WO2020029134A1 - 可移动平台的监管控制方法、设备及系统 - Google Patents
可移动平台的监管控制方法、设备及系统 Download PDFInfo
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- WO2020029134A1 WO2020029134A1 PCT/CN2018/099456 CN2018099456W WO2020029134A1 WO 2020029134 A1 WO2020029134 A1 WO 2020029134A1 CN 2018099456 W CN2018099456 W CN 2018099456W WO 2020029134 A1 WO2020029134 A1 WO 2020029134A1
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- beacon frame
- mobile platform
- movable platform
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- platform
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W48/00—Access restriction; Network selection; Access point selection
- H04W48/08—Access restriction or access information delivery, e.g. discovery data delivery
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W48/00—Access restriction; Network selection; Access point selection
- H04W48/08—Access restriction or access information delivery, e.g. discovery data delivery
- H04W48/10—Access restriction or access information delivery, e.g. discovery data delivery using broadcasted information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
- H04W84/10—Small scale networks; Flat hierarchical networks
- H04W84/12—WLAN [Wireless Local Area Networks]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
- H04W88/02—Terminal devices
Definitions
- Embodiments of the present invention relate to the field of electronic technology, and in particular, to a method, device, and system for monitoring and controlling a mobile platform.
- the drone With the continuous improvement of various functions of drones, the application of drones has become more and more widespread, and accordingly, the number of drones has gradually increased.
- the drone generally comes with a Global Positioning System (GPS) or a Global Navigation Satellite System (GNSS), which can receive GPS signals, and can determine its own geographic location based on the received GPS signals. The position can also perform autonomous positioning flight based on the received GPS signals.
- GPS Global Positioning System
- GNSS Global Navigation Satellite System
- the drones mainly fly in low-altitude airspace, in order to ensure the safety of drone flight, low-altitude airspace needs to be controlled.
- the drone broadcasts the position information to the outside.
- the customized ground receiver equipment detects, receives, and decodes the information to obtain the position, and learns the position of the drone flying in the low-altitude airspace for low-altitude airspace control.
- Wi-Fi wireless-fidelity
- Wi-Fi Protected Access-Preshared Key Wi-Fi Protected Access-Preshared Key
- Embodiments of the present invention provide a method, a device, and a system for monitoring and controlling a mobile platform, which can be used to obtain the location information of the mobile platform when the terminal device does not know the access password of the mobile platform.
- Mobile platform for regulation can be used to obtain the location information of the mobile platform when the terminal device does not know the access password of the mobile platform.
- an embodiment of the present invention provides a method for monitoring and controlling a mobile platform, which is applied to a mobile platform.
- the method includes:
- the first beacon frame is broadcasted and transmitted through a wireless channel, so that a terminal device receiving the first beacon frame supervises the movable platform according to location information in the first beacon frame.
- an embodiment of the present invention provides a method for monitoring and controlling a mobile platform, which is applied to a terminal device.
- the method includes:
- an embodiment of the present invention provides a movable platform, including:
- a first processor configured to obtain position information of a movable platform; and generate a first beacon frame according to the position information of the movable platform, where the first beacon frame includes position information of the movable platform ;
- a first wireless communication device configured to broadcast transmit the first beacon frame through a wireless channel, so that a terminal device receiving the first beacon frame supervises the available beacon based on the location information in the first beacon frame mobile platform.
- an embodiment of the present invention provides a terminal device, including:
- a second wireless communication device configured to receive, via a wireless channel, a first beacon frame broadcasted by a mobile platform, where the first beacon frame includes position information of the mobile platform, and the first beacon frame Sent by the mobile platform when the sending cycle of the first beacon frame arrives;
- a second processor configured to obtain position information of the movable platform according to the first beacon frame; and supervise the movable platform according to the position information of the movable platform.
- an embodiment of the present invention provides a supervisory control system for a mobile platform, including: a mobile platform and a terminal device;
- the movable platform is configured to obtain position information of the movable platform; and generate a first beacon frame according to the position information of the movable platform, and the first beacon frame includes a Location information; broadcasting the first beacon frame via a wireless channel;
- the terminal device is configured to receive, via a wireless channel, a first beacon frame broadcasted by the mobile platform; obtain position information of the mobile platform according to the first beacon frame; and according to the mobile The location information of the platform supervises the movable platform.
- an embodiment of the present invention provides a computer-readable storage medium.
- the computer-readable storage medium stores a computer program, where the computer program includes at least one piece of code, and the at least one piece of code can be executed by a computer to control all
- the computer executes the method for supervising and controlling the mobile platform according to the first aspect or the second aspect.
- an embodiment of the present invention provides a computer program, which is used to implement the supervision and control method of the movable platform according to the first aspect or the second aspect when the computer program is executed by a computer.
