WO2019174255A1

WO2019174255A1 - Method and apparatus for detecting unmanned aerial vehicle, remote controller, unmanned aerial vehicle system and medium

Info

Publication number: WO2019174255A1
Application number: PCT/CN2018/112878
Authority: WO
Inventors: 万苏清
Original assignee: 深圳市道通智能航空技术有限公司
Priority date: 2018-03-15
Filing date: 2018-10-31
Publication date: 2019-09-19
Also published as: CN108346274A

Abstract

A method and an apparatus (40) for detecting an unmanned aerial vehicle (62), a remote controller (61), an unmanned aerial vehicle system (60) and a medium, the method for detecting an unmanned aerial vehicle (62) comprising: receiving pairing frequency signals sent by N unmanned aerial vehicles (62) (S201); selecting a first pairing frequency signal from the N pairing frequency signals and acquiring an identifier of a first unmanned aerial vehicle (62) sending the first pairing frequency signal (S202); determining whether the identifier of the first unmanned aerial vehicle (62) matches a preset identifier (S203); and, if the identifier of the first unmanned aerial vehicle (62) matches the preset identifier, then establishing a paired frequency connection with the first unmanned aerial vehicle (62) (S204). Thus, the likelihood of the remote controller (61) establishing a paired frequency connection with a corresponding unmanned aerial vehicle (62) is increased, thereby improving the operational reliability of the remote controller (61).

Description

Method, device, remote controller, drone system and medium for detecting drone

The application claims the priority of the Chinese patent application filed on March 15, 2018, with the application number 201810214826.6, and the application name is "Method, device, remote control, UAV system and medium for detecting drones". The content is incorporated herein by reference.

Technical field

The present application relates to the field of drone technology, and in particular, to a method, a device, a remote controller, a drone system and a medium for detecting a drone.

Background technique

At present, drones have been widely used in pesticide spreading, aerial aerial survey, aerial surveillance, transmission line inspection and military. Usually the user controls the drone through the remote control. Before controlling the drone, the drone needs to be connected to the remote controller.

Currently, in the process of connecting the above-mentioned remote controller to the above-mentioned drone, if there are other drones to be connected in the range of the connection, the remote controller may receive the frequency of the other drones. The signal, and thus the remote controller may not be connected to its corresponding drone, but to the other drones, in this case, the user may pass the remote to other drones. Misuse of the user experience and the safety of the drone.

Summary of the invention

The embodiment of the present application provides a method, a device, a remote controller, a drone system and a medium for detecting a drone, thereby improving the operational reliability of the remote controller.

In a first aspect, the embodiment of the present application provides a method for detecting a drone, comprising: receiving a counter frequency signal sent by N drones, where N is a positive integer greater than 1; and selecting from the N pairs of frequency signals Deriving a first pair of frequency signals, and obtaining an identifier of the first drone that sends the first pair of frequency signals; determining whether the identifier of the first drone matches the preset identifier; if the identifier and preset of the first drone If the identification matches, the first drone is connected to the frequency.

In the case where the remote controller receives the frequency signal transmitted by the plurality of drones, the probability of the remote controller and the corresponding drone being connected to the frequency can be improved by the method, thereby improving the operational reliability of the remote controller.

Optionally, the selecting the first pair of frequency signals from the N pairs of frequency signals comprises: selecting a first pair of frequency signals from the N pairs of frequency signals according to signal strengths of the N pairs of frequency signals.

Optionally, the first pair of frequency signals are selected from the N pairs of frequency signals according to signal strengths of the N pairs of frequency signals, including: selecting the strongest signal strength among the N pairs of frequency signals The frequency signal is used as the first pair of frequency signals.

Optionally, the selecting the first pair of frequency signals from the N pairs of frequency signals comprises: selecting the first pair of frequency signals from the N pairs of frequency signals according to the receiving time of the N pairs of frequency signals.

Optionally, the selecting the first pair of frequency signals from the N pairs of frequency signals comprises: randomly selecting a pair of frequency signals from the N pairs of frequency signals as the first pair of frequency signals.

The first pair of frequency signals can be effectively determined by the above three alternative methods.

Optionally, the method further includes: if the identifier of the first drone does not match the preset identifier, selecting a second pair of frequency signals from the N pairs of frequency signals, the first pair of frequency signals and the second pair The frequency signal is different; obtaining the identifier of the second drone that transmits the second pair of frequency signals, and determining whether the identifier of the second drone matches the preset identifier. Thereby, the probability of the remote control and the corresponding drone being connected to the frequency is further improved, thereby improving the operational reliability of the remote controller.

