WO2019169880A1 - Unmanned aerial vehicle communication method, control terminal and unmanned aerial vehicle control system - Google Patents

Unmanned aerial vehicle communication method, control terminal and unmanned aerial vehicle control system Download PDF

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Publication number
WO2019169880A1
WO2019169880A1 PCT/CN2018/112875 CN2018112875W WO2019169880A1 WO 2019169880 A1 WO2019169880 A1 WO 2019169880A1 CN 2018112875 W CN2018112875 W CN 2018112875W WO 2019169880 A1 WO2019169880 A1 WO 2019169880A1
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Prior art keywords
drone
control terminal
control
wireless communication
network device
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PCT/CN2018/112875
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French (fr)
Chinese (zh)
Inventor
庞海波
刘洪�
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深圳市道通智能航空技术有限公司
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Publication of WO2019169880A1 publication Critical patent/WO2019169880A1/en

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18502—Airborne stations
    • H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service

Definitions

  • Embodiments of the present invention relate to communication technologies, and in particular, to a UAV communication method, a control terminal, and a UAV control system.
  • drones With the rapid development of drone technology, the application fields of drones are becoming more and more extensive.
  • the use of drones has expanded from self-portrait photography of ordinary enthusiasts to professional fields such as traffic, public security patrols, and power line inspections. Automated operations in these areas have significantly reduced the cost of manpower input in these areas and increased the efficiency of these areas.
  • the user can remotely control the drone through the control terminal. Specifically, communication is performed between the control terminal and the drone to control the drone.
  • the communication between the control terminal and the drone can be based on different communication protocols.
  • communication may be performed through a proprietary protocol based on the Industrial Scientific Medical (ISM) band, or may be based on a Bluetooth protocol, or may be based on a Wireless Fidelity (WIFI) protocol.
  • ISM Industrial Scientific Medical
  • WIFI Wireless Fidelity
  • the existing UAV communication has problems such as short transmission distance, small transmission bandwidth, and low transmission rate, and it is difficult to meet the requirements of the operation of the UAV in some professional fields.
  • the embodiment of the invention provides a UAV communication method, a control terminal and a UAV control system, which are used to solve the problems of short transmission distance, small transmission bandwidth and low transmission rate of the UAV communication in the prior art.
  • a first aspect of an embodiment of the present invention provides a UAV communication method, which is applied to a control terminal in a UAV control system, where the UAV control system includes the control terminal, at least one UAV, and a wireless communication network.
  • the device and the control center, the control terminal and the drone respectively comprise a communication module, wherein the control terminal and the drone are respectively connected to the wireless communication network device, the control center and the wireless Communication network device communication connection;
  • the method includes:
  • the control terminal acquires information of the drone
  • the control terminal determines a target drone in the drone
  • the control terminal communicates with the target drone through the communication module in the control terminal and the wireless communication network device to control the target drone.
  • control terminal communicates with the target drone through the communication module in the control terminal and the wireless communication network device to control the target drone, including:
  • the control terminal sends a drone control command to the wireless communication network device through a communication module in the control terminal, so that the wireless communication network device sends the drone control command to the target unmanned And performing, by the target drone, flight and control operations in accordance with the drone control command.
  • control terminal determines the target drone in the drone, including:
  • the control terminal displays information of the drone, wherein the information of the drone includes location, coverage, and information of the onboard device;
  • the control terminal receives selection information input by the user according to the displayed information of the drone;
  • the control terminal determines the target drone based on the selection information.
  • control terminal determines the target drone according to the selection information, including:
  • the control terminal acquires an identifier of the drone selected by the user according to the selection information
  • the control terminal sends an authorization request to the control center, where the authorization request includes an identifier of the drone;
  • the control terminal After receiving the authorization response of the control center, the control terminal determines that the drone selected by the user is the target drone.
  • control terminal acquires information of the drone, including:
  • the control terminal acquires information of the drone from the control center.
  • the wireless communication network device is a 5G base station.
  • the communication module in the control terminal and the communication module in the drone are respectively a wireless communication module.
  • the wireless communication module is a 5G communication module.
  • the communication module in the control terminal is a wired communication module.
  • control terminal is in communication connection with the wireless communication network device, and includes:
  • the control terminal is connected to the Internet through the wired communication module, and is communicably connected to the wireless communication network device via the Internet.
  • control terminal communicates with the control center by using a communication module on the control terminal and the wireless communication network device, and the drone passes the communication module on the drone and the wireless communication
  • the network device communicates with the control center.
  • a second aspect of the embodiments of the present invention provides a control terminal, where the control terminal is a control terminal in a UAV control system, and the UAV control system includes the control terminal, at least one UAV, and a wireless communication network.
  • the device and the control center, the control terminal and the drone respectively comprise a communication module, wherein the control terminal and the drone are respectively connected to the wireless communication network device, the control center and the wireless Communication network device communication connection;
  • the control terminal includes:
  • a processing module configured to communicate with the target drone through the communication module in the control terminal and the wireless communication network device to control the target drone.
  • processing module is specifically configured to:
  • the determining module includes:
  • a display unit configured to display information of the drone, wherein the information of the drone includes location, coverage, and information of the onboard device;
  • a receiving unit configured to receive selection information input by the user according to the displayed information of the drone
  • a determining unit configured to determine the target drone based on the selection information.
  • the determining unit is specifically configured to:
  • the obtaining module is specifically configured to:
  • the information of the drone is obtained from the control center.
  • the wireless communication network device is a 5G base station.
  • the communication module in the control terminal and the communication module in the drone are respectively a wireless communication module.
  • the wireless communication module is a 5G communication module.
  • the communication module in the control terminal is a wired communication module.
  • control terminal is in communication connection with the wireless communication network device, and includes:
  • the control terminal is connected to the Internet through the wired communication module, and is communicably connected to the wireless communication network device via the Internet.
  • control terminal communicates with the control center by using a communication module on the control terminal and the wireless communication network device, and the drone passes the communication module on the drone and the wireless communication
  • the network device communicates with the control center.
  • a third aspect of the embodiments of the present invention provides a control terminal, including:
  • a memory for storing program instructions
  • a processor for invoking and executing program instructions in the memory to perform the method steps of the first aspect above.
  • a fourth aspect of the embodiments of the present invention provides a readable storage medium, where the readable storage medium stores a computer program, and when at least one processor of the control terminal executes the computer program, the control terminal executes the first aspect The method described.
  • a fifth aspect of the embodiments of the present invention provides a UAV control system, where the UAV control system includes the control terminal, the at least one UAV, the at least one wireless communication network device, and the control center. And the control terminal and the drone respectively comprise a communication module, wherein the control terminal and the drone are respectively connected to the wireless communication network device, and the control center communicates with the wireless communication network device connection.
  • the UAV communication method, the control terminal and the UAV control system provided by the embodiments of the present invention the control terminal and the UAV respectively communicate with the wireless communication network device, that is, the communication between the control terminal and the UAV is wireless.
  • the communication network device performs the transfer. Since the wireless communication network device is located in the mobile communication network, it can meet the requirements of the drone communication in terms of the transmission distance, the transmission bandwidth, and the transmission rate.
  • the control terminal can also realize control of one of the drone control systems by interacting with the control center.
  • the communication between the drone and the control center can also be transited via the wireless communication network device, that is, the direct communication between the drone and the control center through the wireless communication network device is realized, and in the prior art, no one The device needs to send the information to the control terminal first, and then the control terminal parses and sends the information to the control center. Therefore, compared with the prior art, the present embodiment realizes the direct communication between the drone and the control center, thereby improving the direct communication. The efficiency of communication.
  • FIG. 1 is a system architecture diagram of a communication method of a drone according to an embodiment of the present invention
  • FIG. 2 is a schematic flowchart of an embodiment of a communication method of a drone according to an embodiment of the present invention
  • FIG. 3 is a schematic flowchart of an embodiment of a communication method of a drone according to an embodiment of the present invention
  • FIG. 4 is a schematic flowchart of an embodiment of a communication method of a drone according to an embodiment of the present invention
  • FIG. 5 is a schematic structural diagram of a control terminal according to an embodiment of the present disclosure.
  • FIG. 6 is a structural diagram of a module of a control terminal according to an embodiment of the present invention.
  • FIG. 7 is a physical block diagram of a control terminal according to an embodiment of the present invention.
  • the existing UAV communication has problems of short transmission distance, small transmission bandwidth, and low transmission rate.
  • the UAV communication based on the ISM band has a problem that the communication distance is too short, and in the case of obstacle obstruction, This problem is particularly acute.
  • the UAV communication based on the Bluetooth technology has a problem that the transmission bandwidth is too small to satisfy the large data stream transmission.
  • many professional fields require drones to achieve long-distance, high-speed, and large-bandwidth transmission. Therefore, the existing UAV communication cannot meet the drones in some professional fields. Requirements at the time of operation.
  • the existing unmanned aerial vehicle network if there are multiple unmanned aerial vehicles at the same time, it is impossible to perform separate control on a specific drone in the networking.
  • the technical solution of the embodiment of the present invention aims to solve the above problem.
  • FIG. 1 is a system architecture diagram of a UAV communication method according to an embodiment of the present invention. As shown in FIG. 1, the method is applied to a UAV control system, where the UAV control system includes a control terminal and at least one Human machine, at least one wireless communication network device, and a control center.
  • the control terminal is specifically a ground control terminal operable by a user, and the control terminal may be a remote controller, a mobile phone, a tablet computer, a desktop computer, a notebook computer, or a wearable device.
  • the wireless communication network device is specifically a device in a mobile communication network, for example, may be a base station, and one or more drones exist in the coverage of the mobile communication network of each base station.
