, the first handover information to the first drone according to the first transmission period until the first drone switches from the first communication network to the second communication network.

Optionally, in S103, the control terminal sends the first handover information to the first drone through the second communication network, which may include:

Transmitting, by the second communication network, the first handover information to the first drone according to the second transmission period until the first drone switches from the first communication network to the second communication network.

It should be noted that the specific values of the first sending period and the second sending period are not limited in this embodiment. Optionally, if the first communication network is an ad hoc communication network and the second communication network is a public wireless communication network, the first sending period may be smaller than the second sending period. Generally, the control terminal sends a message to the first drone through the ad hoc communication network, and the information transmission time is shorter than the control terminal transmits the information to the first drone through the public wireless communication network, and the first drone receives the message. The success rate of information is higher. Therefore, the control terminal can send the first switching information more frequently through the ad hoc communication network, shorten the sending and transmitting time of the first switching information, and improve the success rate of the first drone receiving the first switching information.

It should be noted that the number of the first drone is not limited in this embodiment. That is to say, the control terminal can simultaneously communicate with the at least one first drone through the first communication network. For each first drone, when the control terminal determines that the first drone is out of synchronization in the first communication network, the control terminal and the first drone may perform the handover control method provided in this embodiment.

The embodiment provides a handover control method, including: controlling, by the terminal, whether the first drone is out of synchronization in the first communication network, and if the first drone is out of synchronization in the first communication network, the control is performed. The terminal switches from the first communication network to the second communication network to communicate with the first drone, and the control terminal passes at least the first physical channel and the second communication network allocated for the first drone in the first communication network Transmitting, by the first drone, first switching information, where the first drone transmits the first one of the first physical channel and the second communication network of the first communication network Switching information, the first drone switches from the first communication network to the second communication network according to the first handover information to communicate with the control terminal. The switching control method provided by the embodiment shortens the switching time of the control terminal and the drone to switch from the first communication network to the second communication network, and improves the seamless switching effect between the control terminal and the drone.

FIG. 3 is a message interaction diagram of a handover control method according to Embodiment 2 of the present invention. The handover control method provided in this embodiment relates to a scenario in which the control terminal and the first drone are switched from the first communication network to the second communication network on the basis of the first embodiment. As shown in FIG. 3, the handover control method provided in this embodiment may further include:

S201. If it is determined that the control terminal can communicate with the first drone through the first communication network, switch from the second communication network to the first communication network to communicate with the first drone.

Specifically, the control terminal and the first drone communicate through the second communication network. During the communication process, the control terminal determines whether communication with the first drone can be performed through the first communication network. If it is possible to communicate with the first drone via the first communication network, the control terminal switches from the second communication network to the first communication network to communicate with the first drone.

Optionally, the control terminal determines that the first drone can communicate with the first drone, and the method includes:

The control terminal transmits a synchronization signal to the first drone through the first communication network.

The control terminal receives the response information sent by the first drone through the first communication network.

Correspondingly, if the first drone detects the synchronization signal sent by the control terminal through the first communication network, the first communication network sends the response information to the control terminal.

Wherein, the synchronization signal provides a signal for the same time reference for the device that needs to process the information synchronously. In this embodiment, the synchronization signal is typically used in the second network for the calculation of the time delay. The second network utilizes the synchronization signal of the first network and synchronizes the time to system time. Thus, even if the first network cannot communicate, the second network can use the saved synchronization time information to calculate the one-way delay of the communication packet. In this embodiment, the implementation manner of the synchronization signal is not limited, and the synchronization signal in the existing network may be different according to the type of the first communication network. The response information corresponds to the synchronization signal, and the implementation manner of the response information in this embodiment is not limited.

S202. The control terminal sends the second handover information to the first drone through at least one of the second communication network and the second physical channel allocated for the first drone in the first communication network.

The second switching information is used to instruct the first drone to switch from the second communication network to the first communication network to communicate with the control terminal.