Optionally, if the identifier of the first drone does not match the preset identifier, the prompt information is pushed to prompt the user that the drone connected to the remote controller is not detected. Thereby improving the reliability of the remote controller.

Optionally, the method further includes: receiving an update instruction of the preset identifier by the terminal; updating the preset identifier to a new identifier according to the update instruction; determining whether the identifier of the first drone matches the preset identifier, including: determining Whether the ID of a drone matches the new one.

The device for detecting the drone, the remote controller, the drone system and the storage medium will be provided below. The technical effects of the above method can be referred to for the corresponding technical effects, and will not be described below.

In a third aspect, the present application provides an apparatus for detecting a drone, including:

a receiving module, configured to receive a counter frequency signal sent by the N drones, where N is a positive integer greater than one;

a selecting module, configured to select a first pair of frequency signals from the N pairs of frequency signals;

An acquiring module, configured to acquire an identifier of the first drone that sends the first pair of frequency signals;

a judging module, configured to determine whether the identifier of the first drone matches the preset identifier;

The frequency connection module is configured to perform a frequency connection with the first non-human machine if the identifier of the first drone matches the preset identifier.

Optionally, the selecting module is specifically configured to select the first pair of frequency signals from the N pairs of frequency signals according to the signal strengths of the N pairs of frequency signals.

Optionally, the selecting module is specifically configured to select a cross-frequency signal with the strongest signal strength among the N pairs of frequency signals as the first pair of frequency signals.

Optionally, the selecting module is specifically configured to select the first pair of frequency signals from the N pairs of frequency signals according to the receiving time of the N pairs of frequency signals.

Optionally, the selecting module is specifically configured to randomly select one of the N pairs of frequency signals as the first pair of frequency signals.

Optionally, the selecting module is further configured to: if the identifier of the first drone does not match the preset identifier, select a second pair of frequency signals from the N pairs of frequency signals, the first pair of frequency signals and the second The obtaining module is further configured to obtain an identifier of the second drone that transmits the second pair of frequency signals; the determining module is further configured to determine whether the identifier of the second drone matches the preset identifier.

Optionally, the device further includes a pushing module, configured to: if the identifier of the first drone does not match the preset identifier, push the prompt information to prompt the user that the drone connected to the remote controller is not detected.

Optionally, the device further includes an update module.

The receiving module is further configured to receive an update instruction of the preset identifier by the terminal; the update module is configured to update the preset identifier to a new identifier according to the update instruction; and the corresponding determining module is specifically configured to determine whether the identifier of the first drone is new The identity matches.

In a third aspect, the application provides a remote controller, including: a processor and a memory.

The memory is for storing executable instructions of the processor, the processor being operative to invoke the instructions to implement the method of any of the first aspect and the first aspect.

In a fourth aspect, the application provides a drone system, including:

a remote control and at least one drone;

Wherein the at least one drone is used for a frequency connection with the remote controller; in the process of the frequency connection, the remote controller is used to implement the method of any of the first aspect and the first aspect.

In a fifth aspect, the present application provides a storage medium comprising: instructions for execution by a processor to implement the method of any of the first aspect and the first aspect.

The present application provides a method, a device, a remote controller, a drone system and a medium for detecting a drone. In view of the fact that the remote controller receives a counter frequency signal transmitted by a plurality of drones, the present application passes the method. The probability of the remote control being connected to the corresponding drone can be increased, thereby improving the operational reliability of the remote controller.

DRAWINGS

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

FIG. 1 is an application scenario diagram of a technical solution of the present application provided by an embodiment of the present application;

2 is a flowchart of a method for detecting a drone according to an embodiment of the present application;

3 is a flowchart of a method for detecting a drone according to another embodiment of the present application;

FIG. 4 is a schematic structural diagram of an apparatus 40 for detecting a drone according to an embodiment of the present application;

FIG. 5 is a schematic structural diagram of a remote controller 50 according to an embodiment of the present application;

FIG. 6 is a schematic structural diagram of a UAV system 60 according to an embodiment of the present application.

detailed description

The technical solutions in the embodiments of the present application are described in conjunction with the accompanying drawings in the embodiments of the present application. It is obvious that the described embodiments are a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without departing from the inventive scope are the scope of the present application.

The terms "first", "second", and the like (if any) in the specification and claims of the present application and the above figures are used to distinguish similar objects, and are not necessarily used to describe a particular order or order. It is to be understood that the data so used may be interchanged as appropriate, such that the embodiments of the present application described herein can be implemented, for example, in a sequence other than those illustrated or described herein. In addition, the terms "comprises" and "comprises" and "the" and "the" are intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or device that comprises a series of steps or units is not necessarily limited to Those steps or units may include other steps or units not explicitly listed or inherent to such processes, methods, products or devices.