  • the control center is specifically a remote control center for uniformly monitoring each drone in the drone control system. Onboard aircraft can be equipped with onboard equipment.
  • the control terminal and the drone respectively include a communication module, and the control terminal and the drone are respectively connected to the wireless communication network device. That is, in the embodiment of the present invention, the control terminal and the drone no longer communicate directly, but communicate with the wireless communication network device respectively, and the wireless communication network device performs communication relay between the control terminal and the drone. .
  • the communication between the control terminal and the control center can also be relayed via the wireless communication network device, and the communication between the drone and the control center can also be relayed via the wireless communication network device.
  • control terminal communicates with the control center by controlling the communication module on the terminal and the wireless communication network device
  • the drone communicates with the control center through the communication module on the drone and the wireless communication network device.
  • the foregoing wireless communication network device may be specifically a 5G base station.
  • 5G mobile communication networks Compared with existing mobile communication networks, 5G mobile communication networks have the characteristics of large bandwidth, high transmission rate and low delay. Therefore, 5G is passed between the UAV and the control terminal, and between the UAV and the control center.
  • the communication of the 5G base station in the mobile communication network can greatly improve the transmission distance, the transmission bandwidth, and the transmission rate.
  • the communication module in the drone is a wireless communication module, and specifically may be a 5G communication module.
  • the communication module thereon may be a wireless communication module or a wired communication module.
  • the wireless communication module on the control terminal is a wireless communication module
  • the wireless communication module on the control terminal can be, for example, a 5G communication module
  • the control terminal communicates with the wireless communication network device through the 5G communication module, by the wireless communication network.
  • the device performs control of the terminal and the drone, and/or controls the data transfer between the terminal and the control center.
  • control terminal can be connected to the Internet through the wired communication module, and then communicated with the wireless communication network device through the Internet.
  • FIG. 2 is a schematic flowchart of an embodiment of a communication method of a drone according to an embodiment of the present invention.
  • the execution body of the method is the control terminal. As shown in FIG. 2, the method includes:
  • the control terminal acquires information about the drone.
  • the information of the drone may include the location of the drone, the coverage, the information of the onboard device, and the like.
  • the information of the onboard device includes the type, name, and available status of the onboard device.
  • the control terminal acquires information of the drone from the control center.
  • the user terminal can be provided on the control terminal. After the user logs in to the operation interface, the control terminal can be triggered to communicate with the control center. Specifically, the control terminal may send a request for acquiring the drone information to the control center, and after receiving the request, the control center acquires information about all the drones in the current system, and the drones of the drones are The information is sent to the control terminal.
  • each drone and onboard device in the system has available status information, and the available status includes available and unavailable. If the available status of the drone or onboard equipment is available, the drone or onboard equipment can be controlled normally by the control terminal; if the available status of the drone or onboard equipment is not available, then no one is available The machine or onboard equipment may not be controlled by the control terminal because it has been occupied or malfunctioned.
  • the control center sends the information of all the drones to the control terminal, and the control terminal identifies the available status of the drone or the onboard device through different colors or information.
  • the control terminal can also obtain the information of the drone directly from the drone.
  • the control terminal determines the target drone in the drone.
  • the above-mentioned target drone is a drone that can be controlled by the control terminal.
  • the target drone After the control terminal acquires the information of the drone from the control center, the target drone can be determined according to the user's selection.
  • the control terminal communicates with the target drone by controlling the communication module in the terminal and the wireless communication network device to control the target drone.
  • the control terminal communicates with the wireless communication network device based on the internal communication module, and realizes communication with the target drone through the relay of the wireless communication network device, thereby controlling the target drone according to the control terminal. Instructions for doing the job.
  • control terminal and the drone communicate with the wireless communication network device respectively, that is, the communication between the control terminal and the drone is transited through the wireless communication network device, because the wireless communication network device is located in the mobile communication network, Therefore, it can meet the requirements of drone communication in terms of transmission distance, transmission bandwidth and transmission rate.
  • control terminal can also realize control of one of the drone control systems by interacting with the control center.
  • the communication between the UAV and the control center can also be transited via the wireless communication network device, that is, the direct communication between the UAV and the control center through the wireless communication network device is realized, and the existing In the technology, the drone needs to send the information to the control terminal first, and then the control terminal parses the information and sends it to the control center. Therefore, the present embodiment implements the between the drone and the control center compared to the prior art. Direct communication improves the efficiency of communication.
  • step S203 may specifically be:
  • the control terminal sends a drone control command to the wireless communication network device by using the communication module in the control terminal, so that the wireless communication network device sends the drone control command to the target drone, and the target drone according to the The drone control commands perform flight and control operations.
  • the control terminal determines the target drone, the target is not When the man-machine sends the drone control command, the drone control command is first sent to the wireless communication network device, and then sent to the drone by the wireless communication network device. Since the wireless communication network device is a device in the communication network, even if the flight speed, the height of the target drone, and the distance of the distance control terminal are greatly changed, the control terminal does not affect the control of the drone, It can guarantee the transmission distance, transmission bandwidth and transmission rate.
  • the drone control command sent by the control terminal may specifically be a flight control command of the drone, a cruise or fixed point setting command of the drone, a return setting instruction of the drone, and a load device for the drone. Operation control instructions, etc.
  • the drone needs to report flight data information, such as cruise track information, flight status information, etc., to the control center, so that the control center monitors the state of the drone.
  • flight data information such as cruise track information, flight status information, etc.
  • the UAV when the UAV reports the flight data information to the control center, the UAV first transmits the flight data information to the wireless communication network device, and then the wireless communication network device sends the information to the control center.
  • the wireless communication network device is a device in the communication network, even if the flight speed, the height of the target drone, and the distance of the distance control terminal are greatly changed, the flight data information reported by the drone can be ensured to be fast. , sent to the control center in its entirety.
  • the embodiment relates to a specific process of controlling a terminal to determine a target drone in the drone.
  • FIG. 3 is a schematic flowchart of a method for communicating a drone according to an embodiment of the present invention. As shown in FIG. 3, a specific method of the foregoing step S202 is:
  • the control terminal displays information of the drone, wherein the information of the drone includes location, coverage, information of the onboard device, and the like.
  • the control terminal receives the selection information input by the user according to the displayed information of the drone.
  • the control terminal determines the target drone according to the selection information.
  • the operation terminal is provided on the control terminal. After the user logs in to the operation client, the control terminal is triggered to request the control center to request the information of the drone in the network.
  • control terminal sends a request message to the control center, where the request message is used to request information about the drone in the network, including location, coverage, and status information of the onboard device.
  • the control center After receiving the request message, the control center sends the information of the drone in the network to the control terminal, and the control terminal displays the status information of the drone or the onboard device.
  • control terminal may display the information of the drone in the form of a list, or display the information of the drone in a graphical manner. Specifically, the control terminal may display the map on the operation client and display each The status information of the drone and the coverage on the map, as well as the status information of the effective onboard equipment on the drone.
  • the user makes a selection based on the display information.
  • the control terminal graphically displays the information of the drone. After the user views the information of the drone by clicking the operation, the user can input the selection information by double-clicking, clicking the confirmation button, etc., so that the control terminal acquires the user. Selection information.
  • the target drone is determined based on the user's selection information.
  • control terminal can display the information of each drone in the unmanned aerials network to the user, so that the user can use the unmanned aerial vehicle network to conveniently obtain the information of each drone from the control terminal, thereby The user can conveniently use the nearby drone to conduct inspections.
  • the embodiment relates to a specific method for the control terminal to determine the target drone according to the user's selection information.
  • FIG. 4 is a schematic flowchart of an embodiment of a method for communicating a drone according to an embodiment of the present invention. As shown in FIG. 4, a specific method of the foregoing step S303 is:
  • the control terminal acquires an identifier of the drone selected by the user according to the selection information.
  • the control terminal graphically displays the information of the drone. After the user views the information of the drone by clicking the operation, the selection information can be input by double clicking, clicking the confirmation button, and the like.
  • the selection information is specifically an icon selected by the user. Further, the control terminal determines the identifier of the drone corresponding to the icon, and can obtain the identifier of the drone selected by the user.
  • the control terminal sends an authorization request to the control center, where the authorization request includes an identifier of the drone.
  • the control terminal When the user wants to control a drone, he or she needs to be authorized by the control center.
  • the control terminal After the control terminal acquires the identifier of the drone selected by the user, it sends an authorization request to the control center to apply for control of the drone for the user.
  • the authorization request may also include an identifier of a user who logs in to the operation client.
  • the control terminal After receiving the authorization response of the control center, the control terminal determines that the drone selected by the user is the target drone.
  • the control center After receiving the authorization request, the control center confirms the user and the drone selected by the user to confirm whether the user is allowed to control the drone, and if the permission is confirmed, send an authorization response to the control terminal, the authorization The response is used to notify the control terminal that the drone selected by the user can be controlled.
  • control terminal When the control terminal receives the authorization response, it can determine that the drone selected by the user is the target drone. Furthermore, the control terminal can send a drone control command to the target drone to control the flight and control operations of the target drone.
  • the control terminal applies for authorization of the drone for the user, so that the user can quickly obtain the authorization, improve the authorization efficiency, and improve the user experience.
  • FIG. 5 is a block diagram of a control terminal according to an embodiment of the present invention.
  • the control terminal is a control terminal in a UAV control system, and the UAV control system includes the control terminal, at least one UAV, a wireless communication network device and a control center, wherein the control terminal and the drone respectively comprise a communication module, wherein the control terminal and the drone are respectively connected to the wireless communication network device, and the control center and the control center
  • the wireless communication network device is in communication connection.
  • control terminal includes:
  • the obtaining module 501 is configured to acquire information of the drone.