Specifically, if the control terminal can communicate with the first drone through the first communication network, it indicates that the control terminal and the first drone can communicate normally through the first communication network, and the communication network needs to be switched. The control terminal switches from the second communication network to the first communication network and notifies the first drone to also switch from the second communication network to the first communication network.

In an implementation manner, the control terminal may send the second handover information to the first drone through the second communication network.

In another implementation, the control terminal may send the second handover information to the first drone through the second physical channel allocated for the first drone in the first communication network. Since the control terminal directly transmits the second switching information to the first drone through the second physical channel of the first communication network, the transmission time of the second switching information is shortened. The first drone quickly receives the second switching information through the second physical channel, thereby quickly switching the communication network.

In another implementation manner, the control terminal may send the second handover information to the first drone through the second physical channel allocated for the first drone in the first communication network, and at the same time, the control terminal may pass the second The communication network sends the second handover information to the first drone. The transmission time of the second switching information is shortened, and the transmission reliability of the second switching information is improved.

S203. The first drone receives the second handover information sent by the control terminal by using at least one of the second physical channel and the second communication network of the first communication network.

The second physical channel is allocated by the control terminal to the first drone in the first communication network.

Specifically, after S202, the following scenarios may occur. Scenario 1. The first drone receives the second switching information by using the second physical channel allocated by the control terminal for the first drone in the first communication network. At this time, the first drone can immediately switch from the second communication network to the first communication network, shortening the switching time. Scenario 2: The first drone receives the second switching information through the second communication network. At this time, the first drone can immediately switch from the second communication network to the first communication network. Scenario 3: The first drone receives the second switching information through the second physical channel and the second communication network. At this time, the first drone can immediately switch from the second communication network to the first communication network, shortening the switching time.

S204. The first drone switches from the second communication network to the first communication network according to the second handover information. Network to communicate with the control terminal.

Specifically, the first drone and the control terminal are both switched from the second communication network to the first communication network, so that communication can be continued in the first communication network.

It can be seen that, in the handover control method provided by this embodiment, when the control terminal can communicate with the first drone through the first communication network, the control terminal allocates the first drone through the second communication network and in the first communication network. At least one of the second physical channels transmits the second switching information to the first drone, shortening the information transmission time, thereby shortening the switching time, and improving the seamless switching effect between the control terminal and the drone.

It should be noted that, in this embodiment, after S202, the following scenario may also occur. Scene 4: The first drone does not receive the second switching information. At this time, since the control terminal has switched from the second communication network to the first communication network, the first drone will be out of step in the second communication network. The control terminal determines that the first drone is out of synchronization in the second communication network, and then the control terminal switches from the first communication network to the second communication network to communicate with the first drone.

Optionally, in S202, the control terminal sends the second switching information to the first drone by using the second physical channel allocated for the first unmanned device in the first communications network, which may include:

Transmitting, by the second physical channel, the second switching information to the first drone according to the third sending period, until the first drone switches from the second communications network to the first communications network or determines that the first drone is in the first In the second communication network, the downlink is out of synchronization.

Optionally, in S202, the control terminal sends the second handover information to the first drone through the second communication network, which may include:

Transmitting, by the second communication network, the second handover information to the first drone according to the fourth transmission period until the first drone switches from the second communication network to the first communication network or determines that the first drone is in the second communication The network is out of sync.

It should be noted that, in this embodiment, the specific values of the third sending period and the fourth sending period are not limited, and are set as needed. Optionally, if the first communication network is an ad hoc communication network and the second communication network is a public wireless communication network, the third transmission period may be shorter than the fourth transmission period. The transmission and transmission time of the second switching information is shortened, and the success rate of the first drone receiving the second switching information is improved.

The embodiment provides a handover control method, including: if the control terminal determines that the first communication network can communicate with the first drone, the second communication network switches to the first communication network to a UAV communication, the control terminal transmitting the second handover information to the first UAV through the second communication network and at least one of the second physical channels allocated to the first UAV in the first communication network, Receiving, by the drone, the second handover information sent by the control terminal by using at least one of the second physical channel and the second communication network of the first communication network, the first drone switching from the second communication network according to the second handover information To the first communication network to communicate with the control terminal. The switching control method provided by the embodiment shortens the switching time of the control terminal and the drone to switch from the second communication network to the first communication network, and improves the seamless switching effect between the control terminal and the drone.