The embodiment of the present application provides a method, a device, a remote controller, a drone system and a medium for detecting a drone.

Specifically, FIG. 1 is a schematic diagram of an application scenario of a technical solution of the present application provided by an embodiment of the present application. As shown in Figure 1, there are multiple sets of remote controls and unmanned aerial vehicles (UAVs) in one space. Among them, a remote controller corresponds to a drone, that is, the remote controller is used to control its corresponding drone. The correspondence between the remote controller and the drone may be pre-configured or configured by the user, which is not limited herein. As shown in FIG. 1, the remote controller 11 corresponds to the drone 12, and the remote controller 13 corresponds to the drone 14.

Among them, in the initial startup phase, the remote controller should be connected to its corresponding drone to achieve frequency communication, thereby achieving communication.

If the remote controller 11 is connected to the drone 12 in the frequency range, the remote controller 13 is also connected to the unmanned aerial vehicle 14 corresponding thereto. In this case, the remote controller 11 may receive the counter frequency signal transmitted by the drone 12 and the drone 14, and the remote controller 13 may also receive the pair sent by the drone 12 and the drone 14. Frequency signal.

In the current implementation, there is a case where the remote control 11 and the drone 14 are successfully connected to each other. The user intends to control the drone 12 through the remote controller 11. In this case, the remote controller is used to control the drone 14, Violating the user's willingness to control, the user may mishandle the drone 14 when controlling the remote controller 11, increasing the operational risk to the drone 14, and reducing the reliability of the remote controller operation.

Based on the above application scenarios and current technical problems, how to increase the probability of successful connection of the remote control 11 and the drone 12 has become an active research subject in the field.

Therefore, in this application scenario, the embodiment of the present application provides a method for detecting a drone. Specifically, FIG. 2 is a flowchart of a method for detecting a drone according to an embodiment of the present application, where the method is performed by a remote controller. The method for detecting a drone includes the following steps:

Step S201: Receive a counter frequency signal sent by N drones, where N is a positive integer greater than 1.

Wherein, the remote controller is in the same channel mode as each of the N drones, and adopts the same communication protocol. The channel mode may be a 900 MHz (Mega Hertz, MHz) channel mode or a 2.4 GHz (Giga Hertz, GHz) channel mode or a 5.8 GHz (Giga Hertz, GHz) channel mode, which is not addressed in this application. limit.

Specifically, when the drone detects the start operation of the pair of frequency keys configured by the user, for example, the start operation is a long press operation, the drone can transmit the cross frequency signal in the form of a broadcast. The remote controller starts receiving the frequency signal on the channel when it detects the start operation of the pair of frequency keys (such as the combination key on the remote controller) configured by the user. If the N drones transmit the cross-talk signal within the space in which the remote controller is located, and the communication protocols of the N drones and the remote controller and the used channel are the same, the remote controller can receive multiple pairs of frequency signals. . The implementation of the pair of frequency signals may be an existing frequency-to-frequency signal. The form and content of the embodiment of the present application are not limited.

Step S202: Select a first pair of frequency signals from the N pairs of frequency signals, and obtain an identifier of the first drone that transmits the first pair of frequency signals.

Alternatively, the first pair of frequency signals may be selected by any of the following methods.

Optional one: Select the frequency signal according to the signal strength. That is, according to the signal strength of the N pairs of frequency signals, the first pair of frequency signals are selected from the N pairs of frequency signals.

Specifically, when receiving the frequency signal, the remote controller detects the signal strength of the frequency signal. Currently, various factors affect the signal strength of the frequency signal, for example, the distance between the remote controller and the corresponding drone. The performance of the communication device configured by the remote controller and the drone, and the transmission power of the frequency signal sent by the drone. Combining one or more of the above factors, determining a signal strength of a frequency signal that is most likely to be transmitted by a drone corresponding to the remote controller, and selecting a signal strength from the N pairs of frequency signals and the The determined frequency signal having the smallest difference in signal strength is used as the first pair of frequency signals.

Alternatively, the remote controller may store a signal strength interval of the frequency signal sent by the corresponding drone, and the signal strength interval may be determined by the remote controller according to the historical frequency record, or is pre-configured. Limited. Further, a counter frequency signal whose signal strength falls within the signal intensity interval is selected from the N pairs of frequency signals as the first pair of frequency signals. If a plurality of signal strengths fall within the signal strength interval, the optimal value in the signal strength interval may be further determined, the difference between the plurality of signal strengths and the optimal value is determined, and the least frequency difference signal is selected as the difference frequency signal. The first pair of frequency signals.