  • the determining module 502 is configured to determine a target drone in the drone.
  • the processing module 503 is configured to communicate with the target drone through the communication module in the control terminal and the wireless communication network device to control the target drone.
  • control terminal is used to implement the foregoing method embodiments, and the implementation principle and technical effects are similar, and details are not described herein again.
  • processing module 503 is specifically configured to:
  • FIG. 6 is a block diagram of a control terminal according to an embodiment of the present invention. As shown in Figure 6, the determining module 502 includes:
  • the display unit 5021 is configured to display information about the drone, wherein the information of the drone includes location, coverage, and information of the onboard device.
  • the receiving unit 5022 is configured to receive selection information input by the user according to the displayed information of the drone.
  • the determining unit 5023 is configured to determine the target drone according to the selection information.
  • the determining unit 5023 is specifically configured to:
  • the obtaining module 501 is specifically configured to:
  • the wireless communication network device is a 5G base station.
  • the communication module in the control terminal and the communication module in the drone are respectively a wireless communication module.
  • the wireless communication module is a 5G communication module.
  • the communication module in the control terminal is a wired communication module.
  • control terminal is in communication connection with the wireless communication network device, and includes:
  • the control terminal is connected to the Internet through the wired communication module, and is communicably connected to the wireless communication network device via the Internet.
  • control terminal communicates with the control center through a communication module on the control terminal and the wireless communication network device, and the drone passes through a communication module and a device on the drone.
  • the wireless communication network device is in communication with the control center.
  • FIG. 7 is a physical block diagram of a control terminal according to an embodiment of the present invention. As shown in FIG. 7, the control terminal includes:
  • the memory 701 is configured to store program instructions.
  • the processor 702 is configured to invoke and execute the program instructions in the memory 701 to execute the method steps of controlling the terminal in the foregoing method embodiment.
  • 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.

Abstract

Embodiments of the present invention provide an unmanned aerial vehicle communication method, a control terminal and an unmanned aerial vehicle control system, the method being applied to the control terminal in the unmanned aerial vehicle control system. The unmanned aerial vehicle control system comprises the control terminal, at least one unmanned aerial vehicle, a wireless communication network device and a control center. The control terminal and the unmanned aerial vehicle each comprise a communication module, the control terminal and the unmanned aerial vehicle are communicatively connected to the wireless communication network device, and the control center is communicatively connected to the wireless communication network device. The method comprises: a control terminal acquiring information concerning unmanned aerial vehicles; the control terminal determining a target unmanned aerial vehicle among the unmanned aerial vehicles; the control terminal communicating with the target unmanned aerial vehicle by means of a communication module in the control terminal and the wireless communication network device, so as to control the target unmanned aerial vehicle. The method can satisfy requirements on unmanned aerial vehicle communications in terms of transmission distance, transmission bandwidth and transmission rate.

Description

无人机通信方法、控制终端及无人机控制系统UAV communication method, control terminal and drone control system
申请要求于2018年3月6日申请的、申请号为201810184505.6、申请名称为“无人机通信方法、控制终端及无人机控制系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。The application claims the priority of the Chinese patent application filed on March 6, 2018, the application number is 201810184505.6, and the application name is "UAV communication method, control terminal and drone control system", the entire contents of which are incorporated by reference. In this application.
技术领域Technical field
本发明实施例涉及通信技术，尤其涉及一种无人机通信方法、控制终端及无人机控制系统。Embodiments of the present invention relate to communication technologies, and in particular, to a UAV communication method, a control terminal, and a UAV control system.
背景技术Background technique
随着无人机技术的迅速发展，无人机的应用领域也越来越广泛，无人机的使用从普通爱好者的自拍摄影，扩展到交通、治安巡逻、电力线巡检等专业领域，实现了这些领域的自动化作业，从而大幅降低这些领域额的人力投入成本，提高这些领域的工作效率。无人机在作业过程中，用户可以通过控制终端对无人机进行远程控制。具体的，由控制终端与无人机之间进行通信，以实现对无人机的控制。With the rapid development of drone technology, the application fields of drones are becoming more and more extensive. The use of drones has expanded from self-portrait photography of ordinary enthusiasts to professional fields such as traffic, public security patrols, and power line inspections. Automated operations in these areas have significantly reduced the cost of manpower input in these areas and increased the efficiency of these areas. During the operation of the drone, the user can remotely control the drone through the control terminal. Specifically, communication is performed between the control terminal and the drone to control the drone.
现有技术中，控制终端与无人机之间的通信可以基于不同的通信协议。例如，可以通过基于工业科学医用(Industrial Scientific Medical，简称ISM)频段的自有协议进行通信，或者，可以基于蓝牙协议进行通信，或者，也可以基于无线保真(Wireless Fidelity，简称WIFI)协议进行通信。In the prior art, the communication between the control terminal and the drone can be based on different communication protocols. For example, communication may be performed through a proprietary protocol based on the Industrial Scientific Medical (ISM) band, or may be based on a Bluetooth protocol, or may be based on a Wireless Fidelity (WIFI) protocol. Communication.
但是，现有的无人机通信存在传输距离短、传输带宽小以及传输速率低等问题，难以满足一些专业领域中无人机作业时的要求。However, the existing UAV communication has problems such as short transmission distance, small transmission bandwidth, and low transmission rate, and it is difficult to meet the requirements of the operation of the UAV in some professional fields.
发明内容Summary of the invention
本发明实施例提供一种无人机通信方法、控制终端及无人机控制系统，用于解决现有技术中无人机通信存在的传输距离短、传输带宽小以及传输速率低的问题。The embodiment of the invention provides a UAV communication method, a control terminal and a UAV control system, which are used to solve the problems of short transmission distance, small transmission bandwidth and low transmission rate of the UAV communication in the prior art.
本发明实施例第一方面提供一种无人机通信方法，应用于无人机控制系 统中的控制终端，所述无人机控制系统包括所述控制终端、至少一个无人机、无线通信网络设备以及控制中心，所述控制终端以及所述无人机中分别包括通信模块，所述控制终端和所述无人机分别与所述无线通信网络设备通信连接，所述控制中心与所述无线通信网络设备通信连接；A first aspect of an embodiment of the present invention provides a UAV communication method, which is applied to a control terminal in a UAV control system, where the UAV control system includes the control terminal, at least one UAV, and a wireless communication network. The device and the control center, the control terminal and the drone respectively comprise a communication module, wherein the control terminal and the drone are respectively connected to the wireless communication network device, the control center and the wireless Communication network device communication connection;
所述方法包括：The method includes:
所述控制终端获取无人机的信息；The control terminal acquires information of the drone;
所述控制终端确定所述无人机中的目标无人机；The control terminal determines a target drone in the drone;
所述控制终端通过所述控制终端中的通信模块以及所述无线通信网络设备，与所述目标无人机通信，以控制所述目标无人机。The control terminal communicates with the target drone through the communication module in the control terminal and the wireless communication network device to control the target drone.
进一步地，所述控制终端通过所述控制终端中的通信模块以及所述无线通信网络设备，与所述目标无人机通信，以控制所述目标无人机，包括：Further, the control terminal communicates with the target drone through the communication module in the control terminal and the wireless communication network device to control the target drone, including:
所述控制终端通过所述控制终端中的通信模块向所述无线通信网络设备发送无人机控制指令，以使所述无线通信网络设备将所述无人机控制指令发送给所述目标无人机，并由所述目标无人机根据所述无人机控制指令执行飞行及控制操作。The control terminal sends a drone control command to the wireless communication network device through a communication module in the control terminal, so that the wireless communication network device sends the drone control command to the target unmanned And performing, by the target drone, flight and control operations in accordance with the drone control command.
进一步地，所述控制终端确定所述无人机中的目标无人机，包括：Further, the control terminal determines the target drone in the drone, including:
所述控制终端显示所述无人机的信息，其中，所述无人机的信息包括位置、覆盖范围以及机载设备的信息；The control terminal displays information of the drone, wherein the information of the drone includes location, coverage, and information of the onboard device;
所述控制终端接收用户根据所显示的无人机的信息所输入的选择信息；The control terminal receives selection information input by the user according to the displayed information of the drone;
所述控制终端根据所述选择信息确定所述目标无人机。The control terminal determines the target drone based on the selection information.
进一步地，所述控制终端根据所述选择信息确定所述目标无人机，包括：Further, the control terminal determines the target drone according to the selection information, including:
所述控制终端根据所述选择信息获取所述用户所选择的无人机的标识；The control terminal acquires an identifier of the drone selected by the user according to the selection information;
所述控制终端向所述控制中心发送授权请求，所述授权请求中包括所述无人机的标识；The control terminal sends an authorization request to the control center, where the authorization request includes an identifier of the drone;
所述控制终端在接收到所述控制中心的授权响应后，确定所述用户所选择的无人机为所述目标无人机。After receiving the authorization response of the control center, the control terminal determines that the drone selected by the user is the target drone.
进一步地，所述控制终端获取无人机的信息，包括：Further, the control terminal acquires information of the drone, including:
所述控制终端从所述控制中心获取无人机的信息。The control terminal acquires information of the drone from the control center.
进一步地，所述无线通信网络设备为5G基站。Further, the wireless communication network device is a 5G base station.
进一步地，所述控制终端中的通信模块以及所述无人机中的通信模块分 别为无线通信模块。Further, the communication module in the control terminal and the communication module in the drone are respectively a wireless communication module.
进一步地，所述无线通信模块为5G通信模块。Further, the wireless communication module is a 5G communication module.
进一步地，所述控制终端中的通信模块为有线通信模块。Further, the communication module in the control terminal is a wired communication module.