FIG. 4 is a message interaction diagram of a handover control method according to Embodiment 3 of the present invention. The handover control method provided in this embodiment is related to the scenario in which the control terminal communicates with the first drone while communicating with the second drone through the second communication network, on the basis of the first embodiment or the second embodiment. As shown in FIG. 4, the handover control method provided in this embodiment may further include:

S301. The control terminal determines whether communication with the second drone can be performed through the first communication network. The second drone is a drone that communicates with the control terminal through the second communication network.

S302. If communication with the second drone is possible through the first communication network, the control terminal switches from the second communication network to the first communication network to communicate with the second drone.

S303. The control terminal sends the third handover information to the second drone through at least one of the second communication network and the third physical channel allocated for the second drone in the first communication network.

The third switching information is used to instruct the second drone to switch from the second communication network to the first communication network to communicate with the control terminal.

S304. The second drone receives the third handover information sent by the control terminal by using at least one of the third physical channel and the second communication network of the first communication network.

The third physical channel is allocated by the control terminal to the second drone in the first communication network.

S305. The second drone switches from the second communication network to the first communication network according to the third handover information to communicate with the control terminal.

The second drone is similar to the first drone in the second embodiment S201 to S204, and the third physical channel is similar to the second physical channel in the second embodiment. The third switching information and the second embodiment are in the second embodiment. The principle of the second switching information is similar. The principles of S301 to S305 are similar to the principles of S201 to S204, and are not described here.

It should be noted that the number of the first drone and the second drone is not limited in this embodiment. That is to say, the control terminal can simultaneously communicate with at least one first drone, and at the same time, the control terminal can simultaneously communicate with the at least one second drone through the second communication network. For each second drone, when the control terminal determines that the second drone can communicate with the second drone, the control terminal and the second drone can perform the handover control method provided by the embodiment.

The embodiment provides a switching control method, which shortens the switching time of the control terminal and the drone to switch from the second communication network to the first communication network, and improves the seamless switching effect between the control terminal and the drone.

FIG. 5 is a flowchart of a handover control method according to Embodiment 4 of the present invention. In the handover control method provided by this embodiment, the execution entity may be a drone. As shown in FIG. 5, the handover control method provided in this embodiment may include:

S401. Determine whether the downlink is out of synchronization in the first communication network.

Specifically, the UAV and the control terminal communicate through the first communication network. During the communication process, the unattended machine determines whether the downlink is out of step in the first communication network. If the drone is out of synchronization in the first communication network, then S402 is performed.

Optionally, determining whether the downlink is out of synchronization in the first communication network may include:

The physical layer of the first communication network determines whether the downlink is out of synchronization in the first communication network.

For the determination of whether the drone is out of synchronization in the first communication network, refer to S101, and the principle is similar, and details are not described herein again.

S402. Switch from the first communication network to the second communication network to communicate with the control terminal.

Wherein, the control terminal and the drone are pre-attached to the second communication network and complete the handshake.

Specifically, if the drone is out of synchronization in the first communication network, it indicates that the control terminal and the drone have been unable to communicate normally through the first communication network, and the communication network needs to be switched to continue communication. Therefore, the drone switches from the first communication network to the second communication network. Since the control terminal and the drone are pre-attached to the second communication network and complete the handshake, the low-frequency link heartbeat is maintained between the control terminal and the drone through the second communication network. Therefore, when the UAV switches from the first communication network to the second communication network, the physical layer, the data link layer, and the network layer are not required to be reconstructed, but the communication can be directly switched to the established communication in the second communication network. The link communicates. Compared with the prior art, the information notification time and the switching time are shortened, and the control terminal and the drone are improved. The seam switching effect ensures communication continuity between the control terminal and the drone.