Alternatively, the frequency signal with the strongest signal strength can be selected as the first pair of frequency signals. For example, if the statistical frequency-to-frequency connection record in the statistical pair-frequency connection record is the strongest signal strength of the frequency-transmitted signal transmitted by the unmanned aerial vehicle corresponding to the remote controller, the frequency-matched signal with the strongest signal strength is selected as the first pair of frequency signals.

Option 2: According to the receiving time of the N pairs of frequency signals, the first pair of frequency signals are selected from the N pairs of frequency signals. Specifically, usually, the distance between the remote controller and its own drone is the closest. Correspondingly, the receiving time of the counter frequency signal of the remote controller should be earlier than the receiving time of the counter frequency signal of other drones. In this case, the first frequency signal with the earliest reception time can be selected from the reception time of the N frequency signals as the first frequency signal. Alternatively, the remote controller may select a counter frequency signal whose reception time is closest to the reference reception time from the N pair of frequency signals based on the stored reference reception time. The reference receiving time may be calculated according to the receiving time of the historical frequency signal, or is pre-configured, and is not limited herein.

In the third method, a pair of frequency signals are randomly selected from the N pairs of frequency signals as the first pair of frequency signals. For example, a pair of frequency signals may be randomly selected without the remote controller knowing the signal strength or reception time of the frequency signal.

Further, the above three alternative manners may be combined arbitrarily.

For example, in combination with the optional mode 1 and the optional mode 2: first, according to the receiving time of the N pairs of frequency signals, M pairs of frequency signals are selected from the N pairs of frequency signals, M is a positive integer greater than 1, and M is smaller than N; Secondly, according to the signal strength of the M pairs of frequency signals, the first pair of frequency signals are selected from the M pairs of frequency signals. Or, first, according to the signal strength of the N pairs of frequency signals, P pairs of frequency signals are selected from the N pairs of frequency signals, P is a positive integer greater than 1, and P is less than N; secondly, according to P pairs of frequency signals Receiving time, the first pair of frequency signals are selected from the P pairs of frequency signals.

Combining the optional mode 1 and the optional mode 3: First, Q pairs of frequency signals are randomly selected from N pairs of frequency signals, Q is a positive integer greater than 1, and Q is less than N; secondly, according to Q pairs of frequency signals Signal strength, the first pair of frequency signals are selected from the Q pairs of frequency signals. Alternatively, one or more pairs of frequency signals are first selected according to the signal strength of the frequency signal, and then one of the one or more frequency signals is randomly selected as the first pair of frequency signals.

Combining the optional mode 2 and the optional mode 3: First, R pairs of frequency signals are randomly selected from the N pairs of frequency signals, R is a positive integer greater than 1, and R is less than N; secondly, according to R pairs of frequency signals Receiving time, selecting the first pair of frequency signals from the R pairs of frequency signals. Alternatively, one or more pairs of frequency signals are first selected according to the receiving time of the frequency signal, and then one of the one or more frequency signals is randomly selected as the first pair of frequency signals.

Further, obtaining the identifier of the first drone that sends the first pair of frequency signals can be implemented by the following optional methods:

Optional one: the remote controller sends a request message to the first drone to request acquisition of the identifier of the first drone, and the first drone sends a response message to the remote controller, the response message including the first drone Logo. Specifically, the remote controller may send a request message to the first drone through a communication protocol between the remote controller and the first drone, such as an image transmission protocol, etc., optionally, a response message fed back by the first drone It may be version information of the first drone, and the version information includes an identifier of the first drone. Optionally, the version information may further include: a model of the first drone, a manufacturer information, and the like, which is not limited by the embodiment of the present application.

Option 2: The drone can send a message carrying the logo of the drone in a broadcast manner. For example, the UAV may carry the UAV logo when transmitting the counter frequency signal, or carry the UAV logo in the message sent after the counter frequency signal is sent, which is not limited herein.

Step S203: determining whether the identifier of the first drone matches the preset identifier;

Step S204: If the identifier of the first drone matches the preset identifier, perform a frequency connection with the first drone.

The description is made in conjunction with step S203 and step S204:

In step S203, the preset identifier refers to the identifier of the drone corresponding to the remote controller stored therein, wherein the preset identifier may be stored in a local memory configured by the remote controller, or the cloud storage space is medium, The application examples do not limit them. If the preset identifier is stored in the cloud server, the remote controller may obtain the preset identifier from the cloud server after obtaining the identifier of the first drone or before performing the frequency connection.

