WO2019200552A1 - Procédé de commande, dispositif, aéronef, système et support d'informations - Google Patents

Procédé de commande, dispositif, aéronef, système et support d'informations Download PDF

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Publication number
WO2019200552A1
WO2019200552A1 PCT/CN2018/083472 CN2018083472W WO2019200552A1 WO 2019200552 A1 WO2019200552 A1 WO 2019200552A1 CN 2018083472 W CN2018083472 W CN 2018083472W WO 2019200552 A1 WO2019200552 A1 WO 2019200552A1
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WO
WIPO (PCT)
Prior art keywords
information
aircraft
supervisory control
control information
supervisory
Prior art date
Application number
PCT/CN2018/083472
Other languages
English (en)
Chinese (zh)
Inventor
饶雄斌
赵沧波
龚明
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2018/083472 priority Critical patent/WO2019200552A1/fr
Priority to CN201880010736.3A priority patent/CN110291571A/zh
Publication of WO2019200552A1 publication Critical patent/WO2019200552A1/fr

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0073—Surveillance aids
    • G08G5/0082—Surveillance aids for monitoring traffic from a ground station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0095—Aspects of air-traffic control not provided for in the other subgroups of this main group
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/06—Traffic control systems for aircraft, e.g. air-traffic control [ATC] for control when on the ground
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/06—Traffic control systems for aircraft, e.g. air-traffic control [ATC] for control when on the ground
    • G08G5/065—Navigation or guidance aids, e.g. for taxiing or rolling

Definitions

  • the present invention relates to the field of control technologies, and in particular, to a control method, device, aircraft, system, and storage medium.
  • Embodiments of the present invention provide a control method, device, aircraft, system, and storage medium, which can more effectively supervise and control an aircraft.
  • an embodiment of the present invention provides a control method, which is applied to a monitoring device, and includes:
  • the supervisory control information is sent after receiving the flight characteristic information, wherein the supervisory control information includes a supervisory control command, and the supervisory control information is used to instruct the aircraft to perform a supervisory operation indicated by the supervisory control instruction.
  • an embodiment of the present invention provides another control method, which is applied to an aircraft, including:
  • the supervisory operation indicated by the supervisory control command is executed.
  • an embodiment of the present invention provides a monitoring device, including a memory and a processor;
  • the memory is configured to store program instructions
  • the processor executes the program instructions stored in the memory, and when the program instructions are executed, the processor is configured to perform the following steps:
  • the supervisory control information After receiving the flight characteristic information, the supervisory control information is sent, where the supervisory control information includes a supervisory control command, and the supervisory control information is used to instruct the aircraft to perform a supervisory operation indicated by the supervisory control instruction.
  • an embodiment of the present invention provides an aircraft, including:
  • a power system disposed on the fuselage for providing flight power
  • a processor configured to broadcast flight characteristic information; receive supervisory control information returned by the monitoring device, where the supervisory control information includes a supervisory control command; and after receiving the supervisory control information, executing the indication of the supervisory control command Regulatory operations.
  • an embodiment of the present invention provides a control system, including: a monitoring device and an aircraft,
  • the monitoring device is configured to receive flight feature information sent by the aircraft, and after receiving the flight feature information, send the supervisory control information, where the supervisory control information includes a supervisory control command;
  • the aircraft is further configured to receive supervisory control information returned by the monitoring device, and after receiving the supervisory control information, perform a supervisory operation indicated by the supervisory control command.
  • an embodiment of the present invention provides a computer readable storage medium, where the computer readable storage medium stores a computer program, and when the computer program is executed by the processor, implements the first aspect or the second aspect, Control Method.
  • the monitoring device receives the flight feature information sent by the aircraft, and after receiving the flight feature information, sends the supervisory control information to the aircraft, so that the aircraft performs the supervision included in the supervisory control information. Controls the supervisory actions indicated by the instructions. In this way, the supervision and control of the aircraft is realized, and the flight safety of the aircraft is improved.
  • FIG. 1 is a schematic structural diagram of a control system according to an embodiment of the present invention.
  • FIG. 2 is a timing diagram corresponding to an aircraft and a monitoring device according to an embodiment of the present invention
  • FIG. 3 is a schematic flowchart of a control method according to an embodiment of the present invention.
  • FIG. 4 is a schematic flow chart of another control method according to an embodiment of the present invention.
  • FIG. 5 is a schematic flowchart of still another control method according to an embodiment of the present disclosure.
  • FIG. 6 is a schematic flowchart of still another control method according to an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of a monitoring device according to an embodiment of the present invention.
  • the control method provided in the embodiments of the present invention may be performed by a control system including a monitoring device and an aircraft, and two-way communication between the monitoring device and the aircraft may be performed.
  • the aircraft may broadcast flight characteristic information
  • the monitoring device may be configured with one or more detectors that may scan the frequency at which the aircraft may operate in real time to receive Flight characteristics information. After receiving the flight characteristic information, the monitoring device can transmit regulatory control information to the aircraft.
  • the supervisory control information includes a supervisory control command, and the monitoring device may send a supervisory control command to the aircraft according to the received flight feature information to supervise and control flight and landing of the aircraft. , photo, video and other operations.
  • the monitoring device may be disposed in a specific location area, where the specific location area may include an area such as an airport, a government agency location, a military management area, etc., and a plurality of monitoring devices may be disposed on the specific location area.
  • the control method can also be applied to other mobile devices, such as a mobile device capable of autonomously moving, an unmanned automobile, a mobile terminal (such as a mobile phone), and the like, and the following corresponding device is used for the monitoring device.
  • the control method of the system composed of the aircraft is explained.
  • FIG. 1 is a schematic structural diagram of a control system according to an embodiment of the present invention.