Optionally, the switching control method provided in this embodiment may further include:

If the synchronization signal sent by the control terminal through the first communication network is detected, the response information is sent to the control terminal through the first communication network.

For details, refer to S201 in the second embodiment. The principles are similar and will not be described here.

The second handover information sent by the control terminal is received by at least one of the second physical channel and the second communication network of the first communication network. The second physical channel is allocated by the control terminal to the UAV in the first communication network, and the second switching information is used to instruct the UAV to switch from the second communication network to the first communication network to communicate with the control terminal.

Switching from the second communication network to the first communication network in accordance with the second handover information to communicate with the control terminal.

For details, refer to S203 to S204 in the second embodiment. The principles are similar and will not be described here.

The embodiment provides a handover control method, including: determining whether downlink is out of synchronization in the first communication network, and switching from the first communication network to the second communication network to communicate with the control terminal. The switching control method provided in this embodiment shortens the switching time of the control terminal and the drone, and improves the seamless switching effect between the control terminal and the drone.

FIG. 6 is a schematic structural diagram of a control terminal according to an embodiment of the present invention. The control terminal provided in this embodiment is used to perform the operations performed by the control terminal in any of the foregoing method embodiments in FIG. 2 to FIG. As shown in FIG. 6, the control terminal provided in this embodiment may include: a memory 21, a processor 22, and a transceiver 23.

The memory 21, the processor 22 and the transceiver 23 can be connected by a bus.

Memory 21 can include read only memory and random access memory and provides instructions and data to processor 22. A portion of the memory 21 may also include a non-volatile random access memory.

The transceiver 23 is used to support the reception and transmission of signals between the control device and the drone. The information sent by the drone can be received and processed by the processor 22. The information generated by the processor 22 can also be sent to the drone. Transceiver 23 can include separate transmitters and receivers.

The processor 22 can be a central processing unit (CPU), and the processor 22 can also be other general purpose processors, digital signal processors (Digital Signal) Processor, DSP), Application Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, etc. The general purpose processor may be a microprocessor or the processor or any conventional processor or the like.

The memory 21 is configured to store program code.

The processor 22, the calling program code, when the program code is executed, is used to perform the following operations:

It is determined whether the first drone is out of step in the first communication network.

If the first drone is out of synchronization in the first communication network, then switching from the first communication network to the second communication network to communicate with the first drone.

The transceiver 23 is configured to, when the processor 22 determines that the first drone is out of synchronization in the first communication network, the first physical channel allocated by the processor 22 to the first drone in the first communication network. At least one of the two communication networks transmits first handover information to the first drone, the first handover information being used to instruct the first drone to switch from the first communication network to the second communication network to communicate with the control terminal. The control terminal and the first drone are pre-attached to the second communication network and complete the handshake.

Optionally, the transceiver 23 is specifically configured to:

Optionally, the processor 22 is further configured to:

If it is determined that communication with the first drone is possible through the first communication network, then switching from the second communication network to the first communication network to communicate with the first drone.

The transceiver 23 is further configured to allocate, by the second communication network and the processor 22, the first drone in the first communication network when the processor 22 determines that the first communication network can communicate with the first drone. At least one of the second physical channels transmits second handover information to the first drone, and the second handover information is used to instruct the first drone to switch from the second communication network to the first communication network to communicate with the control terminal.

Optionally, the transceiver 23 is specifically configured to:

Transmitting, by the second physical channel, the second switching information to the first drone according to the third sending period, Until the first drone switches from the second communication network to the first communication network or determines that the first drone is out of synchronization in the second communication network.

Optionally, the transceiver 23 is specifically configured to:

Optionally, the processor 22 is further configured to:

If it is determined that the first drone is out of synchronization in the second communication network, then switching from the first communication network to the second communication network to communicate with the first drone.

Optionally, the processor 22 is specifically configured to:

A synchronization signal is transmitted to the first drone through the first communication network.