Further, the remote controller may receive an update instruction of the preset identifier by the terminal; update the preset identifier to a new identifier according to the update instruction; based on this, step S203 includes: determining whether the identifier of the first drone matches the new identifier . Specifically, when the preset identifier is stored in the local storage of the remote controller, the user may connect the terminal to the remote controller, and update the preset identifier in the local memory through an application (Application, APP) on the terminal. When the preset identifier is stored in the cloud storage space of the remote controller, the user may connect the terminal to the cloud, and update the preset identifier in the cloud storage space by using the APP on the terminal. The terminal may be a smart terminal or a user terminal such as a mobile phone, a tablet computer, or a computer. This application does not limit this.

After the remote controller obtains the identifier of the first drone, the identifier of the first drone is matched with the preset identifier, if the identifier of the first drone is the same as the preset identifier or the identifier of the drone is pre- Setting a part of the identifier indicates that the identifier of the first drone matches the preset identifier, that is, the first drone corresponds to the remote controller. If the identifier of the first drone is different from the preset identifier, it indicates that the identifier of the first drone does not match the preset identifier, that is, the first drone does not correspond to the remote controller.

Exemplarily, after determining that the identifier of the first drone matches the preset identifier, determining that the first drone corresponds to the remote controller, the remote controller may perform a frequency connection with the corresponding drone. The frequency connection means that the remote controller and the drone are communicatively connected based on the frequency signal, thereby realizing communication.

Optionally, if the identifier of the first drone matches the preset identifier, the remote controller may output a prompt message of successful frequency matching to prompt the user to detect the drone connected to the remote controller. The prompt information may be voice information, such as prompting the user that “the drone connected to the remote controller has been detected”. Alternatively, the prompt information may be text information, such as displaying “the drone that has been detected to be connected to the remote controller” on the display screen of the remote controller, and for example, the remote controller outputs the text information to the display screen of the terminal. Display. Alternatively, the prompt information may be signal light information, such as when a certain color of light is blinked, indicating that a drone that has successfully matched the remote controller is detected, or when a certain signal light flashes a certain number of times, indicating that the light has been detected The remote control is connected to the drone.

Optionally, if the identifier of the first drone does not match the preset identifier, no prompt information is output, or the prompt information of the frequency failure is output, so as to prompt the user that the unconnected with the remote controller is not detected. machine. The prompt information may be voice information, such as prompting the user that “the drone connected to the remote controller is not detected”. Alternatively, the prompt information may be text information, such as “the unmanned aerial vehicle connected to the remote controller is not detected” on the display screen of the remote controller, and the remote controller outputs the text information to the display screen of the terminal. Display. Alternatively, the prompt information may be signal light information, such as when a certain color of light is blinking, indicating that the drone that successfully matches the remote controller is not detected, or when a certain signal light flashes a certain number of times, indicating that the light is not detected. The remote control is connected to the drone.

In the embodiment of the present application, in the case that the remote controller receives the frequency signal sent by the plurality of drones, the remote controller selects the first pair of frequency signals from the N pairs of frequency signals, and acquires and transmits the first pair of frequency signals. The identifier of the first drone of the signal; determining whether the identifier of the first drone matches the preset identifier; if the identifier of the first drone matches the preset identifier, performing a frequency connection with the first drone . Therefore, the probability of the remote controller and the corresponding drone being connected to the frequency can be improved, thereby improving the operational reliability of the remote controller.

FIG. 3 is a flowchart of a method for detecting a drone according to another embodiment of the present application, where the method is performed by a remote controller. The method for detecting a drone includes the following steps:

Step S301: Receive a counter frequency signal sent by N drones, where N is a positive integer greater than 1.

Step S302: Select a first pair of frequency signals from the N pairs of frequency signals, and obtain an identifier of the first drone that transmits the first pair of frequency signals.

Step S303: determining whether the identifier of the first drone matches the preset identifier;

Step S304: If the identifier of the first drone matches the preset identifier, the first drone is connected to the frequency.

The steps S301 to S304 are the same as the steps S201 to S204. For details, refer to the content of the steps S201 to S204, and details are not described herein again.

Step S305: If the identifier of the first drone does not match the preset identifier, the second pair of frequency signals are selected from the N pairs of frequency signals, and the first pair of frequency signals are different from the second pair of frequency signals.