  • the system includes a monitoring device 11, an aircraft 12, and a control terminal 13.
  • the communication connection between the aircraft 12 and the monitoring device 11 can be established by means of a wireless communication connection.
  • the communication connection between the aircraft 12 and the monitoring device may also be established through a wired communication connection.
  • the aircraft 12 may be an unmanned aerial vehicle, in particular a rotor-type unmanned aerial vehicle, such as a quadrotor unmanned aerial vehicle, a six-rotor unmanned aerial vehicle, an eight-rotor unmanned aerial vehicle, or a fixed-wing unmanned aerial vehicle.
  • the aircraft 12 includes a power system 121 for providing flight power to the aircraft 12, wherein the power system 121 includes any one or more of a propeller, a motor, and an ESC, and the aircraft 12 may also include a cloud.
  • the stage 122 and the imaging device 123 are mounted on the main body of the aircraft 12 via the pan/tilt 122.
  • the photographing device 123 includes, but is not limited to, a multi-spectral imager, a hyperspectral imager, a visible light camera, an infrared camera, etc.
  • the pan/tilt 122 is a multi-axis transmission and a stabilization system
  • the pan-tilt motor adjusts a rotation angle of the rotating shaft To compensate for the shooting angle of the imaging device, and to prevent or reduce the jitter of the imaging device by setting an appropriate buffer mechanism.
  • the control terminal 13 is configured to send a remote command to the aircraft 12 to control the flight of the aircraft 12.
  • the aircraft 12 may transmit flight feature information, for example, the aircraft broadcasts flight feature information during flight, and when the monitoring device 11 receives the flight feature information, the flight feature information may be The link information to the aircraft 12 is obtained, wherein the link information includes a frequency point and/or a bandwidth.
  • the monitoring device 11 may send the supervisory control information to the aircraft 12 according to the frequency and/or bandwidth indicated in the link information, where the supervisory control information is Includes regulatory control instructions.
  • the aircraft 12 may perform a supervisory operation indicated by the supervisory control command.
  • the embodiment of the present invention realizes the supervision and control of the aircraft 12 by the monitoring device 11 by implementing two-way communication between the monitoring device 11 and the aircraft 12.
  • the aircraft 12 may transmit flight characteristic information to the monitoring device 11 at random time intervals, in such a manner that the likelihood of simultaneous collisions of multiple aircraft simultaneously transmitting flight characteristic information may be reduced, for example, It is assumed that the time interval for the aircraft to transmit flight characteristic information is a fixed value ⁇ t. If two aircrafts transmit flight characteristic information at a time, then the two aircrafts then send the flight characteristic information at a fixed interval ⁇ t each time. Similarly, a continuous collision will inevitably occur in the transmission time, but if the flight characteristic information is transmitted at random time intervals as described in the embodiment of the present invention, the two aircrafts can transmit flight characteristic information at different time intervals, thereby reducing Multiple aircraft simultaneously transmit the possibility of a continuous collision of flight characteristic information.
  • the time interval is determined according to a preset time interval threshold selected from a preset time interval threshold set, wherein the preset time interval threshold set includes at least two preset time interval thresholds.
  • the preset time interval threshold set is ⁇ t a , ⁇ t b , ⁇ t c ⁇
  • the time interval may be from the set ⁇ t a , ⁇ t b , ⁇ t c ⁇ Select the determined time interval, such as ⁇ t a .
  • the time interval may also select a time interval from among them according to a preset filter rule.
  • the time interval during which the aircraft transmits the flight feature information may depend on the update speed of the flight feature information of the aircraft.
  • the update speed of the flight feature information of a common aircraft ranges from 0.5 s. ⁇ 2 s, that is, the time interval ranges from 0.5 s to 2 s.
  • the flight feature information broadcast by the aircraft 12 further includes aircraft identity information and/or location information.
  • the monitoring device 11 may receive the flight feature information from the received flight feature information when receiving the flight feature information. Obtaining aircraft identity information and/or location information, and displaying the acquired aircraft identity information and/or location information on an interaction interface of the monitoring device 11 for controlling a user of the monitoring device 11 View.
  • the aircraft identity information may include identification information (eg, SN code) of the aircraft, model information, engine number of the aircraft, a number programmed by the aircraft, etc., information related to the aircraft identity.
  • the embodiment of the present invention is not specifically limited.
  • the location information may include flight location information of the aircraft, wherein the location information may be location information output by a satellite positioning device (eg, a Global Positioning System (GPS)) configured on the aircraft.
  • GPS Global Positioning System
  • the monitoring device 11 may send the aircraft identity information and/or location information to the remote monitoring platform when acquiring the aircraft identity information and/or the location information in the flight feature information, so that The remote monitoring platform may display identity information and/or location information of the aircraft for the control personnel of the remote monitoring platform to monitor the aircraft 12 based on the identity information and/or location information of the aircraft.
  • the remote monitoring platform may be connected to one or more monitoring devices, and the monitoring device may send corresponding information to the remote monitoring platform, so that the remote monitoring platform can control the one or more monitoring device.
  • the monitoring device 11 may acquire link information of the aircraft 12 from the flight feature information, wherein the link information includes a frequency point and/or a bandwidth, and the monitoring The device 11 may transmit the plurality of supervisory control information to the aircraft 12 at the same or different time intervals on the frequency and/or bandwidth based on the frequency and/or bandwidth indicated by the flight characteristic information.
  • the aircraft 12 is configured with a radio frequency front end for receiving supervisory control information, which may be specifically directed to the aircraft when transmitting the plurality of supervisory control information to the aircraft 12 at the same or different time intervals. Transmitting the first supervisory control information, so that the aircraft 12 can control the radio frequency front end to receive the first supervisory control information according to the current radio frequency parameter, and correct the current radio frequency front end according to the signal parameter of the first supervisory control information.