The response information sent by the first drone is received through the first communication network.

Optionally, the processor 22 is further configured to:

Determining whether communication with the second drone is possible through the first communication network, and the second drone is a drone communicating with the control terminal through the second communication network.

If communication with the second drone is possible through the first communication network, then switching from the second communication network to the first communication network to communicate with the second drone.

The transceiver 23 is further configured to allocate, by the second communication network and the processor 22, the second drone in the first communication network when the processor 22 determines that the first communication network can communicate with the second drone At least one of the third physical channels transmits third switching information to the second drone, the third switching information is used to instruct the second drone to switch from the second communication network to the first communication network to communicate with the control terminal.

Optionally, the processor 22 is specifically configured to:

The physical layer of the first communication network determines whether the first drone is out of synchronization in the first communication network.

Optionally, the second communication network is a public wireless communication network.

The control terminal provided in this embodiment is used to perform the operations performed by the control terminal in any of the foregoing method embodiments in FIG. 2 to FIG. 4, and the technical principles and technical effects thereof are similar, and details are not described herein again.

FIG. 7 is a schematic structural diagram of a drone according to an embodiment of the present invention. Unmanned by this embodiment For performing the operations performed by the first drone in the foregoing method embodiment of any of the foregoing FIG. 2 to FIG. 3, or for performing the operations performed by the second drone in the foregoing method embodiment of FIG. 4, or for performing The operation performed by the drone in the above embodiment of the method of FIG. 5. As shown in FIG. 7, the drone provided in this embodiment may include: a memory 31, a processor 32, and a transceiver 33.

The memory 31, the processor 32 and the transceiver 33 can be connected by a bus.

Memory 31 can include read only memory and random access memory and provides instructions and data to processor 32. A portion of the memory 31 may also include a non-volatile random access memory.

The transceiver 33 is used to support the reception and transmission of signals between the drone and the control device. After receiving the information sent by the control device, it is processed by the processor 32. The information generated by the processor 32 can also be sent to the control device. Transceiver 33 can include separate transmitters and receivers.

Processor 32 may be a CPU, which may also be other general purpose processors, DSPs, ASICs, FPGAs or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like. The general purpose processor may be a microprocessor or the processor or any conventional processor or the like.

Wherein, in one embodiment, the memory 31 is configured to store program code.

The transceiver 33 is configured to receive, by using at least one of the first physical channel and the second communication network, first switching information that is sent by the control terminal, where the first physical channel is allocated by the control terminal to the UAV in the first communications network. The first switching information is used to instruct the drone to switch from the first communication network to the second communication network to communicate with the control terminal. Wherein, the control terminal and the drone are pre-attached to the second communication network and complete the handshake.

The processor 32, the calling program code, is used to perform the following operations when the program code is executed:

Optionally, the transceiver 33 is further configured to:

Receiving, by the at least one of the second physical channel and the second communication network, the second handover information sent by the control terminal, where the second physical channel is allocated by the control terminal for the UAV in the first communication network, and the second handover information is used by the control terminal. Instructing the drone to switch from the second communication network to the first communication network for control Terminal communication.

The processor 32 is further configured to switch from the second communication network to the first communication network according to the second handover information to communicate with the control terminal.

In another embodiment, the memory 31 is configured to store program code.

It is determined whether the downlink is out of synchronization in the first communication network.

Optionally, the transceiver 33 is configured to:

Optionally, the transceiver 33 is further configured to:

Receiving, by the at least one of the second physical channel and the second communication network, the second handover information sent by the control terminal, where the second physical channel is allocated by the control terminal for the UAV in the first communication network, and the second handover information is used by the control terminal. The drone is instructed to switch from the second communication network to the first communication network to communicate with the control terminal.

Optionally, the processor 32 is specifically configured to:

The unmanned aerial vehicle provided in this embodiment is used to perform the operations performed by the first drone in the method embodiment of the foregoing FIG. 2 to FIG. 3, or to perform the second drone execution in the method embodiment of FIG. 4 The operation of the UAV in the above-described method embodiment of FIG. 5 is performed. The technical principle and technical effect are similar, and will not be described here.