Step S306: Acquire an identifier of the second drone that sends the second pair of frequency signals, and determine whether the identifier of the second drone matches the preset identifier.

Step S307, if it matches, perform a frequency connection with the second drone.

Option 1: As described above, when the remote controller receives the frequency signal, it will detect the signal strength of the frequency signal. Currently, various factors affect the signal strength of the frequency signal, for example, the remote controller and the corresponding The distance between the man and the machine, the performance of the communication device configured by the remote controller and the drone, and the transmission power of the frequency signal sent by the drone. Combining one or more of the above factors to determine a signal strength of a frequency signal that is most likely to be transmitted by a drone corresponding to the remote controller, may select a signal strength from the N pairs of frequency signals. The frequency signal having the second smallest difference from the determined signal strength is used as the first pair of frequency signals.

Alternatively, the remote controller may store a signal strength interval of the frequency signal sent by the corresponding drone, and the signal strength interval may be determined by the remote controller according to the historical frequency record, or is pre-configured. Limited. The signal intensity interval used when the first pair of frequency signals is selected is referred to as a first signal strength interval, which can be amplified to obtain a second signal intensity interval. If a plurality of signal strengths fall within the second signal strength interval, the optimal value in the signal strength interval may be further determined, and the difference between the plurality of signal strengths and the optimal value is determined, and the difference is selected The frequency signal is used as the second pair of frequency signals.

Alternatively, the second-frequency signal with the second strongest signal strength may be selected.

Option 2: According to the receiving time of the N pairs of frequency signals, the second pair of frequency signals are selected from the N pairs of frequency signals. The remote controller may select, as the second pair of frequency signals, the frequency-of-frequency signal that receives the earlier time from the reception time of the N pairs of frequency signals. Alternatively, the remote controller may select a counter frequency signal whose reception time is close to the reference reception time from the N pair of frequency signals based on the stored reference reception time. The reference receiving time may be calculated according to the receiving time of the historical frequency signal, or is pre-configured, and is not limited herein.

In the third method, a pair of frequency signals are randomly selected from the N-1 frequency signals (the frequency signals other than the first frequency signal among the N frequency signals) as the second frequency signal. For example, a pair of frequency signals may be randomly selected without the remote controller knowing the signal strength or reception time of the frequency signal.

Optionally, the method further includes: if the identifier of the second drone does not match the preset identifier, the remote controller sends the prompt information of the frequency failure, the content of which is the same as the content of the foregoing embodiment, and the application does not Let me repeat.

It should be noted that the identifier of the first drone, the identifier of the second drone, and the preset identifier may all be a Serial Number (SN). Of course, the identifier of the first drone, the identifier of the second drone, and the preset identifier are not limited to the SN.

In the embodiment of the present application, if the identifier of the first drone does not match the preset identifier, the second pair of frequency signals are selected from the N pairs of frequency signals, and the first pair of frequency signals are different from the second pair of frequency signals; Obtaining an identifier of the second drone that sends the second pair of frequency signals, and determining whether the identifier of the second drone matches the preset identifier. Thereby, the probability of the remote control and the corresponding drone being connected to the frequency is further improved, thereby improving the operational reliability of the remote controller.

FIG. 4 is a schematic structural diagram of a device 40 for detecting a drone according to an embodiment of the present invention. Specifically, as shown in FIG. 4, the device 40 for detecting a drone includes: a receiving module 41, a selecting module 42, The acquisition module 43, the determination module 44, and the frequency connection module 45 are obtained.

The receiving module 41 is configured to receive a frequency signal sent by the N drones, where N is a positive integer greater than 1.

The selecting module 42 is configured to select the first pair of frequency signals from the N pairs of frequency signals.

The obtaining module 43 is configured to acquire an identifier of the first drone that transmits the first pair of frequency signals.

The determining module 44 is configured to determine whether the identifier of the first drone matches the preset identifier.

The frequency connection module 45 is configured to perform a frequency connection with the first drone if the identifier of the first drone matches the preset identifier.

Optionally, the selecting module 42 is specifically configured to select the first pair of frequency signals from the N pairs of frequency signals according to the signal strengths of the N pairs of frequency signals.

Optionally, the selecting module 42 is specifically configured to select a cross-frequency signal with the strongest signal strength among the N pairs of frequency signals as the first pair of frequency signals.

Optionally, the selecting module 42 is specifically configured to select the first pair of frequency signals from the N pairs of frequency signals according to the receiving time of the N pairs of frequency signals.

Optionally, the selecting module 42 is specifically configured to randomly select a pair of frequency signals from the N pairs of frequency signals as the first pair of frequency signals.