- the terminal device of the wireless broadcast signal to the mobile platform can receive the first beacon frame, and the first beacon frame is a plain text frame, and the terminal device can obtain the position information of the mobile platform from the first beacon frame. . Therefore, the terminal device can obtain the position information of the drone without accessing the drone to establish a one-to-one communication link, which does not affect the drone, and also facilitates the terminal device to the drone. Regulation (such as low-altitude airspace control of drones), without the need for dedicated drone surveillance equipment, also reduces regulatory costs.
- FIG. 1 is a schematic architecture diagram of a supervisory control system of a mobile platform according to an embodiment of the present invention
- FIG. 2 is a flowchart of a method for monitoring and controlling a mobile platform according to an embodiment of the present invention
- FIG. 3 is a schematic diagram of an SSID field in a first beacon frame according to an embodiment of the present invention.
- FIG. 4 is a schematic structural diagram of a movable platform according to an embodiment of the present invention.
- FIG. 5 is a schematic structural diagram of a terminal device according to an embodiment of the present invention.
- FIG. 6 is a schematic structural diagram of a supervisory control system of a mobile platform according to an embodiment of the present invention.
- Embodiments of the present invention provide a method, device, and system for monitoring and controlling a mobile platform.
- the movable platform may be, for example, a drone, an unmanned ship, an unmanned car, a robot, or the like.
- the drone may be a rotorcraft, for example, a multi-rotor aircraft propelled by multiple propulsion devices through air, and the embodiment of the present invention is not limited thereto.
- FIG. 1 is a schematic architecture diagram of a supervisory control system of a mobile platform according to an embodiment of the present invention. This embodiment is described by using a movable platform as a drone as an example.
- the supervisory control system 100 of the mobile platform may include a drone 110, a display device 130, and a terminal device 140.
- the unmanned aerial vehicle 110 is an unmanned aerial vehicle, which may include a power system 150, a control system 160, a rack, and a gimbal 120 carried on the rack.
- the drone 110 may perform wireless communication with the terminal device 140 and the display device 130.
- the drone may also be an unmanned vehicle or an unmanned ship.
- the frame may include a fuselage and a tripod (also called a landing gear).
- the fuselage may include a center frame and one or more arms connected to the center frame, and one or more arms extend radially from the center frame.
- the tripod is connected to the fuselage, and is used to support the UAV 110 when landing.
- the control system 160 is disposed in the fuselage.
- the power system 150 may include one or more electronic governors (referred to as ESCs) 151, one or more propellers 153, and one or more electric motors 152 corresponding to the one or more propellers 153.
- the motor 152 is connected between the ESC 151 and the propeller 153, and the motor 152 and the propeller 153 are disposed on the arm of the drone 110.
- the ESC 151 is configured to receive a driving signal generated by the control system 160 and provide a driving current to the motor 152 according to the driving signal to control the rotation speed of the motor 152. It should be noted that one ESC 151 may correspond to multiple motors, and multiple ESCs 151 may correspond to one motor 152, respectively.
- the motor 152 is used to drive the propeller to rotate, so as to provide power for the flight of the drone 110, and the power enables the drone 110 to achieve one or more degrees of freedom.
- the drone 110 may rotate about one or more rotation axes.
- the rotation axis may include a roll axis (Roll), a yaw axis (Yaw), and a pitch axis (Pitch).
- the motor 152 may be a DC motor or an AC motor.
- the motor 152 may be a brushless motor or a brushed motor.
- the control system 160 may include a controller 161 and a sensing system 162.
- the sensing system 162 is used to measure the attitude information of the drone, that is, the position information and status information of the drone 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity.
- the sensing system 162 may include, for example, at least one of a gyroscope, an ultrasonic sensor, an electronic compass, an Inertial Measurement Unit (IMU), a vision sensor, a global navigation satellite system, and a barometer.
- the global navigation satellite system may be GPS.
- the controller 161 is used to control the flight or operation of the drone 110.
- the controller 161 may control the flight or operation of the drone 110 according to the attitude information measured by the sensing system 162. It should be understood that the controller 161 may control the UAV 110 according to a pre-programmed program instruction.
- the gimbal 120 may include a gimbal motor 122.
- the gimbal is used to carry the photographing device 123.
- the controller 161 can control the movement of the PTZ 120 by controlling the rotation of the PTZ motor 122.
- the PTZ 120 may further include a PTZ controller for controlling the movement of the PTZ 120 by controlling the PTZ motor 122.
- the gimbal 120 may be independent of the drone 110 or may be a part of the drone 110.
- the gimbal motor 122 may be a DC motor or an AC motor.
- the gimbal motor 122 may be a brushless motor or a brushed motor.
- the gimbal can be located on the top of the drone or on the bottom of the drone.