One of ordinary skill in the art will appreciate that all or part of the steps to implement the various method embodiments described above may be accomplished by hardware associated with the program instructions. The aforementioned program can be stored in a computer readable storage medium. The program, when executed, performs the steps including the foregoing method embodiments; and the foregoing storage medium includes various media that can store program codes, such as a ROM, a RAM, a magnetic disk, or an optical disk.

It should be noted that the above embodiments are only used to explain the technical solutions of the embodiments of the present invention, and are not limited thereto; although the embodiments of the present invention are described in detail with reference to the foregoing embodiments, those skilled in the art It should be understood that the technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the essence of the corresponding technical solutions. The scope of the technical solution.

Claims

A switching control method is applied to a control terminal, which is characterized in that:

Determining whether the first drone is out of step in the first communication network;

And if the first drone is out of synchronization in the first communication network, switching from the first communication network to the second communication network to communicate with the first drone;

Transmitting first handover information to the first drone by using at least one of a first physical channel and a second communication network allocated for the first drone in the first communication network, The first switching information is used to instruct the first drone to switch from the first communication network to the second communication network to communicate with the control terminal; wherein the control terminal and the first The human machine is pre-attached to the second communication network and completes the handshake.
The method according to claim 1, wherein the first switching information is transmitted to the first drone by a first physical channel allocated for the first drone in the first communication network, include:

Transmitting, by the first physical channel, the first switching information to the first drone according to a first sending period, until the first drone switches from the first communications network to the second communications Up to the network;

Sending the first switching information to the first drone through the second communications network, including:

Transmitting, by the second communication network, the first handover information to the first drone according to a second transmission period until the first drone switches from the first communication network to the second communication Until now.
The method of claim 1 further comprising:

And if it is determined that the first communication network can communicate with the first drone, switching from the second communication network to the first communication network to communicate with the first drone;

Transmitting, by the second communication network, at least one of a second physical channel allocated for the first drone in the first communication network, to the first drone, The second switching information is used to instruct the first drone to switch from the second communication network to the first communication network to communicate with the control terminal.
The method according to claim 3, wherein the second switching information is transmitted to the first drone by a second physical channel allocated for the first drone in the first communication network, Includes:

Transmitting, by the second physical channel, the second handover information to the first drone according to a third transmission period until the first drone switches from the second communication network to the first communication The network or determining that the first drone is out of synchronization in the second communication network;

Sending the second switching information to the first drone through the second communications network, including:

Transmitting, by the second communication network, the second handover information to the first drone according to a fourth transmission period until the first drone switches from the second communication network to the first communication The network determines whether the first drone is out of synchronization in the second communication network.
The method according to claim 3 or 4, further comprising:

And if it is determined that the first drone is out of synchronization in the second communication network, switching from the first communication network to the second communication network to communicate with the first drone.
The method according to any one of claims 3 to 5, wherein the determining is connectable to the first drone through the first communication network, comprising:

Transmitting a synchronization signal to the first drone through the first communication network;

Receiving, by the first communication network, response information sent by the first drone.
The method according to any one of claims 1 to 6, further comprising:

Determining whether communication with the second drone is possible through the first communication network, the second drone being a drone communicating with the control terminal through the second communication network;

Switching from the second communication network to the first communication network to communicate with the second drone if communication with the second drone is possible through the first communication network;

Transmitting third switching information to the second drone by the second communication network and at least one of a third physical channel allocated to the second drone in the first communication network, The third switching information is used to instruct the second drone to switch from the second communication network to the first communication network to communicate with the control terminal.
The method according to any one of claims 1 to 6, wherein the determining whether the first drone is out of synchronization in the first communication network comprises:

Determining, at a physical layer of the first communication network, whether the first drone is out of synchronization in the first communication network.
The method according to any one of claims 1 to 6, wherein the second communication network is a public wireless communication network.
A switching control method is applied to a drone, characterized in that it comprises:

Receiving first handover information sent by the control terminal by using at least one of the first physical channel and the second communication network, where the first physical channel is allocated by the control terminal to the drone in the first communication network The first switching information is used to instruct the drone to switch from the first communication network to the second communication network to communicate with the control terminal; wherein the control terminal and the drone Pre-attached to the second communication network and complete the handshake;

Switching from the first communication network to the second communication network to communicate with the control terminal according to the first handover information.
The method of claim 10, further comprising:

And if the synchronization signal sent by the control terminal through the first communication network is detected, the response information is sent to the control terminal by using the first communication network.
The method according to claim 10 or 11, further comprising:

Receiving second handover information sent by the control terminal by using at least one of a second physical channel and the second communication network, where the second physical channel is the control terminal in the first communication network The second switching information is used to indicate that the drone is switched from the second communication network to the first communication network to communicate with the control terminal;

Switching from the second communication network to the first communication network to communicate with the control terminal according to the second handover information.
A switching control method is applied to a drone, characterized in that it comprises:

Determining whether the downlink is out of synchronization in the first communication network;

Switching from the first communication network to the second communication network to communicate with the control terminal if the downlink is out of synchronization in the first communication network, wherein the control terminal and the drone are pre-attached to the The second communication network completes the handshake.
The method of claim 13 further comprising:

And if the synchronization signal sent by the control terminal through the first communication network is detected, the response information is sent to the control terminal by using the first communication network.
The method according to claim 13 or 14, further comprising:

Receiving second handover information sent by the control terminal by using at least one of a second physical channel and the second communication network, where the second physical channel is the control terminal in the first communication network Assigned to the drone in the network, the second switching information is used to instruct the drone to switch from the second communication network to the first communication network to communicate with the control terminal;

Switching from the second communication network to the first communication network to communicate with the control terminal according to the second handover information.
The method according to any one of claims 13 to 15, wherein the determining whether the downlink is out of synchronization in the first communication network comprises:

Determining, in the physical layer of the first communication network, whether the downlink is out of synchronization in the first communication network.
A control terminal, comprising: a memory, a processor and a transceiver;

The memory is configured to store program code;

The processor, the program code is invoked, and when the program code is executed, is used to perform the following operations:

Determining whether the first drone is out of step in the first communication network;

And if the first drone is out of synchronization in the first communication network, switching from the first communication network to the second communication network to communicate with the first drone;

The transceiver is configured to, when the processor determines that the first drone is out of synchronization in the first communication network, by the processor, in the first communication network, the first Transmitting, by the drone, at least one of the first physical channel and the second communication network to the first drone, the first switching information is used to indicate the first unmanned Switching from the first communication network to the second communication network to communicate with the control terminal; wherein the control terminal and the first drone are pre-attached to the second communication network and complete a handshake .
The control terminal according to claim 17, wherein the transceiver is specifically configured to:

Transmitting, by the first physical channel, the first switching information to the first drone according to a first sending period, until the first drone switches from the first communications network to the second communications Up to the network;

Transmitting, by the second communication network, the first handover information to the first drone according to a second transmission period until the first drone switches from the first communication network to the second communication Until now.
The control terminal according to claim 17, wherein the processor is further configured to:

And if it is determined that the first communication network can communicate with the first drone, switching from the second communication network to the first communication network to communicate with the first drone;

The transceiver is further configured to pass the second communication network and the processor at the first when the processor determines that communication with the first drone is possible through the first communication network Transmitting, by the at least one of the second physical channels allocated by the first drone in the communication network, second switching information to the first drone, where the second switching information is used to indicate the first The human machine switches from the second communication network to the first communication network to communicate with the control terminal.
The control terminal according to claim 19, wherein the transceiver is specifically configured to:

Transmitting, by the second physical channel, the second handover information to the first drone according to a third transmission period until the first drone switches from the second communication network to the first communication The network or determining that the first drone is out of synchronization in the second communication network;