进一步地，所述控制终端与所述无线通信网络设备通信连接，包括：Further, the control terminal is in communication connection with the wireless communication network device, and includes:
所述控制终端通过所述有线通信模块连接到互联网，再通过互联网与所述无线通信网络设备通信连接。The control terminal is connected to the Internet through the wired communication module, and is communicably connected to the wireless communication network device via the Internet.
进一步地，所述控制终端通过所述控制终端上的通信模块以及所述无线通信网络设备，与所述控制中心通信，所述无人机通过所述无人机上的通信模块以及所述无线通信网络设备与所述控制中心通信。Further, the control terminal communicates with the control center by using a communication module on the control terminal and the wireless communication network device, and the drone passes the communication module on the drone and the wireless communication The network device communicates with the control center.
本发明实施例第二方面提供一种控制终端，所述控制终端为无人机控制系统中的控制终端，所述无人机控制系统包括所述控制终端、至少一个无人机、无线通信网络设备以及控制中心，所述控制终端以及所述无人机中分别包括通信模块，所述控制终端和所述无人机分别与所述无线通信网络设备通信连接，所述控制中心与所述无线通信网络设备通信连接；A second aspect of the embodiments of the present invention provides a control terminal, where the control terminal is a control terminal in a UAV control system, and the UAV control system includes the control terminal, at least one UAV, and a wireless communication network. The device and the control center, the control terminal and the drone respectively comprise a communication module, wherein the control terminal and the drone are respectively connected to the wireless communication network device, the control center and the wireless Communication network device communication connection;
所述控制终端包括：The control terminal includes:
获取模块，用于获取无人机的信息；Obtaining a module for acquiring information of the drone;
确定模块，用于确定所述无人机中的目标无人机；Determining a module for determining a target drone in the drone;
处理模块，用于通过所述控制终端中的通信模块以及所述无线通信网络设备，与所述目标无人机通信，以控制所述目标无人机。And a processing module, configured to communicate with the target drone through the communication module in the control terminal and the wireless communication network device to control the target drone.
进一步地，所述处理模块具体用于：Further, the processing module is specifically configured to:
通过所述控制终端中的通信模块向所述无线通信网络设备发送无人机控制指令，以使所述无线通信网络设备将所述无人机控制指令发送给所述目标无人机，并由所述目标无人机根据所述无人机控制指令执行飞行及控制操作。Transmitting, by the communication module in the control terminal, a drone control instruction to the wireless communication network device, so that the wireless communication network device sends the drone control command to the target drone, and The target drone performs flight and control operations in accordance with the drone control command.
进一步地，所述确定模块包括：Further, the determining module includes:
显示单元，用于显示所述无人机的信息，其中，所述无人机的信息包括位置、覆盖范围以及机载设备的信息；a display unit, configured to display information of the drone, wherein the information of the drone includes location, coverage, and information of the onboard device;
接收单元，用于接收用户根据所显示的无人机的信息所输入的选择信息；a receiving unit, configured to receive selection information input by the user according to the displayed information of the drone;
确定单元，用于根据所述选择信息确定所述目标无人机。a determining unit, configured to determine the target drone based on the selection information.
进一步地，所述确定单元具体用于：Further, the determining unit is specifically configured to:
根据所述选择信息获取所述用户所选择的无人机的标识；Obtaining an identifier of the drone selected by the user according to the selection information;
向所述控制中心发送授权请求，所述授权请求中包括所述无人机的标识；Sending an authorization request to the control center, where the authorization request includes an identifier of the drone;
在接收到所述控制中心的授权响应后，确定所述用户所选择的无人机为所述目标无人机。After receiving the authorization response of the control center, determining that the drone selected by the user is the target drone.
进一步地，所述获取模块具体用于：Further, the obtaining module is specifically configured to:
从所述控制中心获取无人机的信息。The information of the drone is obtained from the control center.
进一步地，所述无线通信网络设备为5G基站。Further, the wireless communication network device is a 5G base station.
进一步地，所述控制终端中的通信模块以及所述无人机中的通信模块分别为无线通信模块。Further, the communication module in the control terminal and the communication module in the drone are respectively a wireless communication module.
进一步地，所述无线通信模块为5G通信模块。Further, the wireless communication module is a 5G communication module.
进一步地，所述控制终端中的通信模块为有线通信模块。Further, the communication module in the control terminal is a wired communication module.
进一步地，所述控制终端与所述无线通信网络设备通信连接，包括：Further, the control terminal is in communication connection with the wireless communication network device, and includes:
所述控制终端通过所述有线通信模块连接到互联网，再通过互联网与所述无线通信网络设备通信连接。The control terminal is connected to the Internet through the wired communication module, and is communicably connected to the wireless communication network device via the Internet.
进一步地，所述控制终端通过所述控制终端上的通信模块以及所述无线通信网络设备，与所述控制中心通信，所述无人机通过所述无人机上的通信模块以及所述无线通信网络设备与所述控制中心通信。Further, the control terminal communicates with the control center by using a communication module on the control terminal and the wireless communication network device, and the drone passes the communication module on the drone and the wireless communication The network device communicates with the control center.
本发明实施例第三方面提供一种控制终端，包括：A third aspect of the embodiments of the present invention provides a control terminal, including:
存储器，用于存储程序指令；a memory for storing program instructions;
处理器，用于调用并执行所述存储器中的程序指令，执行上述第一方面所述的方法步骤。a processor for invoking and executing program instructions in the memory to perform the method steps of the first aspect above.
本发明实施例第四方面提供一种可读存储介质，所述可读存储介质中存储有计算机程序，当控制终端的至少一个处理器执行所述计算机程序时，控制终端执行上述第一方面所述的方法。A fourth aspect of the embodiments of the present invention provides a readable storage medium, where the readable storage medium stores a computer program, and when at least one processor of the control terminal executes the computer program, the control terminal executes the first aspect The method described.
本发明实施例第五方面提供一种无人机控制系统，所述无人机控制系统中包括上述第二方面所述的控制终端、至少一个无人机、至少一个无线通信网络设备以及控制中心，所述控制终端以及所述无人机中分别包括通信模块，所述控制终端和所述无人机分别与所述无线通信网络设备通信连接，所述控制中心与所述无线通信网络设备通信连接。A fifth aspect of the embodiments of the present invention provides a UAV control system, where the UAV control system includes the control terminal, the at least one UAV, the at least one wireless communication network device, and the control center. And the control terminal and the drone respectively comprise a communication module, wherein the control terminal and the drone are respectively connected to the wireless communication network device, and the control center communicates with the wireless communication network device connection.
本发明实施例所提供的无人机通信方法、控制终端及无人机控制系统，控制终端和无人机分别与无线通信网络设备进行通信，即控制终端与无人机之间的通信通过无线通信网络设备进行中转，由于无线通信网络设备位于移动通信网络中，因此，其在传输距离、传输带宽以及传输速率上都能够满足无人机通信的要求。另外，控制终端通过与控制中心交互，也可以实现对无人机控制系统中其中一架无人机的控制。另外，无人机与控制中心之间的通信也可以经由无线通信网络设备进行中转，即实现了无人机与控制中心之间通过无线通信网络设备直接进行通信，而现有技术中，无人机需要首先将信息都发送至控制终端，由控制终端解析后再发送给控制中心，因此，本实施例相比于现有技术，实现了无人机与控制中心之间的直接通信，提升了通信的效率。The UAV communication method, the control terminal and the UAV control system provided by the embodiments of the present invention, the control terminal and the UAV respectively communicate with the wireless communication network device, that is, the communication between the control terminal and the UAV is wireless. The communication network device performs the transfer. Since the wireless communication network device is located in the mobile communication network, it can meet the requirements of the drone communication in terms of the transmission distance, the transmission bandwidth, and the transmission rate. In addition, the control terminal can also realize control of one of the drone control systems by interacting with the control center. In addition, the communication between the drone and the control center can also be transited via the wireless communication network device, that is, the direct communication between the drone and the control center through the wireless communication network device is realized, and in the prior art, no one The device needs to send the information to the control terminal first, and then the control terminal parses and sends the information to the control center. Therefore, compared with the prior art, the present embodiment realizes the direct communication between the drone and the control center, thereby improving the direct communication. The efficiency of communication.
附图说明DRAWINGS
为了更清楚地说明本发明实施例或现有技术中的技术方案，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简单地介绍，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性的前提下，还可以根据这些附图获得其他的附图。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.
图1为本发明实施例提供的无人机通信方法的系统架构图；1 is a system architecture diagram of a communication method of a drone according to an embodiment of the present invention;
图2为本发明实施例提供的无人机通信方法实施例的流程示意图；2 is a schematic flowchart of an embodiment of a communication method of a drone according to an embodiment of the present invention;
图3为本发明实施例提供的无人机通信方法实施例的流程示意图；3 is a schematic flowchart of an embodiment of a communication method of a drone according to an embodiment of the present invention;
图4为本发明实施例提供的无人机通信方法实施例的流程示意图；4 is a schematic flowchart of an embodiment of a communication method of a drone according to an embodiment of the present invention;
图5为本发明实施例提供的控制终端的模块结构图；FIG. 5 is a schematic structural diagram of a control terminal according to an embodiment of the present disclosure;
图6为本发明实施例提供的控制终端的模块结构图；FIG. 6 is a structural diagram of a module of a control terminal according to an embodiment of the present invention;
图7为本发明实施例提供的控制终端的实体框图。FIG. 7 is a physical block diagram of a control terminal according to an embodiment of the present invention.
具体实施方式Detailed ways
为使本发明的目的、技术方案和优点更加清楚，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，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所 有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. Some embodiments, rather than all of the embodiments, are invented. 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.