  • RF parameters The monitoring device 11 may transmit second supervisory control information to the aircraft 12 at the same or different time intervals to cause the aircraft 12 to control the radio frequency front end to receive the second supervisory control according to the modified radio frequency parameter.
  • the information, and the supervisory operation that causes the aircraft 12 to perform the supervisory control instructions in the second supervisory control information can control the radio frequency front end to receive the first supervisory control information according to the current radio frequency parameter, and parse the first supervisory control information to determine a signal parameter, such as a signal strength, that the aircraft 12 receives the first supervisory control information, and according to The signal parameter corrects the current RF parameter of the RF front end, and then controls the RF front end to receive the second supervisory control information according to the corrected RF parameter. In this way, the success rate of the aircraft 12 receiving the supervisory control information can be improved.
  • a signal parameter such as a signal strength
  • the first supervisory control information may be any one of the supervisory control information sent by the monitoring device 11 to the aircraft 12 for multiple times of supervisory control information
  • the second supervisory control information may be The monitoring device 11 sends any one of the supervisory control information sent in the supervisory control information to the aircraft after correcting the radio frequency parameter.
  • the content of the first supervisory control information and the second supervisory control information may be the same
  • the radio frequency parameter includes: a gain configuration parameter and/or a correction configuration parameter
  • the signal parameter may be a signal strength and/or a letter. Noise ratio.
  • FIG. 2 is a timing diagram corresponding to an aircraft and a monitoring device according to an embodiment of the present invention.
  • the aircraft may broadcast the subframe 211 of the flight characteristic information, and the monitoring device may send the first supervisory control to the aircraft after receiving the subframe 211 of the flight feature information and the time interval of ⁇ t 1
  • the subframe 221 of the information, the aircraft control radio frequency front end receives the subframe 221 of the first supervisory control information according to the current radio frequency parameter, and according to the signal parameter of the subframe 221 that receives the first supervisory control information, the current radio frequency parameter Performing a correction
  • the monitoring device sends a subframe 222 of the second supervisory control information after the time interval of the interval ⁇ t 2 from the subframe 221 transmitting the first supervisory control information, and the aircraft controls the radio frequency front end according to the corrected radio frequency
  • the parameter receives the subframe 222 of the second supervisory control information, where ⁇ t 1 and ⁇ t 2 are time intervals, wherein ⁇ t 1 and
  • the aircraft 12 may correct the radio frequency parameter of the radio frequency front end according to the received signal parameter of the first regulatory control information, and the specific correction process may be exemplified, and the signal parameter includes the signal strength.
  • the radio frequency parameter includes: an automatic gain control (AGC), if the radio frequency front end of the aircraft 12 receives the signal strength of the first supervisory control information according to the current radio frequency parameter (Received Signal Strength Indication, RSSI)
  • AGC automatic gain control
  • RSSI Received Signal Strength Indication
  • AGC AGC INIT +10*log 10 (RSSI TARGET /RSSI)
  • RSSI TARGET is a constant, which is the target RSSI value to ensure the stable operation of the RF front end of the aircraft.
  • the monitoring device 11 may send first supervisory control information to the aircraft 12 to enable the aircraft 12 to control the radio frequency front end to receive the first supervisory control information according to current radio frequency parameters, and according to the The signal parameters of the first supervisory control information correct the current RF parameters.
  • the monitoring device 11 can receive the corrected radio frequency parameters returned by the aircraft 12 and continue to transmit the second supervisory control information to the aircraft 12 based on the corrected radio frequency parameters.
  • the second supervisory control information is used to instruct the aircraft to supervise a supervisory operation corresponding to the supervisory control command included in the second supervisory control information.
  • the flight feature information includes verification information
  • the regulatory control information includes verification information obtained from the flight feature information
  • the acquired verification information is used to indicate that the aircraft 12 is Determining, by the verification information in the supervisory control information and the verification information in the flight feature information, whether the supervisory control information is valid, and if the aircraft 12 determines that the supervisory control information is valid,
  • the supervisory control instructions included in the control information perform supervisory operations.
  • the monitoring device 11 may package and package the verification information in the flight feature information into the generated regulatory control information, so that the aircraft 12 can receive the regulatory control information after receiving the
  • the verification information is parsed in the regulatory control information, and the parsed verification information is compared with the verification information in the flight characteristic information broadcast by the aircraft 12, and if the comparison results match, the regulatory control may be determined.
  • the information is valid.
  • the verification information may be the verification information related to the aircraft 12, such as a digital signature, or other verification information, which is not limited in the embodiment of the present invention.
  • the supervisory control command may be determined by a detected supervisory setting operation, which may be an operation performed by a user of the monitoring device 11 on the monitoring device 11.
  • the monitoring device 11 may display the acquired flight feature information on the display interface of the monitoring device 11, and the user performs a corresponding supervisory setting operation according to the flight feature information on the display interface. For example, assuming that the location information of the aircraft is displayed on the display interface of the monitoring device 11, if the location information of the aircraft deviates from the preset location area, the user may perform a supervisory setting operation on the user interface of the monitoring device 11 to indicate The aircraft flies to a preset location area.
  • the supervisory control command may be determined by a remote monitoring platform communicatively coupled to the supervisory device 11 by a detected supervisory setting operation, wherein the display interface of the remote monitoring platform may display the The identity information and/or the location information of the aircraft, the user performs a corresponding supervision setting operation on the remote monitoring platform according to the flight feature information on the display interface, and the remote monitoring platform may determine the supervision according to the detected regulatory setting operation. Controlling the instructions and transmitting the supervisory control commands to the monitoring device.