- the photographing device 123 may be, for example, a device for capturing an image, such as a camera or a video camera.
- the photographing device 123 may communicate with the flight controller and perform shooting under the control of the flight controller.
- the photographing device 123 of this embodiment includes at least a photosensitive element.
- the photosensitive element is, for example, a complementary metal oxide semiconductor (CMOS) sensor or a charge-coupled device (CCD) sensor. It can be understood that the shooting device 123 can also be directly fixed on the drone 110, so that the PTZ 120 can be omitted.
- CMOS complementary metal oxide semiconductor
- CCD charge-coupled device
- the display device 130 is located on the ground side, and can communicate with the drone 110 wirelessly, and can be used to display the attitude information of the drone 110.
- an image captured by the imaging device may be displayed on the display device 130.
- the terminal device 140 may be located on the ground end of the supervision and control system 100 of the mobile platform, and may communicate with the drone 110 in a wireless manner for performing supervision processing on the drone 110.
- Figure 1 uses one drone as an example and one terminal device as an example.
- the supervisory control system 100 of the mobile platform may include a plurality of drones 110, and the terminal device 140 may supervise the plurality of drones 110.
- the supervisory control system 100 of the mobile platform may include multiple terminal devices 140, and the same drone may be supervised by multiple terminal devices 140.
- Terminal device In the embodiment of the present invention, it refers to a wireless terminal device, which refers to a device with wireless transceiver function, which can be deployed on land, including indoor or outdoor, handheld or vehicle; it can also be deployed on the water (such as a ship Etc.); can also be deployed in the air (such as aircraft, balloons, satellites, etc.).
- a wireless terminal device which refers to a device with wireless transceiver function, which can be deployed on land, including indoor or outdoor, handheld or vehicle; it can also be deployed on the water (such as a ship Etc.); can also be deployed in the air (such as aircraft, balloons, satellites, etc.).
- the terminal device may be a remote control device, a mobile phone, a tablet, a computer with a wireless transmitting and receiving function, a wearable device, a virtual reality (VR) terminal, and an augmented reality (AR) Terminal, wireless terminal in industrial control, wireless terminal in self driving, wireless terminal in remote medical, wireless terminal in smart grid, transportation security ( Wireless terminals in transportation, wireless terminals in smart cities, wireless terminals in smart homes, etc. are not limited here.
- FIG. 2 is a flowchart of a method for monitoring and controlling a mobile platform according to an embodiment of the present invention. As shown in FIG. 2, this embodiment uses a mobile platform as a drone as an example. The method in this embodiment may include:
- the drone obtains position information of the drone.
- the drone may obtain its own position information.
- the drone may obtain the position information of the drone when the sending period of the first beacon frame arrives.
- the position information of the drone may indicate the position where the drone is located.
- the sending period of the first beacon frame is, for example, 3 seconds (s), and the drone acquires the position information of the drone every 3 s.
- the first beacon frame belongs to a beacon frame. It can be understood that the sending period of the first beacon frame can be set according to requirements, and is not limited to this embodiment.
- the drone generates a first beacon frame according to the position information of the drone.
- the drone after the drone obtains its own position information, it generates a first beacon frame, and the generated first beacon frame includes the position information of the drone. For example, the position information of the drone is added to the field of the first beacon frame, so that the first beacon frame carries the position information of the drone.
- the UAV broadcasts and sends the first beacon frame through a wireless channel. Accordingly, the terminal device receives the first beacon frame through a wireless channel.
- the drone after generating the first beacon frame, the drone broadcasts the first beacon frame through a wireless channel.
- all terminal devices capable of receiving the broadcast signal of the drone can receive the first beacon frame transmitted by the drone broadcast. It should be noted that there can be at least one terminal device capable of receiving the first beacon frame, wherein FIG. 2 uses one terminal device as an example for description, and the processing procedures of other terminal devices are similar.
- the drone acquires the position information of the drone every 3s, and then broadcasts and sends the first beacon frame including the position information through a wireless channel. If the position information of the drone changes, correspondingly, the content in the first beacon frame sent every period will also be different.
- the terminal device obtains position information of the drone according to the first beacon frame.
- the terminal device after the terminal device receives the first beacon frame, since the first beacon frame belongs to a plain text frame and is a frame without encryption processing, the terminal device can obtain the first beacon according to the first beacon frame. Location information of the drone in the frame.
- the terminal device supervises the drone according to the position information of the drone.
- the terminal device may determine that a drone exists at the location indicated by the location information.
- the terminal device can supervise the drone according to the location information. For how to supervise the drone, refer to the related description in the prior art, which will not be repeated here.