Optionally, the selecting module 42 is further configured to: if the identifier of the first drone does not match the preset identifier, select a second pair of frequency signals from the N pairs of frequency signals, the first pair of frequency signals and the second pair The frequency module is different; the obtaining module 43 is further configured to obtain an identifier of the second drone that sends the second pair of frequency signals; the determining module 44 is further configured to determine whether the identifier of the second drone is different from the preset Identification match.

Optionally, the device further includes a pushing module 46, configured to: if the identifier of the first drone does not match the preset identifier, push the prompt information to prompt the user that the drone connected to the remote controller is not detected.

Optionally, the device further includes an update module 47. The receiving module 41 is further configured to receive an update instruction of the preset identifier by the terminal; the update module 47 is configured to update the preset identifier to a new identifier according to the update instruction; and correspondingly, the determining module 44 is specifically configured to determine the first unmanned Whether the machine's identity matches the new one. The present application provides a device for detecting a drone, and the device can perform any of the above methods for detecting a drone, and the contents and effects thereof are not described herein again.

It should be noted that the above functional modules may be implemented by one or a combination of software, firmware or hardware in the remote controller.

FIG. 5 is a schematic structural diagram of a remote controller 50 according to an embodiment of the present invention. As shown in FIG. 5, the remote controller 50 includes a processor 51 and a memory 52.

The memory 52 is configured to store executable instructions of the processor 51 for causing the processor 51 to invoke the instructions to implement the method for detecting the drone described above, the content and effects of which are not described herein.

The processor 51 can be configured by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic Device (Programmable Logic Device, PLD), Field-Programmable Gate Array (FPGA), controller, microcontroller, microprocessor or other electronic components.

Memory 52 can be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as Static Random Access Memory (SRAM), electrically erasable programmable read only memory (Electrically Erasable) Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-only Memory (PROM), Read-Only Memory (Read-Only) Memory, ROM), magnetic memory, flash memory, disk or optical disk.

Referring to FIG. 5, the remote controller 50 may further include one or more of the following components: a power supply assembly 53, an input and output device 54, and a communication assembly 55.

The power supply assembly 53 provides power to various components of the remote control 50. Power component 53 can include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for remote control 50.

The input/output device 54 is configured to receive an opening operation of the user for the frequency connection; and the output device is configured to output the prompt information. The input device may include a physical button or a touch screen, etc., and the output device may include a display screen, an indicator light, a speaker, and the like.

Communication component 55 is configured to facilitate wired or wireless communication between remote control 50 and other devices. The remote controller 50 can access a wireless network based on a communication standard, such as Wireless-Fidelity (WiFi) technology, a third generation (3 Generation) mobile communication system, and a fourth generation (4 Generation, 4G) mobile communication. System or fifth generation (5 Generation) mobile communication system, or a combination thereof. In an exemplary embodiment, communication component 55 broadcasts relevant information via a broadcast channel or receives a counter frequency signal of the drone using a pre-configured or universal receive channel. In an exemplary embodiment, the communication component 55 may also include a near field communication (NFC) module to facilitate short range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, there is also provided a non-transitory computer readable storage medium comprising instructions, such as a memory 52 comprising instructions executable by processor 51 of remote control 50 to perform the above method. For example, the non-transitory computer readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device.

A non-transitory computer readable storage medium, when the instructions in the storage medium are executed by a processor of the remote controller 50, enables the remote controller 50 to perform a method of detecting a drone.

It should be noted that the above components, the memory, and the processor may be coupled through a bus or communicated through other connections, which is not limited herein. FIG. 6 is a schematic structural diagram of a UAV system 60 according to an embodiment of the present invention. As shown in FIG. 6, the UAV system includes a remote controller 61 and at least one UAV 62. At least one of the drones 62 is used for the frequency connection with the remote controller 61. In the process of the frequency connection, the remote controller 61 is used to implement the above method for detecting the drone, and the content and effect thereof are no longer used here. Narration.

The application provides a computer program product comprising instructions for implementing the method of detecting a drone as described above. The contents and effects thereof 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 medium. When the program is executed, the steps including the foregoing method embodiments are performed; and the foregoing medium includes: a medium that can store program codes, such as a ROM, a RAM, a magnetic disk, or an optical disk.