  • the supervisory control instruction may be determined according to the flight feature information.
  • the monitoring device 11 may perform any one of aircraft identity information, location information, signal parameters, and the like in the acquired flight feature information.
  • the supervisory control instruction may be any one of a prompting instruction, a returning instruction, and a landing instruction. For example, if the monitoring device 11 acquires the location information of the aircraft 12, if it is determined according to the location information that the aircraft 12 is out of the preset location area, the monitoring device 11 may automatically generate a return flight instruction and send the return flight instruction to The aircraft 12 is instructed to return the aircraft 12 to a return point.
  • the monitoring device 11 acquires the position information of the aircraft 12, compares the position information of the aircraft 12 with its own position information, and when determining that the distance between the supervisory device 11 and the aircraft 12 is within the first predetermined distance range, the aircraft is 12 transmitting supervisory control information, wherein the supervisory control command in the supervisory control information is a prompting instruction; when it is determined that the distance between the supervisory device 11 and the aircraft 12 is within a second preset distance range, the supervisory control information is sent to the aircraft 12.
  • the supervisory control command in the supervisory control information is a return flight instruction.
  • the supervisory control command in the supervisory control information may include a prompting instruction, and in one embodiment, the monitoring device 11 may send a prompting instruction to the aircraft 12, the prompting instruction for indicating the aircraft 12 to the The control terminal 13 of the aircraft pushes the prompt information so that the user can perform corresponding operational control of the aircraft 12 according to the prompt information displayed on the control terminal 13.
  • the supervisory control command may include a return flight command.
  • the supervisory monitoring device 11 may send a return flight command to the aircraft 12, the return flight command being used to instruct the aircraft 12 to return to a return point, such as a return flight. To the takeoff point.
  • the supervisory control command may include a landing command, and in one embodiment, the monitoring device 11 may send a landing command to the aircraft 12, the landing command is used to indicate that the aircraft 12 is landing, and the aircraft 12 is landing During the process, the surrounding environment can be captured by the camera mounted on the aircraft 12 to select and determine the landing point.
  • FIG. 3 is a schematic flowchart of a control method according to an embodiment of the present invention.
  • the method may be performed by a monitoring device, where a specific explanation of the monitoring device is as described above.
  • the method of the embodiment of the present invention includes the following steps.
  • S301 Receive flight characteristic information sent by the aircraft.
  • the monitoring device may receive the flight feature information sent by the aircraft, where the flight feature information includes any one or more of aircraft identity information, location information, link information, and verification information, and is implemented by the present invention.
  • the flight feature information includes any one or more of aircraft identity information, location information, link information, and verification information, and is implemented by the present invention.
  • the example is not specifically limited.
  • the flight feature information includes aircraft identity information and/or location information
  • the monitoring device may acquire aircraft identity information and/or location information from the received flight feature information, and The aircraft identity information and/or location information is displayed on an interactive interface of the monitoring device. Specific examples are as described above, and are not described herein again.
  • the monitoring device may transmit aircraft identity information and/or location information acquired from the flight feature information to a remote monitoring platform, wherein the monitoring device may monitor the remote device The platform sends information such that the remote monitoring platform can monitor the monitoring device.
  • the remote monitoring platform may also control multiple monitoring devices, which are not specifically limited in the embodiment of the present invention.
  • the monitoring device may send the supervisory control information after receiving the flight feature information, where the supervisory control information includes a supervisory control command, where the supervisory control information is used to instruct the aircraft to perform the The regulatory actions indicated by the supervisory control instructions.
  • the supervisory control information includes link information, and the link information includes a frequency point and/or a bandwidth.
  • the monitoring device may obtain link information including a frequency point and/or a bandwidth from the flight feature information, and according to the link information.
  • the specified frequency and/or bandwidth is sent to the aircraft for the supervisory control information.
  • the monitoring device acquires the frequency point and bandwidth specified by the flight characteristic information, and the monitoring device may send the supervisory control to the aircraft on the specified frequency point and bandwidth. information.
  • the monitoring device may send the plurality of supervisory control information to the aircraft at the same or different time intervals. Specifically, if the time intervals are the same and ⁇ t 1 , the monitoring device may send the supervisory control information to the aircraft at the same time interval ⁇ t 1 after acquiring the flight characteristic information. For another example, if the time intervals are different and are respectively ⁇ t 1 and ⁇ t 2 , the monitoring device may send the supervisory control information to the aircraft for the first time after the time interval ⁇ t 1 after acquiring the flight feature information. And transmitting the supervisory control information to the aircraft for a second time after a time interval of ⁇ t 2 relative to the time when the first time the supervisory control information is sent, wherein the content of the supervisory control information sent twice may be the same.
  • the flight feature information includes verification information
  • the regulatory control information includes verification information obtained by parsing the flight feature information
  • the acquired verification information is used to indicate that the aircraft is in accordance with the And verifying the verification information in the control information and the verification information in the flight characteristic information to determine whether the supervision control information is valid.
  • the flight feature information includes verification information
  • the monitoring device may parse the flight feature information to obtain verification information, and encapsulate the parsed verification information into the regulatory control information. Sending to the aircraft, so that after receiving the regulatory control information, the aircraft may parse and obtain the verification information from the regulatory control information, and the aircraft performs the parsed verification information and the verification information in the flight characteristic information. If the comparison information is matched, the verification information may be determined to be the same as the verification information in the flight feature information, and the regulatory control information may be further determined to be valid.
  • the supervisory control command includes a prompting instruction
  • the monitoring device may send supervisory control information including a prompting instruction to the aircraft, so that the aircraft may, according to the received indication of the prompting instruction, The control terminal of the aircraft pushes the prompt information.