现有的无人机通信存在传输距离短、传输带宽小以及传输速率低等问题，例如，基于ISM频段的无人机通信存在通信距离过短的问题，在遇到障碍物遮挡的情况下，该问题尤为突出。又例如，基于蓝牙技术的无人机通信，存在传输带宽过小的问题，无法满足大数据流传输。而随着无人机应用领域的不断扩大，很多专业领域需要无人机能够实现远距离、高速率、大带宽的传输，因此，现有的无人机通信无法满足一些专业领域中无人机作业时的要求。除此之外，在现有的无人机组网中，如果同时存在多架无人机，则无法对组网内的特定一架无人机进行单独的控制。The existing UAV communication has problems of short transmission distance, small transmission bandwidth, and low transmission rate. For example, the UAV communication based on the ISM band has a problem that the communication distance is too short, and in the case of obstacle obstruction, This problem is particularly acute. For another example, the UAV communication based on the Bluetooth technology has a problem that the transmission bandwidth is too small to satisfy the large data stream transmission. With the continuous expansion of the application field of drones, many professional fields require drones to achieve long-distance, high-speed, and large-bandwidth transmission. Therefore, the existing UAV communication cannot meet the drones in some professional fields. Requirements at the time of operation. In addition, in the existing unmanned aerial vehicle network, if there are multiple unmanned aerial vehicles at the same time, it is impossible to perform separate control on a specific drone in the networking.
本发明实施例的技术方案，旨在解决上述问题。The technical solution of the embodiment of the present invention aims to solve the above problem.
图1为本发明实施例提供的无人机通信方法的系统架构图，如图1所示，该方法应用于无人机控制系统中，该无人机控制系统中包括控制终端、至少一个无人机、至少一个无线通信网络设备以及控制中心。其中，该控制终端具体为可供用户操作的地面控制终端，该控制终端可以为遥控器、手机、平板电脑、台式电脑、笔记本电脑或者可穿戴设备等。该无线通信网络设备具体为移动通信网络中的设备，例如可以为基站，每一个基站的移动通信网络覆盖范围内存在一个或多个无人机。该控制中心具体为远程控制中心，用于对无人机控制系统中的各无人机统一进行监控。无人机上可以搭载机载设备。1 is a system architecture diagram of a UAV communication method according to an embodiment of the present invention. As shown in FIG. 1, the method is applied to a UAV control system, where the UAV control system includes a control terminal and at least one Human machine, at least one wireless communication network device, and a control center. The control terminal is specifically a ground control terminal operable by a user, and the control terminal may be a remote controller, a mobile phone, a tablet computer, a desktop computer, a notebook computer, or a wearable device. The wireless communication network device is specifically a device in a mobile communication network, for example, may be a base station, and one or more drones exist in the coverage of the mobile communication network of each base station. The control center is specifically a remote control center for uniformly monitoring each drone in the drone control system. Onboard aircraft can be equipped with onboard equipment.
上述控制终端和无人机中都分别包括通信模块，控制终端和无人机分别与无线通信网络设备通信连接。即在本发明实施例中，控制终端与无人机之间不再直接进行通信，而是分别与无线通信网络设备进行通信，由无线通信网络设备进行控制终端与无人机之间的通信中转。The control terminal and the drone respectively include a communication module, and the control terminal and the drone are respectively connected to the wireless communication network device. That is, in the embodiment of the present invention, the control terminal and the drone no longer communicate directly, but communicate with the wireless communication network device respectively, and the wireless communication network device performs communication relay between the control terminal and the drone. .
另外，在上述系统中，控制终端与控制中心之间的通信也可以经由无线通信网络设备进行中转，并且，无人机与控制中心之间的通信也可以经由无线通信网络设备进行中转。控制中心与无线通信网络设备之间也存在通信连接。Further, in the above system, the communication between the control terminal and the control center can also be relayed via the wireless communication network device, and the communication between the drone and the control center can also be relayed via the wireless communication network device. There is also a communication connection between the control center and the wireless communication network device.
具体的，控制终端通过控制终端上的通信模块以及无线通信网络设备，与控制中心通信，无人机通过无人机上的通信模块以及无线通信网络设备与控制中心通信。Specifically, the control terminal communicates with the control center by controlling the communication module on the terminal and the wireless communication network device, and the drone communicates with the control center through the communication module on the drone and the wireless communication network device.
可选的，上述无线通信网络设备具体可以为5G基站。Optionally, the foregoing wireless communication network device may be specifically a 5G base station.
5G移动通信网络相比于现有的移动通信网络，具有大带宽、高传输速率以及低时延的特点，因此，无人机与控制终端之间，以及无人机与控制中心之间通过5G移动通信网络中的5G基站进行通信，可以使得传输距离、传输带宽以及传输速率都得到极大提升。Compared with existing mobile communication networks, 5G mobile communication networks have the characteristics of large bandwidth, high transmission rate and low delay. Therefore, 5G is passed between the UAV and the control terminal, and between the UAV and the control center. The communication of the 5G base station in the mobile communication network can greatly improve the transmission distance, the transmission bandwidth, and the transmission rate.
无人机上中的通信模块为无线通信模块，具体可以为5G通信模块。The communication module in the drone is a wireless communication module, and specifically may be a 5G communication module.
而对于控制终端，其上的通信模块可以为无线通信模块，也可以为有线通信模块。For the control terminal, the communication module thereon may be a wireless communication module or a wired communication module.
在一种情况下，如果控制终端上的通信模块为无线通信模块，控制终端上的无线通信模块例如可以为5G通信模块，控制终端通过该5G通信模块与无线通信网络设备通信，由无线通信网络设备进行控制终端与无人机，和/或，控制终端与控制中心之间的数据中转。In one case, if the communication module on the control terminal is a wireless communication module, the wireless communication module on the control terminal can be, for example, a 5G communication module, and the control terminal communicates with the wireless communication network device through the 5G communication module, by the wireless communication network. The device performs control of the terminal and the drone, and/or controls the data transfer between the terminal and the control center.
在另一种情况下，如果控制终端上的通信模块为有线通信模块，则可选的，控制终端可以通过该有线通信模块连接到互联网，进而，再通过互联网与无线通信网络设备进行通信连接。In another case, if the communication module on the control terminal is a wired communication module, optionally, the control terminal can be connected to the Internet through the wired communication module, and then communicated with the wireless communication network device through the Internet.
基于上述系统架构，本发明实施例的实施方式具体如下。Based on the above system architecture, the embodiments of the embodiments of the present invention are specifically as follows.
图2为本发明实施例提供的无人机通信方法实施例的流程示意图，该方法的执行主体为上述控制终端，如图2所示，该方法包括：2 is a schematic flowchart of an embodiment of a communication method of a drone according to an embodiment of the present invention. The execution body of the method is the control terminal. As shown in FIG. 2, the method includes:
S201、控制终端获取无人机的信息。S201. The control terminal acquires information about the drone.
其中，上述无人机的信息可以包括无人机的位置、覆盖范围以及机载设备的信息等。The information of the drone may include the location of the drone, the coverage, the information of the onboard device, and the like.
其中，机载设备的信息包括机载设备的类型、名称、可用状态等。The information of the onboard device includes the type, name, and available status of the onboard device.
在一种情况下，当无人机控制系统中的无人机为多个时，控制终端从控制中心获取无人机的信息。In one case, when there are a plurality of drones in the drone control system, the control terminal acquires information of the drone from the control center.
具体的，控制终端上可以提供用户操作界面，当用户登录到操作界面之后，即可触发控制终端与控制中心通信。具体的，控制终端可以向控制中心发送获取无人机信息的请求，控制中心接收到请求之后，会获取当前系统中的所有无人机的信息，并将这些无人机中的无人机的信息发送给控制终端。Specifically, the user terminal can be provided on the control terminal. After the user logs in to the operation interface, the control terminal can be triggered to communicate with the control center. Specifically, the control terminal may send a request for acquiring the drone information to the control center, and after receiving the request, the control center acquires information about all the drones in the current system, and the drones of the drones are The information is sent to the control terminal.
示例性的，系统中每个无人机以及机载设备都有可用状态信息，可用状态包括可用及不可用。如果无人机或机载设备的可用状态为可用，则说明无人机或者机载设备可以正常被控制终端来控制；如果无人机或机载设备的可 用状态为不可用，则说明无人机或机载设备可能因为已经被占用或者故障等原因而无法被控制终端控制。控制中心会将所有无人机的信息发送给控制终端，控制终端通过不同的颜色或信息来标识出无人机或机载设备的可用状态。Illustratively, each drone and onboard device in the system has available status information, and the available status includes available and unavailable. If the available status of the drone or onboard equipment is available, the drone or onboard equipment can be controlled normally by the control terminal; if the available status of the drone or onboard equipment is not available, then no one is available The machine or onboard equipment may not be controlled by the control terminal because it has been occupied or malfunctioned. The control center sends the information of all the drones to the control terminal, and the control terminal identifies the available status of the drone or the onboard device through different colors or information.
在另一种情况下，当无人机控制系统中的无人机为一个时，控制终端也可以直接从无人机中获取无人机的信息。In another case, when the drone in the drone control system is one, the control terminal can also obtain the information of the drone directly from the drone.
S202、控制终端确定上述无人机中的目标无人机。S202. The control terminal determines the target drone in the drone.
其中，上述目标无人机是指控制终端可以控制的无人机。Among them, the above-mentioned target drone is a drone that can be controlled by the control terminal.
当控制终端从控制中心获取到无人机的信息后，可以根据用户的选择确定出上述目标无人机。After the control terminal acquires the information of the drone from the control center, the target drone can be determined according to the user's selection.