Transmitting, by the second communication network, the second handover information to the first drone according to a fourth transmission period until the first drone switches from the second communication network to the first communication The network determines whether the first drone is out of synchronization in the second communication network.
The control terminal according to claim 19 or 20, wherein the processor is further configured to:

And if it is determined that the first drone is out of synchronization in the second communication network, switching from the first communication network to the second communication network to communicate with the first drone.
The control terminal according to any one of claims 19 to 21, wherein the processor is specifically configured to:

Transmitting a synchronization signal to the first drone through the first communication network;

Receiving, by the first communication network, response information sent by the first drone.
The control terminal according to any one of claims 17 to 22, wherein the processor is further configured to:

Determining whether communication with the second drone is possible through the first communication network, the second drone being a drone communicating with the control terminal through the second communication network;

From the second communication if communication with the second drone is possible through the first communication network Switching the network to the first communication network to communicate with the second drone;

The transceiver is further configured to pass the second communication network and the processor at the first when the processor determines that communication with the second drone is possible through the first communication network Transmitting, by the at least one of the third physical channels allocated by the second drone in the communication network, third switching information to the second drone, wherein the third switching information is used to indicate the second The human machine switches from the second communication network to the first communication network to communicate with the control terminal.
The control terminal according to any one of claims 17 to 22, wherein the processor is specifically configured to:

Determining, at a physical layer of the first communication network, whether the first drone is out of synchronization in the first communication network.
The control terminal according to any one of claims 17 to 22, wherein the second communication network is a public wireless communication network.
An unmanned aerial vehicle, comprising: a memory, a processor and a transceiver;

The memory is configured to store program code;

The transceiver is configured to receive, by using at least one of the first physical channel and the second communications network, first switching information that is sent by the control terminal, where the first physical channel is the control terminal in the first communications network Assigned by the drone, the first switching information is used to instruct the drone to switch from the first communication network to the second communication network to communicate with the control terminal; wherein the control The terminal and the drone are pre-attached to the second communication network and complete the handshake;

The processor, the program code is invoked, and when the program code is executed, is used to perform the following operations:

Switching from the first communication network to the second communication network to communicate with the control terminal according to the first handover information.
The drone according to claim 26, wherein said transceiver is further configured to:

And if the synchronization signal sent by the control terminal through the first communication network is detected, the response information is sent to the control terminal by using the first communication network.
The drone according to claim 26 or 27, wherein the transceiver is further configured to:

Receiving second handover information sent by the control terminal by using at least one of a second physical channel and the second communication network, where the second physical channel is the control terminal in the first communication network The second switching information is used to indicate that the drone is switched from the second communication network to the first communication network to communicate with the control terminal;

The processor is further configured to switch from the second communication network to the first communication network to communicate with the control terminal according to the second handover information.
An unmanned aerial vehicle, comprising: a memory, a processor and a transceiver;

The memory is configured to store program code;

The processor, the program code is invoked, and when the program code is executed, is used to perform the following operations:

Determining whether the downlink is out of synchronization in the first communication network;

Switching from the first communication network to the second communication network to communicate with the control terminal if the downlink is out of synchronization in the first communication network, wherein the control terminal and the drone are pre-attached to the The second communication network completes the handshake.
The drone according to claim 29, wherein said transceiver is for:

And if the synchronization signal sent by the control terminal through the first communication network is detected, the response information is sent to the control terminal by using the first communication network.
The drone according to claim 29 or 30, wherein the transceiver is further configured to:

Receiving second handover information sent by the control terminal by using at least one of a second physical channel and the second communication network, where the second physical channel is the control terminal in the first communication network The second switching information is used to indicate that the drone is switched from the second communication network to the first communication network to communicate with the control terminal;

The processor is further configured to switch from the second communication network to the first communication network to communicate with the control terminal according to the second handover information.
The drone according to any one of claims 29 to 31, wherein the processor is specifically configured to:

Determining, in the physical layer of the first communication network, whether the downlink is out of synchronization in the first communication network.