  • the monitoring device may send the supervision control information to the aircraft, so that the aircraft will
  • the prompting instruction in the supervisory control information is pushed to the control terminal of the aircraft for display, and a prompt message such as “Your aircraft enters the supervised area, please pay attention to, etc.” is displayed to remind the user, wherein the control terminal includes: a remote control device , one or more of a smartphone, a tablet, and a wearable device.
  • the supervisory control command includes a return flight command
  • the monitoring device may transmit supervisory control information including a return flight command to the aircraft to cause the aircraft to return based on the obtained indication of the return flight command. For example, if the monitoring control information sent by the monitoring device to the aircraft includes a returning instruction, the monitoring device may send the supervisory control information to the aircraft, so that the aircraft stops according to the returned return instruction in the received regulatory control information. In response to the remote command from the control terminal, it directly returns to the original starting point to stop.
  • the supervisory control command includes a landing command
  • the monitoring device may transmit supervisory control information including a landing command to the aircraft to cause the aircraft to land based on the obtained indication of the landing command. For example, if the monitoring control information sent by the monitoring device to the aircraft includes a landing command, the monitoring device may send the supervisory control information to the aircraft, so that the aircraft may according to the received landing command in the supervisory control information. Stop responding to the remote command from the control terminal and start landing directly from the current position.
  • the monitoring device receives the flight characteristic information sent by the aircraft, and sends the supervisory control information to the aircraft after receiving the flight feature information, so that the aircraft performs the monitoring control information included in the The regulatory actions indicated by the supervisory control instructions. In this way, the supervision and control of the aircraft is realized, and the flight safety of the aircraft is improved.
  • FIG. 4 is a schematic flowchart diagram of another control method according to an embodiment of the present invention.
  • the method may be performed by a monitoring device, where a specific explanation of the monitoring device is as described above.
  • the difference between the embodiment of the present invention and the foregoing embodiment shown in FIG. 3 is that the embodiment of the present invention is a detailed description of the monitoring device transmitting the plurality of supervisory control information to the aircraft at the same time or at different time intervals.
  • S401 Receive flight characteristic information sent by the aircraft.
  • the monitoring device may receive the flight feature information sent by the aircraft, wherein the description of the flight feature information is as described above, and details are not described herein again.
  • the monitoring device may acquire aircraft identity information and/or location information from the flight feature information and display the aircraft identity information and/or location information on an interaction interface of the monitoring device. on. Specific examples are as described above, and are not described herein again.
  • S402 Send first regulatory control information to the aircraft.
  • the monitoring device may send first supervisory control information to the aircraft, so that the aircraft controls the radio frequency front end to receive the first supervisory control information according to the current radio frequency parameter, and according to the first supervisory control
  • the signal parameters of the information modify the current RF parameters of the RF front end. Examples of the process of correcting the radio frequency parameters of the radio frequency front end of the aircraft are as described above, and are not described herein again.
  • S403 Send second supervisory control information to the aircraft.
  • the monitoring device may send second supervisory control information to the aircraft, so that the aircraft control radio frequency front end receives the second supervisory control information according to the modified radio frequency parameter, wherein the The second control information is used to instruct the aircraft to perform a supervisory operation corresponding to the supervisory control command included in the second pipe control information, and the contents of the first supervisory control information and the second supervisory control information may be the same.
  • the second supervisory control information is the second time that the monitoring device sends the supervisory control information to the aircraft.
  • the aircraft corrects an appropriate radio frequency parameter according to the RSSI that receives the supervisory control information for the first time.
  • the AGC gear value when the monitoring device sends the supervisory control information to the aircraft for the second time, the radio frequency front end of the aircraft may receive the supervisory control information for the second time according to the corrected RF parameter AGC gear value.
  • the embodiment solves the problem that the aircraft fails to receive the supervisory control information due to the improper setting of the radio frequency parameters of the radio frequency front end.
  • the monitoring device sends the first supervisory control information to the aircraft, so that the aircraft controls the radio frequency front end to correct the current radio frequency parameter of the radio frequency front end according to the signal parameter of the first supervisory control information, by using the aircraft Sending second supervisory control information, so that the aircraft control radio frequency front end receives the second supervisory control information according to the modified radio frequency parameter, thereby ensuring that the aircraft can better receive the supervisory control information and increase the success rate of receiving the supervisory control information.
  • FIG. 5 is a schematic flowchart diagram of still another control method according to an embodiment of the present invention.
  • the method may be performed by an aircraft, wherein a specific explanation of the aircraft is as described above.
  • the method of the embodiment of the present invention includes the following steps.
  • S501 Broadcast flight characteristic information.
  • the aircraft may broadcast the flight feature information during the flight, wherein the specific description of the flight feature information is as described above, and details are not described herein again.
  • the aircraft may transmit the flight characteristics information to a monitoring device at random time intervals.
  • the time interval is determined according to a preset time interval threshold selected from a preset time interval threshold set, where the preset time interval threshold set includes at least two preset time interval thresholds, as described in the foregoing. , will not repeat them here.
  • S502 Receive supervision control information returned by the monitoring device.
  • the aircraft may receive the supervisory control information returned by the monitoring device multiple times, where the supervisory control information includes a supervisory control command.
  • the aircraft may receive the first time after the flight characteristic information is broadcasted and separated by a preset time interval threshold ⁇ t 1
  • the aircraft may receive the supervisory control returned by the monitoring device again after the interval of the preset time interval threshold ⁇ t 2 is started from the time when the supervisory control information returned by the monitoring device is received for the first time. information.
  • the aircraft may also search for the supervisory control information returned by the monitoring device in real time, which is not specifically limited in the embodiment of the present invention.