S203、控制终端通过控制终端中的通信模块以及上述无线通信网络设备，与目标无人机通信，以控制该目标无人机。S203. The control terminal communicates with the target drone by controlling the communication module in the terminal and the wireless communication network device to control the target drone.
具体的，基于上述的系统架构，控制终端基于内部的通信模块与上述无线通信网络设备通信，通过上述无线通信网络设备的中转实现与目标无人机的通信，进而控制目标无人机按照控制终端的指示进行作业。Specifically, based on the system architecture described above, the control terminal communicates with the wireless communication network device based on the internal communication module, and realizes communication with the target drone through the relay of the wireless communication network device, thereby controlling the target drone according to the control terminal. Instructions for doing the job.
本实施例中，控制终端和无人机分别与无线通信网络设备进行通信，即控制终端与无人机之间的通信通过无线通信网络设备进行中转，由于无线通信网络设备位于移动通信网络中，因此，其在传输距离、传输带宽以及传输速率上都能够满足无人机通信的要求。In this embodiment, the control terminal and the drone communicate with the wireless communication network device respectively, that is, the communication between the control terminal and the drone is transited through the wireless communication network device, because the wireless communication network device is located in the mobile communication network, Therefore, it can meet the requirements of drone communication in terms of transmission distance, transmission bandwidth and transmission rate.
另外，控制终端通过与控制中心交互，也可以实现对无人机控制系统中其中一架无人机的控制。In addition, the control terminal can also realize control of one of the drone control systems by interacting with the control center.
另外，本实施例中，无人机与控制中心之间的通信也可以经由无线通信网络设备进行中转，即实现了无人机与控制中心之间通过无线通信网络设备直接进行通信，而现有技术中，无人机需要首先将信息都发送至控制终端，由控制终端解析后再发送给控制中心，因此，本实施例相比于现有技术，实现了无人机与控制中心之间的直接通信，提升了通信的效率。In addition, in this embodiment, the communication between the UAV and the control center can also be transited via the wireless communication network device, that is, the direct communication between the UAV and the control center through the wireless communication network device is realized, and the existing In the technology, the drone needs to send the information to the control terminal first, and then the control terminal parses the information and sends it to the control center. Therefore, the present embodiment implements the between the drone and the control center compared to the prior art. Direct communication improves the efficiency of communication.
在一种可选的实施方式中，上述步骤S203具体可以为：In an optional implementation manner, the foregoing step S203 may specifically be:
控制终端通过控制终端中的通信模块向无线通信网络设备发送无人机控制指令，以使无线通信网络设备将该无人机控制指令发送给目标无人机，并由该目标无人机根据该无人机控制指令执行飞行及控制操作。The control terminal sends a drone control command to the wireless communication network device by using the communication module in the control terminal, so that the wireless communication network device sends the drone control command to the target drone, and the target drone according to the The drone control commands perform flight and control operations.
具体的，控制终端与无线通信网络设备之间存在通信连接，同时，无线 通信网络设备与无人机之间也存在通信连接，因此，当控制终端确定出目标无人机之后，向该目标无人机发送无人机控制指令时，首先将无人机控制指令发送给无线通信网络设备，再由无线通信网络设备发送至无人机。由于该无线通信网络设备为通信网络中的设备，因此，即使目标无人机的飞行速度、高度、距离控制终端的距离发生较大改变，也不会影响控制终端对于无人机的控制，都能保证传输距离、传输带宽以及传输速率。Specifically, there is a communication connection between the control terminal and the wireless communication network device, and at the same time, there is also a communication connection between the wireless communication network device and the drone. Therefore, after the control terminal determines the target drone, the target is not When the man-machine sends the drone control command, the drone control command is first sent to the wireless communication network device, and then sent to the drone by the wireless communication network device. Since the wireless communication network device is a device in the communication network, even if the flight speed, the height of the target drone, and the distance of the distance control terminal are greatly changed, the control terminal does not affect the control of the drone, It can guarantee the transmission distance, transmission bandwidth and transmission rate.
可选的，控制终端所发送的无人机控制指令具体可以是无人机的飞行控制指令、无人机的巡航或定点设置指令、无人机的返航设置指令以及对无人机的载荷设备的操作控制指令等。Optionally, the drone control command sent by the control terminal may specifically be a flight control command of the drone, a cruise or fixed point setting command of the drone, a return setting instruction of the drone, and a load device for the drone. Operation control instructions, etc.
另一实施例中，无人机在飞行过程中，需要向控制中心上报飞行数据信息，例如巡航轨迹信息、飞行状态信息等，以使的控制中心对无人机的状态就进行监控。基于本发明实施例的系统架构，在本实施例中，无人机在向控制中心上报飞行数据信息时，首先将飞行数据信息发送给无线通信网络设备，再由无线通信网络设备发送至控制中心。由于该无线通信网络设备为通信网络中的设备，因此，即使目标无人机的飞行速度、高度、距离控制终端的距离发生较大改变，也能够保证无人机所上报的飞行数据信息被快速、完整地发送至控制中心。In another embodiment, during the flight, the drone needs to report flight data information, such as cruise track information, flight status information, etc., to the control center, so that the control center monitors the state of the drone. Based on the system architecture of the embodiment of the present invention, in the embodiment, when the UAV reports the flight data information to the control center, the UAV first transmits the flight data information to the wireless communication network device, and then the wireless communication network device sends the information to the control center. . Since the wireless communication network device is a device in the communication network, even if the flight speed, the height of the target drone, and the distance of the distance control terminal are greatly changed, the flight data information reported by the drone can be ensured to be fast. , sent to the control center in its entirety.
在上述实施例的基础上，本实施例涉及控制终端确定无人机中的目标无人机的具体过程。Based on the above embodiments, the embodiment relates to a specific process of controlling a terminal to determine a target drone in the drone.
图3为本发明实施例提供的无人机通信方法实施例的流程示意图，如图3所示，上述步骤S202的一种具体方法为：FIG. 3 is a schematic flowchart of a method for communicating a drone according to an embodiment of the present invention. As shown in FIG. 3, a specific method of the foregoing step S202 is:
S301、控制终端显示无人机的信息，其中，该无人机的信息包括位置、覆盖范围以及机载设备的信息等。S301. The control terminal displays information of the drone, wherein the information of the drone includes location, coverage, information of the onboard device, and the like.
S302、控制终端接收用户根据所显示的无人机的信息所输入的选择信息。S302. The control terminal receives the selection information input by the user according to the displayed information of the drone.
S303、控制终端根据上述选择信息确定上述目标无人机。S303. The control terminal determines the target drone according to the selection information.
可选的，控制终端上提供操作客户端，当用户登录到操作客户端之后，会触发控制终端向控制中心请求组网内的无人机信息。Optionally, the operation terminal is provided on the control terminal. After the user logs in to the operation client, the control terminal is triggered to request the control center to request the information of the drone in the network.
示例性的，控制终端向控制中心发送请求消息，该请求消息用于请求组网内的无人机的信息，包括位置、覆盖范围以及机载设备的状态信息等。控制中心接收到请求消息后，将组网内的无人机的信息发送给控制终端，由控 制终端显示无人机或机载设备的状态信息。Exemplarily, the control terminal sends a request message to the control center, where the request message is used to request information about the drone in the network, including location, coverage, and status information of the onboard device. After receiving the request message, the control center sends the information of the drone in the network to the control terminal, and the control terminal displays the status information of the drone or the onboard device.
示例性的，控制终端可以以列表的形式显示无人机的信息，或者，也可以以图形的方式显示无人机的信息，具体的，控制终端可以在操作客户端上显示地图，并显示每架无人机的状态信息以及在地图上的覆盖范围，同时显示无人机上有效的机载设备的状态信息。Exemplarily, the control terminal may display the information of the drone in the form of a list, or display the information of the drone in a graphical manner. Specifically, the control terminal may display the map on the operation client and display each The status information of the drone and the coverage on the map, as well as the status information of the effective onboard equipment on the drone.
进而，用户根据显示信息进行选择。示例性的，控制终端以图形方式显示无人机的信息，用户通过点击操作查看该无人机的信息之后，可以再通过双击、点击确认按钮等方式输入选择信息，以使控制终端获取到用户的选择信息。并根据用户的选择信息确定目标无人机。Further, the user makes a selection based on the display information. Exemplarily, the control terminal graphically displays the information of the drone. After the user views the information of the drone by clicking the operation, the user can input the selection information by double-clicking, clicking the confirmation button, etc., so that the control terminal acquires the user. Selection information. The target drone is determined based on the user's selection information.
本实施例中，控制终端可以向用户显示无人机组网中的各无人机的信息，从而使得用户可以利用无人机组网，非常便利地从控制终端得到各架无人机的信息，从而实现了用户方便地使用就近的无人机进行巡查。In this embodiment, the control terminal can display the information of each drone in the unmanned aerials network to the user, so that the user can use the unmanned aerial vehicle network to conveniently obtain the information of each drone from the control terminal, thereby The user can conveniently use the nearby drone to conduct inspections.
在上述实施例的基础上，本实施例涉及控制终端根据用户的选择信息确定目标无人机的具体方法。Based on the foregoing embodiment, the embodiment relates to a specific method for the control terminal to determine the target drone according to the user's selection information.
图4为本发明实施例提供的无人机通信方法实施例的流程示意图，如图4所示，上述步骤S303的一种具体方法为：FIG. 4 is a schematic flowchart of an embodiment of a method for communicating a drone according to an embodiment of the present invention. As shown in FIG. 4, a specific method of the foregoing step S303 is:
S401、控制终端根据上述选择信息获取用户所选择的无人机的标识。S401. The control terminal acquires an identifier of the drone selected by the user according to the selection information.