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

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

Receiving a counter frequency signal sent by N drones, where N is a positive integer greater than one;

Selecting a first pair of frequency signals from the N pairs of frequency signals, and acquiring an identifier of the first drone that transmits the first pair of frequency signals;

Determining whether the identifier of the first drone matches the preset identifier;

And if the identifier of the first drone matches the preset identifier, performing a frequency connection with the first drone.
The method according to claim 1, wherein the selecting the first pair of frequency signals from the N pairs of frequency signals comprises:

And selecting, according to signal strengths of the N pairs of frequency signals, a first pair of frequency signals from the N pairs of frequency signals.
The method according to claim 2, wherein the selecting the first pair of frequency signals from the N pairs of frequency signals according to the signal strengths of the N pairs of frequency signals comprises:

The frequency signal with the strongest signal strength among the N pairs of frequency signals is selected as the first pair of frequency signals.
The method according to claim 1, wherein the selecting the first pair of frequency signals from the N pairs of frequency signals comprises:

And selecting, according to the receiving time of the N pairs of frequency signals, a first pair of frequency signals from the N pairs of frequency signals.
The method according to claim 1, wherein the selecting the first pair of frequency signals from the N pairs of frequency signals comprises:

A pair of frequency signals are randomly selected from the N pairs of frequency signals as the first pair of frequency signals.
The method of any of claims 1-5, further comprising:

And if the identifier of the first drone does not match the preset identifier, selecting a second pair of frequency signals from the N pairs of frequency signals, the first pair of frequency signals and the second pair Different frequency signals;

Obtaining an identifier of the second drone that sends the second pair of frequency signals, and determining whether the identifier of the second drone matches the preset identifier.
The method of any of claims 1-6, further comprising:

If the identifier of the first drone does not match the preset identifier, the prompt information is pushed to prompt the user that the drone connected to the remote controller is not detected.
The method of any of claims 1-7, further comprising:

Receiving an update instruction of the preset identifier by the terminal;

Updating the preset identifier to a new identifier according to the update instruction;

Determining whether the identifier of the first drone matches the preset identifier, including:

Determining whether the identifier of the first drone matches the new identifier.
A device for detecting a drone, characterized in that it comprises:

a receiving module, configured to receive a counter frequency signal sent by the N drones, where N is a positive integer greater than one;

a selecting module, configured to select a first pair of frequency signals from the N pairs of frequency signals;

An acquiring module, configured to acquire an identifier of the first drone that sends the first pair of frequency signals;

a determining module, configured to determine whether the identifier of the first drone matches the preset identifier;

The frequency connection module is configured to perform a frequency connection with the first drone if the identifier of the first drone matches the preset identifier.
The device according to claim 9, wherein the selection module is specifically configured to:

And selecting, according to signal strengths of the N pairs of frequency signals, a first pair of frequency signals from the N pairs of frequency signals.
The device according to claim 10, wherein the selection module is specifically configured to:

The frequency signal with the strongest signal strength among the N pairs of frequency signals is selected as the first pair of frequency signals.
The device according to claim 9, wherein the selection module is specifically configured to:

And selecting, according to the receiving time of the N pairs of frequency signals, a first pair of frequency signals from the N pairs of frequency signals.
The device according to claim 9, wherein the selection module is specifically configured to:

A pair of frequency signals are randomly selected from the N pairs of frequency signals as the first pair of frequency signals.
A device according to any one of claims 9-13, wherein

The selecting module is further configured to: if the identifier of the first drone does not match the preset identifier, select a second pair of frequency signals from the N pairs of frequency signals, the first pair The frequency signal is different from the second pair of frequency signals;

The acquiring module is further configured to acquire an identifier of the second drone that sends the second pair of frequency signals;

The determining module is further configured to determine whether the identifier of the second drone matches the preset identifier.
The device according to any one of claims 9 to 14, further comprising:

The pushing module is configured to: if the identifier of the first drone does not match the preset identifier, push the prompt information to prompt the user that the drone connected to the remote controller is not detected.
The device according to any one of claims 9-15, further comprising: an update module;

The receiving module is further configured to receive an update instruction of the preset identifier by the terminal;

The update module is configured to update the preset identifier to a new identifier according to the update instruction;

Correspondingly, the determining module is specifically configured to:

Determining whether the identifier of the first drone matches the new identifier.
A remote controller, comprising: a processor and a memory;

The memory is configured to store instructions executable by the processor;

The processor is operative to invoke the instructions to implement the method of any of claims 1-8.
An unmanned aerial vehicle system, comprising:

a remote control and at least one drone;

Wherein the at least one drone is used for a frequency connection with the remote controller;

The remote control is used to implement the method of any of claims 1-8 during a frequency-to-frequency connection.
A storage medium, comprising: instructions for being executed by a processor to implement the method of any of claims 1-8.