  • the aircraft may control the radio frequency front end to receive the first supervisory control information according to the current radio frequency parameter, and to modify the current radio frequency parameter of the radio frequency front end according to the signal parameter of the first supervisory control information received by the radio frequency front end. And controlling the radio frequency front end to receive the second supervisory control information sent by the monitoring device according to the modified radio frequency parameter.
  • the aircraft may perform a supervision operation indicated by the supervisory control instruction included in the supervisory control information according to the received supervisory control information. In one embodiment, the aircraft may perform a supervisory operation indicated by a supervisory control command included in the second supervisory control information.
  • the flight feature information includes verification information, where the supervisory control information includes verification information that is obtained by the monitoring device from the received flight feature information, and in one embodiment, the aircraft receives the regulatory control information.
  • the verification information that is obtained by the monitoring device from the received flight feature information may be parsed from the regulatory control information, and the parsed verification information and the verification information in the flight feature information broadcasted by the aircraft may be For comparison, if the comparison results match, the supervisory control information may be determined to be valid, and the aircraft may perform a supervisory operation indicated by the supervisory control command included in the supervisory control information.
  • the supervisory control information includes a prompting instruction, and the aircraft may push the prompting information to the control terminal of the aircraft according to the prompting instruction.
  • the supervisory control command includes a return flight command, and the aircraft can control the aircraft to return based on the return flight command.
  • the supervisory control command includes a landing command, and the aircraft may control the aircraft to land based on the landing command. The specific examples are as described above, and are not described here.
  • the aircraft receives the supervisory control information returned by the monitoring device by broadcasting the flight feature information during the flight, and after receiving the supervisory control information, executing the supervisory control command included in the supervisory control information. Indicated regulatory action. In this way, the aircraft can perform supervisory control commands issued by the monitoring equipment to achieve supervision and control of the aircraft and improve the flight safety of the aircraft.
  • FIG. 6 is a schematic flowchart diagram of still another control method according to an embodiment of the present invention, where the method may be performed by an aircraft, wherein a specific explanation of the aircraft is as described above.
  • the difference between the embodiment of the present invention and the foregoing embodiment shown in FIG. 5 is that the embodiment of the present invention is a detailed description of the supervisory control information returned by the aircraft receiving monitoring device.
  • S601 Broadcast flight characteristic information.
  • the aircraft may broadcast the flight feature information during the flight, wherein the flight feature information is explained as described above, and details are not described herein again.
  • the aircraft may transmit the flight characteristic information to the monitoring device at random time intervals during the broadcast of the flight characteristic information.
  • the time interval is determined according to a preset time interval threshold selected from a preset time interval threshold set, where the preset time interval threshold set includes at least two preset time interval thresholds. Specific examples are as described above, and are not described herein again.
  • the control radio frequency front end receives the first supervisory control information according to the current radio frequency parameter.
  • the aircraft may control the radio frequency front end to receive the first supervisory control information according to the current radio frequency parameter.
  • the first supervisory control information may be supervisory control information received at any one of the supervisory control information received by the aircraft multiple times. For example, if the first supervisory control information is the supervisory control information received by the aircraft for the first time, the aircraft may control the radio frequency front end to receive the first supervisory control information based on the current radio frequency parameter.
  • S603 Correct the current radio frequency parameter according to a signal parameter that the radio frequency front end receives the first supervisory control information.
  • the aircraft may control the radio frequency front end to modify the current radio frequency parameter of the radio frequency front end according to the signal parameter that receives the first regulatory control information.
  • the specific examples are as described above, and are not described here.
  • the control radio frequency front end continues to receive the second supervisory control information sent by the monitoring device according to the modified radio frequency parameter.
  • the aircraft may control the radio frequency front end to continue to receive the second supervisory control information sent by the monitoring device according to the modified radio frequency parameter of the radio frequency front end, where the first supervisory control information and the The content included in the second regulatory control information may be the same.
  • the aircraft may continue to receive the second supervisory control information sent by the monitoring device based on the corrected radio frequency parameter AGC of the radio frequency front end.
  • S605 Perform a supervision operation indicated by the supervisory control instruction included in the second supervisory control information.
  • the aircraft may perform a supervisory operation corresponding to the supervisory control command included in the second supervisory control information.
  • the policing instruction information may include any one or more of a prompting instruction, a returning instruction, and a landing instruction, which are not specifically limited in the embodiment of the present invention.
  • the supervisory control information may include a prompting instruction, and the aircraft may push the prompting information to the control terminal of the aircraft according to the prompting instruction included in the received supervisory control information.
  • the regulatory control information may include a return flight instruction, and the aircraft may return according to the indication of the return flight instruction included in the received regulatory control information.
  • the supervision control information may include a landing instruction, and the aircraft may drop according to the indication of the landing instruction included in the received regulatory control information. The specific examples are as described above, and are not described here.
  • the aircraft configures the radio frequency parameters of the radio frequency front end according to the signal parameters of the first supervisory control information returned by the receiving monitoring device by broadcasting the flight characteristic information during the flight, and based on the corrected radio frequency front end
  • the radio frequency parameter continues to receive the second supervisory control information sent by the monitoring device, and after receiving the supervisory control information, performs a supervisory operation indicated by the supervisory control command included in the supervisory control information. In this way, the aircraft can perform supervisory operations of the monitoring equipment, improving the flight safety of the aircraft.
  • FIG. 7 is a schematic structural diagram of a monitoring device according to an embodiment of the present invention.
  • the monitoring device includes: a memory 701, a processor 702, and a data interface 703.
  • the memory 701 may include a volatile memory; the memory 701 may also include a non-volatile memory; the memory 701 may also include a combination of the above types of memory.
  • the processor 702 can be a central processing unit (CPU).