示例性的，控制终端以图形方式显示无人机的信息，用户通过点击操作查看该无人机的信息之后，可以再通过双击、点击确认按钮等方式输入选择信息。该选择信息具体即为用户所选择的图标，进而，控制终端确定该图标所对应的无人机的标识，即可获取到用户所选择的无人机的标识。Exemplarily, the control terminal graphically displays the information of the drone. After the user views the information of the drone by clicking the operation, the selection information can be input by double clicking, clicking the confirmation button, and the like. The selection information is specifically an icon selected by the user. Further, the control terminal determines the identifier of the drone corresponding to the icon, and can obtain the identifier of the drone selected by the user.
S402、控制终端向控制中心发送授权请求，授权请求中包括无人机的标识。S402. The control terminal sends an authorization request to the control center, where the authorization request includes an identifier of the drone.
当用户希望控制某架无人机时，需要获得控制中心的授权。本步骤中，当控制终端获取到用户选择的无人机的标识后，向控制中心发送授权请求，为该用户申请该无人机的控制权。该授权请求中还可以包括登录操作客户端的用户的标识。When the user wants to control a drone, he or she needs to be authorized by the control center. In this step, after the control terminal acquires the identifier of the drone selected by the user, it sends an authorization request to the control center to apply for control of the drone for the user. The authorization request may also include an identifier of a user who logs in to the operation client.
S403、控制终端在接收到控制中心的授权响应后，确定上述用户所选择的无人机为目标无人机。S403. After receiving the authorization response of the control center, the control terminal determines that the drone selected by the user is the target drone.
当控制中心接收到授权请求后，对该用户以及该用户所选择的无人机进 行确认，以确认是否允许该用户控制该无人机，若确认允许，则向控制终端发送授权响应，该授权响应用于通知控制终端可以控制用户所选择的无人机。After receiving the authorization request, the control center confirms the user and the drone selected by the user to confirm whether the user is allowed to control the drone, and if the permission is confirmed, send an authorization response to the control terminal, the authorization The response is used to notify the control terminal that the drone selected by the user can be controlled.
当控制终端接收到授权响应后，即可确定用户所选择的无人机为目标无人机。进而，控制终端即可向该目标无人机发送无人机控制指令，以控制该目标无人机的飞行及控制操作。When the control terminal receives the authorization response, it can determine that the drone selected by the user is the target drone. Furthermore, the control terminal can send a drone control command to the target drone to control the flight and control operations of the target drone.
本实施例中，当用户选择无人机之后，控制终端为用户申请该无人机的授权，从而使得用户可以快速地获得授权，提高了授权效率，提升了用户的使用体验。In this embodiment, after the user selects the drone, the control terminal applies for authorization of the drone for the user, so that the user can quickly obtain the authorization, improve the authorization efficiency, and improve the user experience.
图5为本发明实施例提供的控制终端的模块结构图，所述控制终端为无人机控制系统中的控制终端，所述无人机控制系统包括所述控制终端、至少一个无人机、无线通信网络设备以及控制中心，所述控制终端以及所述无人机中分别包括通信模块，所述控制终端和所述无人机分别与所述无线通信网络设备通信连接，所述控制中心与所述无线通信网络设备通信连接。FIG. 5 is a block diagram of a control terminal according to an embodiment of the present invention. The control terminal is a control terminal in a UAV control system, and the UAV control system includes the control terminal, at least one UAV, a wireless communication network device and a control center, wherein the control terminal and the drone respectively comprise a communication module, wherein the control terminal and the drone are respectively connected to the wireless communication network device, and the control center and the control center The wireless communication network device is in communication connection.
如图5所示，所述控制终端包括：As shown in FIG. 5, the control terminal includes:
获取模块501，用于获取无人机的信息。The obtaining module 501 is configured to acquire information of the drone.
确定模块502，用于确定所述无人机中的目标无人机。The determining module 502 is configured to determine a target drone in the drone.
处理模块503，用于通过所述控制终端中的通信模块以及所述无线通信网络设备，与所述目标无人机通信，以控制所述目标无人机。The processing module 503 is configured to communicate with the target drone through the communication module in the control terminal and the wireless communication network device to control the target drone.
该控制终端用于实现前述的方法实施例，其实现原理和技术效果类似，此处不再赘述。The control terminal is used to implement the foregoing method embodiments, and the implementation principle and technical effects are similar, and details are not described herein again.
另一实施例中，处理模块503具体用于：In another embodiment, the processing module 503 is specifically configured to:
通过所述控制终端中的通信模块向所述无线通信网络设备发送无人机控制指令，以使所述无线通信网络设备将所述无人机控制指令发送给所述目标无人机，并由所述目标无人机根据所述无人机控制指令执行飞行及控制操作。Transmitting, by the communication module in the control terminal, a drone control instruction to the wireless communication network device, so that the wireless communication network device sends the drone control command to the target drone, and The target drone performs flight and control operations in accordance with the drone control command.
图6为本发明实施例提供的控制终端的模块结构图，如图6所示，确定模块502包括：Figure 6 is a block diagram of a control terminal according to an embodiment of the present invention. As shown in Figure 6, the determining module 502 includes:
显示单元5021，用于显示所述无人机的信息，其中，所述无人机的信息包括位置、覆盖范围以及机载设备的信息。The display unit 5021 is configured to display information about the drone, wherein the information of the drone includes location, coverage, and information of the onboard device.
接收单元5022，用于接收用户根据所显示的无人机的信息所输入的选择信息。The receiving unit 5022 is configured to receive selection information input by the user according to the displayed information of the drone.
确定单元5023，用于根据所述选择信息确定所述目标无人机。The determining unit 5023 is configured to determine the target drone according to the selection information.
另一实施例中，确定单元5023具体用于：In another embodiment, the determining unit 5023 is specifically configured to:
根据所述选择信息获取所述用户所选择的无人机的标识；Obtaining an identifier of the drone selected by the user according to the selection information;
向所述控制中心发送授权请求，所述授权请求中包括所述无人机的标识；Sending an authorization request to the control center, where the authorization request includes an identifier of the drone;
在接收到所述控制中心的授权响应后，确定所述用户所选择的无人机为所述目标无人机。After receiving the authorization response of the control center, determining that the drone selected by the user is the target drone.
另一实施例中，获取模块501具体用于：In another embodiment, the obtaining module 501 is specifically configured to:
从控制中心获取无人机的信息。Obtain information about the drone from the control center.
另一实施例中，所述无线通信网络设备为5G基站。In another embodiment, the wireless communication network device is a 5G base station.
另一实施例中，所述控制终端中的通信模块以及所述无人机中的通信模块分别为无线通信模块。In another embodiment, the communication module in the control terminal and the communication module in the drone are respectively a wireless communication module.
另一实施例中，所述无线通信模块为5G通信模块。In another embodiment, the wireless communication module is a 5G communication module.
另一实施例中，所述控制终端中的通信模块为有线通信模块。In another embodiment, the communication module in the control terminal is a wired communication module.
另一实施例中，所述控制终端与所述无线通信网络设备通信连接，包括：In another embodiment, the control terminal is in communication connection with the wireless communication network device, and includes:
所述控制终端通过所述有线通信模块连接到互联网，再通过互联网与所述无线通信网络设备通信连接。The control terminal is connected to the Internet through the wired communication module, and is communicably connected to the wireless communication network device via the Internet.
另一实施例中，所述控制终端通过所述控制终端上的通信模块以及所述无线通信网络设备，与所述控制中心通信，所述无人机通过所述无人机上的通信模块以及所述无线通信网络设备与所述控制中心通信。In another embodiment, the control terminal communicates with the control center through a communication module on the control terminal and the wireless communication network device, and the drone passes through a communication module and a device on the drone. The wireless communication network device is in communication with the control center.
图7为本发明实施例提供的控制终端的实体框图，如图7所示，该控制终端包括：FIG. 7 is a physical block diagram of a control terminal according to an embodiment of the present invention. As shown in FIG. 7, the control terminal includes:
存储器701，用于存储程序指令。The memory 701 is configured to store program instructions.
处理器702，用于调用并执行存储器701中的程序指令，执行上述方法实施例中控制终端的方法步骤。The processor 702 is configured to invoke and execute the program instructions in the memory 701 to execute the method steps of controlling the terminal in the foregoing method embodiment.
本领域普通技术人员可以理解：实现上述各方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成。前述的程序可以存储于一计算机可读取存储介质中。该程序在执行时，执行包括上述各方法实施例的步骤；而前述的存储介质包括：ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。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.
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对 其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand 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 technical solutions of the embodiments of the present invention. range.

Claims (20)

  1. 一种无人机通信方法，应用于无人机控制系统中的控制终端，其特征在于，所述无人机控制系统包括所述控制终端、至少一个无人机、至少一个无线通信网络设备以及控制中心，所述控制终端以及所述无人机中分别包括通信模块，所述控制终端和所述无人机分别与所述无线通信网络设备通信连接，所述控制中心与所述无线通信网络设备通信连接；A UAV communication method for a control terminal in a UAV control system, characterized in that the UAV control system comprises the control terminal, at least one UAV, at least one wireless communication network device, and a control center, the control terminal and the drone respectively comprise a communication module, wherein the control terminal and the drone are respectively connected to the wireless communication network device, the control center and the wireless communication network Device communication connection;
    所述方法包括：The method includes:
    所述控制终端获取无人机的信息；The control terminal acquires information of the drone;
    所述控制终端确定所述无人机中的目标无人机；The control terminal determines a target drone in the drone;
    所述控制终端通过所述控制终端中的通信模块以及所述无线通信网络设备，与所述目标无人机通信，以控制所述目标无人机。The control terminal communicates with the target drone through the communication module in the control terminal and the wireless communication network device to control the target drone.