  • the processor 702 may further include a hardware chip.
  • the hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. Specifically, for example, it may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.
  • ASIC application-specific integrated circuit
  • PLD programmable logic device
  • FPGA field-programmable gate array
  • the memory 701 is configured to store program instructions, and when the program instructions are executed, the processor 702 may call program instructions stored in the memory 701 for performing the following steps:
  • the supervisory control information After receiving the flight characteristic information, the supervisory control information is sent, where the supervisory control information includes a supervisory control command, and the supervisory control information is used to instruct the aircraft to perform a supervisory operation indicated by the supervisory control instruction.
  • the flight feature information includes any one or more of aircraft identity information, location information, link information, and verification information.
  • flight feature information includes aircraft identity information and/or location information
  • the processor 702 calls the program instructions stored in the memory 701 to perform the following steps:
  • the aircraft identity information and/or location information is displayed on an interactive interface of the monitoring device.
  • flight feature information includes aircraft identity information and/or location information
  • the processor 702 calls the program instructions stored in the memory 701 to perform the following steps:
  • the aircraft identity information and/or location information is transmitted to a remote monitoring platform.
  • flight feature information includes link information
  • the processor 702 calls the program instruction stored in the memory 701 to perform the following steps:
  • the link information includes a frequency point and/or a bandwidth.
  • processor 702 calls the program instructions stored in the memory 701 specifically for performing the following steps:
  • Multiple supervisory control information is sent to the aircraft at the same or different time intervals.
  • processor 702 calls the program instructions stored in the memory 701 specifically for performing the following steps:
  • the second supervisory control information is used to instruct the aircraft to perform a supervisory operation corresponding to the supervisory control instruction included in the second supervisory control information.
  • processor 702 calls the program instructions stored in the memory 701 specifically for performing the following steps:
  • the second supervisory control information is used to instruct the aircraft to perform a supervisory operation corresponding to the supervisory control instruction included in the second supervisory control information.
  • the flight feature information includes verification information
  • the supervisory control information includes verification information obtained by parsing the flight feature information, where the acquired verification information is used to indicate that the aircraft is based on the supervisory control information.
  • the verification information in the verification information and the verification information in the flight characteristic information determine whether the supervision control information is valid.
  • the supervisory control instruction includes a prompting instruction, and the prompting instruction is used to instruct the aircraft to push the prompt information to the control terminal of the aircraft.
  • the supervisory control command includes a return flight instruction, and the return flight command is used to instruct the aircraft to return.
  • the supervisory control command includes a landing command for indicating that the aircraft is landing.
  • the monitoring device receives the flight characteristic information sent by the aircraft, and sends the supervisory control information to the aircraft after receiving the flight feature information, so that the aircraft performs the monitoring control information included in the The regulatory actions indicated by the supervisory control instructions. In this way, the supervision and control of the aircraft is realized, and the flight safety of the aircraft is improved.
  • An embodiment of the present invention further provides an aircraft, including: a fuselage; a power system disposed on the airframe for providing flight power; a processor for broadcasting flight feature information; and receiving supervisory control information returned by the monitoring device,
  • the supervisory control information includes a supervisory control command; after receiving the supervisory control information, performing a supervisory operation indicated by the supervisory control command.
  • the flight feature information includes any one or more of aircraft identity information, location information, link information, and verification information.
  • processor is specifically configured to perform the following steps:
  • the flight characteristic information is transmitted to the monitoring device at random time intervals.
  • the time interval is determined according to a preset time interval threshold selected from a preset time interval threshold set, where the preset time interval threshold set includes at least two preset time interval thresholds.
  • processor is specifically configured to perform the following steps:
  • the control radio front end receives the first supervisory control information according to the current radio frequency parameter
  • the control radio frequency front end continues to receive the second supervisory control information sent by the monitoring device according to the modified radio frequency parameter
  • the processor is specifically configured to perform the following steps:
  • the radio frequency parameter includes: a gain configuration parameter and/or a correction configuration parameter.
  • the flight feature information includes verification information
  • the supervisory control information includes the verification information that is obtained by the monitoring device from the received flight feature information
  • the processor is specifically configured to perform the following steps:
  • the supervisory operation is performed according to the supervisory control command included in the supervisory control information.
  • supervisory control instruction includes a prompting instruction
  • processor is specifically configured to perform the following steps:
  • supervisory control instruction includes a returning instruction
  • processor is specifically configured to perform the following steps:
  • supervisory control instruction includes a drop instruction
  • processor is specifically configured to perform the following steps:
  • the aircraft is controlled to fall according to the landing command.
  • the aircraft receives the supervisory control information returned by the monitoring device by broadcasting the flight feature information during the flight, and after receiving the supervisory control information, executing the supervisory control command included in the supervisory control information. Indicated regulatory action. In this way, the aircraft can perform supervisory operations of the monitoring equipment, improving the flight safety of the aircraft.
  • the embodiment of the invention further provides a control system, comprising: a monitoring device and an aircraft;
  • the monitoring device is configured to receive flight feature information sent by the aircraft, and after receiving the flight feature information, send the supervisory control information, where the supervisory control information includes a supervisory control command;
  • the aircraft is further configured to receive supervisory control information returned by the monitoring device, and after receiving the supervisory control information, perform a supervisory operation indicated by the supervisory control command.
  • the aircraft is specifically configured to send the flight feature information to the monitoring device at random time intervals.
  • the flight feature information includes aircraft identity information and/or location information
  • the monitoring device is configured to acquire the aircraft identity information and/or location information, and display the aircraft identity information and/or location information. On the interactive interface of the monitoring device.
  • the flight feature information includes aircraft identity information and/or location information
  • the monitoring device is configured to acquire the aircraft identity information and/or location information, and send the aircraft identity information and/or location information. Give remote monitoring platform.