  2. 根据权利要求1所述的方法，其特征在于，所述控制终端通过所述控制终端中的通信模块以及所述无线无线通信网络设备，与所述目标无人机通信，以控制所述目标无人机，包括：The method according to claim 1, wherein said control terminal communicates with said target drone through said communication module in said control terminal and said wireless wireless communication network device to control said target Man-machine, including:
    所述控制终端通过所述控制终端中的通信模块向所述无线通信网络设备发送无人机控制指令，以使所述无线通信网络设备将所述无人机控制指令发送给所述目标无人机，并由所述目标无人机根据所述无人机控制指令执行飞行及控制操作。The control terminal sends a drone control command to the wireless communication network device through a communication module in the control terminal, so that the wireless communication network device sends the drone control command to the target unmanned And performing, by the target drone, flight and control operations in accordance with the drone control command.
  3. 根据权利要求1所述的方法，其特征在于，所述控制终端确定所述无人机中的目标无人机，包括：The method according to claim 1, wherein the controlling terminal determines the target drone in the drone, comprising:
    所述控制终端显示所述无人机的信息，其中，所述无人机的信息包括位置、覆盖范围以及机载设备的信息；The control terminal displays information of the drone, wherein the information of the drone includes location, coverage, and information of the onboard device;
    所述控制终端接收用户根据所显示的无人机的信息所输入的选择信息；The control terminal receives selection information input by the user according to the displayed information of the drone;
    所述控制终端根据所述选择信息确定所述目标无人机。The control terminal determines the target drone based on the selection information.
  4. 根据权利要求3所述的方法，其特征在于，所述控制终端根据所述选择信息确定所述目标无人机，包括：The method according to claim 3, wherein the controlling terminal determines the target drone according to the selection information, comprising:
    所述控制终端根据所述选择信息获取所述用户所选择的无人机的标识；The control terminal acquires an identifier of the drone selected by the user according to the selection information;
    所述控制终端向所述控制中心发送授权请求，所述授权请求中包括所述无人机的标识；The control terminal sends an authorization request to the control center, where the authorization request includes an identifier of the drone;
    所述控制终端在接收到所述控制中心的授权响应后，确定所述用户所选 择的无人机为所述目标无人机。After receiving the authorization response of the control center, the control terminal determines that the drone selected by the user is the target drone.
  5. 根据权利要求1-4任一项所述的方法，其特征在于，所述控制终端获取无人机的信息，包括：The method according to any one of claims 1-4, wherein the controlling terminal acquires information of the drone, including:
    所述控制终端从所述控制中心获取无人机的信息。The control terminal acquires information of the drone from the control center.
  6. 根据权利要求1-5任一项所述的方法，其特征在于，所述无线通信网络设备为5G基站。The method of any of claims 1-5, wherein the wireless communication network device is a 5G base station.
  7. 根据权利要求1-6任一项所述的方法，其特征在于，所述控制终端中的通信模块以及所述无人机中的通信模块分别为无线通信模块。The method according to any one of claims 1-6, wherein the communication module in the control terminal and the communication module in the drone are respectively a wireless communication module.
  8. 根据权利要求7所述的方法，其特征在于，所述无线通信模块为5G通信模块。The method of claim 7, wherein the wireless communication module is a 5G communication module.
  9. 根据权利要求1-6任一项所述的方法，其特征在于，所述控制终端中的通信模块为有线通信模块。The method according to any one of claims 1-6, wherein the communication module in the control terminal is a wired communication module.
  10. 根据权利要求9所述的方法，其特征在于，所述控制终端与所述无线通信网络设备通信连接，包括：The method according to claim 9, wherein the control terminal is in communication connection with the wireless communication network device, including:
    所述控制终端通过所述有线通信模块连接到互联网，再通过互联网与所述无线通信网络设备通信连接。The control terminal is connected to the Internet through the wired communication module, and is communicably connected to the wireless communication network device via the Internet.
  11. 根据权利要求1-10任一项所述的方法，其特征在于，所述控制终端通过所述控制终端上的通信模块以及所述无线通信网络设备，与所述控制中心通信，所述无人机通过所述无人机上的通信模块以及所述无线通信网络设备与所述控制中心通信。The method according to any one of claims 1 to 10, wherein the control terminal communicates with the control center through a communication module on the control terminal and the wireless communication network device, the unmanned The machine communicates with the control center via a communication module on the drone and the wireless communication network device.
  12. 一种控制终端，所述控制终端为无人机控制系统中的控制终端，其特征在于，所述无人机控制系统包括所述控制终端、至少一个无人机、无线通信网络设备以及控制中心，所述控制终端以及所述无人机中分别包括通信模块，所述控制终端和所述无人机分别与所述无线通信网络设备通信连接，所述控制中心与所述无线通信网络设备通信连接；A control terminal, wherein the control terminal is a control terminal in a UAV control system, wherein the UAV control system comprises the control terminal, at least one UAV, a wireless communication network device, and a control center. And the control terminal and the drone respectively comprise a communication module, wherein the control terminal and the drone are respectively connected to the wireless communication network device, and the control center communicates with the wireless communication network device connection;
    所述控制终端包括：The control terminal includes:
    获取模块，用于获取无人机的信息；Obtaining a module for acquiring information of the drone;
    确定模块，用于确定所述无人机中的目标无人机；Determining a module for determining a target drone in the drone;
    处理模块，用于通过所述控制终端中的通信模块以及所述无线通信网络设备，与所述目标无人机通信，以控制所述目标无人机。And a processing module, configured to communicate with the target drone through the communication module in the control terminal and the wireless communication network device to control the target drone.
  13. 根据权利要求12所述的控制终端，其特征在于，所述处理模块具体用于：The control terminal according to claim 12, wherein the processing module is specifically configured to:
    通过所述控制终端中的通信模块向所述无线通信网络设备发送无人机控制指令，以使所述无线通信网络设备将所述无人机控制指令发送给所述目标无人机，并由所述目标无人机根据所述无人机控制指令执行飞行及控制操作。Transmitting, by the communication module in the control terminal, a drone control instruction to the wireless communication network device, so that the wireless communication network device sends the drone control command to the target drone, and The target drone performs flight and control operations in accordance with the drone control command.
  14. 根据权利要求12所述的控制终端，其特征在于，所述确定模块包括：The control terminal according to claim 12, wherein the determining module comprises:
    显示单元，用于显示所述无人机的信息，其中，所述无人机的信息包括位置、覆盖范围以及机载设备的信息；a display unit, configured to display information of the drone, wherein the information of the drone includes location, coverage, and information of the onboard device;
    接收单元，用于接收用户根据所显示的无人机的信息所输入的选择信息；a receiving unit, configured to receive selection information input by the user according to the displayed information of the drone;
    确定单元，用于根据所述选择信息确定所述目标无人机。a determining unit, configured to determine the target drone based on the selection information.
  15. 根据权利要求14所述的控制终端，其特征在于，所述确定单元具体用于：The control terminal according to claim 14, wherein the determining unit is specifically configured to:
    根据所述选择信息获取所述用户所选择的无人机的标识；Obtaining an identifier of the drone selected by the user according to the selection information;
    向所述控制中心发送授权请求，所述授权请求中包括所述无人机的标识；Sending an authorization request to the control center, where the authorization request includes an identifier of the drone;
    在接收到所述控制中心的授权响应后，确定所述用户所选择的无人机为所述目标无人机。After receiving the authorization response of the control center, determining that the drone selected by the user is the target drone.
  16. 根据权利要求12-16任一项所述的控制终端，其特征在于，所述无线通信网络设备为5G基站。The control terminal according to any one of claims 12-16, wherein the wireless communication network device is a 5G base station.
  17. 根据权利要求12-16任一项所述的控制终端，其特征在于，所述控制终端中的通信模块以及所述无人机中的通信模块分别为无线通信模块；The control terminal according to any one of claims 12 to 16, wherein the communication module in the control terminal and the communication module in the drone are respectively a wireless communication module;
    所述无线通信模块为5G通信模块。The wireless communication module is a 5G communication module.
  18. 根据权利要求12-16任一项所述的控制终端，其特征在于，所述控制终端中的通信模块为有线通信模块；The control terminal according to any one of claims 12 to 16, wherein the communication module in the control terminal is a wired communication module;
    所述控制终端与所述无线通信网络设备通信连接，包括：The control terminal is in communication connection with the wireless communication network device, and includes:
    所述控制终端通过所述有线通信模块连接到互联网，再通过互联网与所述无线通信网络设备通信连接。The control terminal is connected to the Internet through the wired communication module, and is communicably connected to the wireless communication network device via the Internet.
  19. 一种控制终端，其特征在于，包括：A control terminal, comprising:
    存储器，用于存储程序指令；a memory for storing program instructions;
    处理器，用于调用并执行所述存储器中的程序指令，执行权利要求1-11任一项所述的方法步骤。A processor for invoking and executing program instructions in the memory to perform the method steps of any of claims 1-11.
  20. 一种无人机控制系统，其特征在于，所述无人机控制系统中包括权利要求12-18任一项所述的控制终端、至少一个无人机、至少一个无线通信网络设备以及控制中心，所述控制终端以及所述无人机中分别包括通信模块，所述控制终端和所述无人机分别与所述无线通信网络设备通信连接，所述控制中心与所述无线通信网络设备通信连接。A UAV control system, characterized in that the UAV control system comprises the control terminal according to any one of claims 12-18, at least one UAV, at least one wireless communication network device and a control center And the control terminal and the drone respectively comprise a communication module, wherein the control terminal and the drone are respectively connected to the wireless communication network device, and the control center communicates with the wireless communication network device connection.
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