  • the flight feature information includes link information
  • the monitoring device is configured to acquire the link information, and send the supervision control information to the aircraft according to the link information.
  • the monitoring device is specifically configured to send the plurality of supervisory control information to the aircraft at the same or different time intervals.
  • the monitoring device is specifically configured to send first supervisory control information to the aircraft, so that the aircraft control radio frequency front end receives the first supervisory control information according to the current radio frequency parameter, and according to the first supervisory control
  • the signal parameter of the information corrects the current radio frequency parameter; transmitting second supervisory control information to the aircraft to cause the aircraft control radio frequency front end to receive the second supervisory control information according to the modified radio frequency parameter; wherein
  • the second supervisory control information is used to instruct the aircraft to perform a supervisory operation corresponding to the supervisory control instruction included in the second supervisory control information.
  • the monitoring device is specifically configured to send first supervisory control information to the aircraft, so that the aircraft control radio frequency front end receives the first supervisory control information according to the current radio frequency parameter, and according to the first supervisory control
  • the signal parameter of the information corrects the current radio frequency parameter; receives the corrected radio frequency parameter returned by the aircraft; and continues to send second supervisory control information to the aircraft according to the modified radio frequency parameter;
  • the second supervisory control information is used to instruct the aircraft to perform a supervisory operation corresponding to the supervisory control command included in the second supervisory control information.
  • the aircraft is specifically configured to control the radio frequency front end to receive the first supervisory control information according to the current radio frequency parameter; correct the current radio frequency parameter according to the signal parameter of the first supervisory control information; and control the radio frequency front end according to the modified The radio frequency parameter continues to receive the second supervisory control information sent by the monitoring device;
  • the aircraft is specifically configured to perform a supervisory operation indicated by a supervisory control instruction included in the second supervisory control information.
  • the flight feature information includes verification information, where the supervisory control information includes verification information that is obtained by the supervisory device from the received flight feature information.
  • the aircraft is specifically configured to determine, according to the verification information in the regulatory control information and the verification information in the flight feature information, whether the supervisory control information is valid; if the determination result is yes, according to the supervisory control information
  • the supervisory control instructions included in the execution of the supervisory operation are specifically configured to determine, according to the verification information in the regulatory control information and the verification information in the flight feature information, whether the supervisory control information is valid; if the determination result is yes, according to the supervisory control information
  • the supervisory control instructions included in the execution of the supervisory operation is specifically configured to determine, according to the verification information in the regulatory control information and the verification information in the flight feature information, whether the supervisory control information is valid; if the determination result is yes, according to the supervisory control information
  • the supervisory control instructions included in the execution of the supervisory operation are specifically configured to determine, according to the verification information in the regulatory control information and the verification information in the flight feature information, whether the supervisory control information is valid; if the determination result is yes, according to the supervisory control information
  • the supervisory control instruction includes a prompt instruction
  • the aircraft is specifically configured to push prompt information to the control terminal of the aircraft according to the prompting instruction.
  • supervisory control instruction includes a return instruction
  • the aircraft is specifically configured to control the return of the aircraft according to the return flight instruction.
  • the supervisory control instruction includes a landing instruction
  • the aircraft is specifically configured to control the aircraft to land according to the landing command.
  • the monitoring device receives the flight characteristic information sent by the aircraft, and sends the supervisory control information to the aircraft after receiving the flight feature information, so that the aircraft performs the monitoring control information included in the The regulatory actions indicated by the supervisory control instructions. In this way, the supervision and control of the aircraft is realized, and the flight safety of the aircraft is improved.
  • FIG. 6 Also provided in an embodiment of the present invention is a computer readable storage medium storing a computer program that, when executed by a processor, implements the present invention in FIGS. 3, 4, and 5
  • the control system corresponding to the embodiment shown in FIG. 6 can also implement the control system corresponding to FIG. 1.
  • the monitoring device of the embodiment of the present invention is not described here.
  • the computer readable storage medium may be an internal storage unit of the device described in any of the preceding embodiments, such as a hard disk or a memory of the device.
  • the computer readable storage medium may also be an external storage device of the device, such as a plug-in hard disk equipped on the device, a smart memory card (SMC), and a secure digital (SD) card. , Flash Card, etc.
  • the computer readable storage medium may also include both an internal storage unit of the device and an external storage device.
  • the computer readable storage medium is for storing the computer program and other programs and data required by the terminal.
  • the computer readable storage medium can also be used to temporarily store data that has been output or is about to be output.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

Abstract

L'invention concerne un procédé de commande, un dispositif, un aéronef (12), un système et un support d'informations. Le procédé comprend les étapes qui consistent : à recevoir des informations de caractéristiques de vol transmises par un aéronef (12) (S301, S401) ; à réception des informations de caractéristiques de vol, à transmettre des informations de commande de supervision (S302), ces informations de commande de supervision incluant un ordre de commande de supervision permettant d'ordonner à l'aéronef (12) d'effectuer une opération de supervision ordonnée par l'ordre de commande de supervision. De cette manière, la supervision et la commande de l'aéronef (12) sont réalisées, et la sécurité de vol de l'aéronef (12) est améliorée.
PCT/CN2018/083472 2018-04-18 2018-04-18 Procédé de commande, dispositif, aéronef, système et support d'informations WO2019200552A1 (fr)

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PCT/CN2018/083472 WO2019200552A1 (fr) 2018-04-18 2018-04-18 Procédé de commande, dispositif, aéronef, système et support d'informations
CN201880010736.3A CN110291571A (zh) 2018-04-18 2018-04-18 一种控制方法、设备、飞行器、系统及存储介质

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