- the terminal device since the drone includes the position information of the drone in the first beacon frame, and the first beacon frame is a plain text frame, as long as the terminal device that detects the radio broadcast signal of the drone can After receiving the first beacon frame, and the first beacon frame is a plain text frame, the terminal device can obtain the position information of the drone from the first beacon frame. Therefore, the terminal device can obtain the position information of the drone without accessing the drone to establish a one-to-one communication link, which does not affect the drone, and also facilitates the terminal device to the drone. Regulation (such as low-altitude airspace control of drones), without the need for dedicated drone surveillance equipment, also reduces regulatory costs.
- the terminal device may continue to wait to receive another first channel by receiving the same wireless channel of the first beacon frame.
- a beacon frame Because the drone sends the first beacon frame periodically, the terminal device can receive the first beacon frame again when the sending period of the first beacon frame arrives. If the position of the drone changes, the position information of the drone in the first beacon frame received by the terminal device at different times will also be different. Then the terminal device can supervise the drone according to the position information of the drone in the first beacon frame received multiple times, or the terminal device can monitor the drone in the first beacon frame received most recently Location information to monitor drones. Therefore, if the beacon frame received by the terminal device includes the position information of the drone, the terminal device will wait to continue to receive the beacon frame on the same wireless channel in order to continuously monitor the drone.
- the drone further receives a positioning signal through a positioning device of the drone.
- the positioning device can receive positioning signals in real time, and the positioning device is, for example, GPS, Beidou, Galileo satellite navigation system, and the like.
- the drone obtains the positioning signal currently received by the positioning device, and determines the position information of the drone according to the currently received positioning signal.
- the position information of the drone may include at least one of the following: longitude, latitude, and altitude.
- the foregoing wireless channel is a Wi-Fi channel or a Bluetooth channel, but this embodiment is not limited thereto, and may also be another type of wireless channel.
- the drone can broadcast Wi-Fi signals through the Wi-Fi module, and Wi-Fi signals can be transmitted through the Wi-Fi channel, so the drone can pass Wi-Fi Channel, broadcast and send a first beacon frame, which can be considered to belong to a Wi-Fi signal.
- the terminal device can receive the Wi-Fi signal through the Wi-Fi module, so the terminal device can receive the first beacon sent by the drone broadcast through the Wi-Fi channel. frame.
- the UAV can broadcast the Bluetooth signal through the Bluetooth module, and the Bluetooth signal can be transmitted through the Bluetooth channel. Therefore, one possible implementation of the above S203 is: the UAV is through the Bluetooth channel. Broadcasting a first beacon frame, the first beacon frame may be considered to belong to a Bluetooth signal. Accordingly, if a Bluetooth module is also installed in the terminal device, the terminal device can receive the Bluetooth signal through the Bluetooth module, so the terminal device can receive the first beacon frame sent by the drone broadcast through the Bluetooth channel.
- the above-mentioned position information of the drone is carried in a Service Set Identifier (SSID) field in the first beacon frame.
- SSID Service Set Identifier
- One possible implementation manner of the above S202 is: the drone adds the position information of the drone to the SSID field in the beacon frame to generate a first beacon frame.
- a possible implementation manner of the above S204 is: the terminal device parses the SSID field in the received first beacon frame, because the SSID field in the first beacon frame carries the position of the drone Information, so the terminal device can get the location information of the drone.
- the SSID field in the first beacon frame of this embodiment may include at least one of location information of the drone, user identification information, and manufacturer identification information of the drone.
- the manufacturer identification information may be used to identify a manufacturer of the drone and / or a model of the drone, and the like.
- a possible implementation manner of the above S202 is: the drone adds the position information and the manufacturer identification information of the drone to the SSID field in the beacon frame to generate a first beacon frame.
- a possible implementation manner of the above S204 is: the terminal device parses the SSID field in the received first beacon frame, because the SSID field in the first beacon frame carries the position of the drone Information and manufacturer identification information, so the terminal device can obtain the location information and manufacturer identification information of the drone.
- FIG. 3 is a schematic diagram of an SSID field in a first beacon frame according to an embodiment of the present invention.
- the SSID field includes a manufacturer's identification information and a location information of the drone.
- the manufacturer's identification information is the manufacturer's Organizationally Unique Identifier (OUI).
- the position information of the drone includes longitude, latitude, and altitude as examples.
- the SSID field in this embodiment further includes a cyclic redundancy check (Cyclic Redundancy Check, CRC) code.
- the CRC code is, for example, a CRC-16 code.
- the terminal device may identify the drone manufacturer according to the CRC code. CRC check of the information and location information to ensure the correctness and completeness of the manufacturer identification information and location information.
- the longest SSID field is, for example, 32 bytes.
- the drone in this embodiment may also periodically broadcast a second beacon frame through the wireless channel, a sending period of the second beacon frame and a sending period of the first beacon frame. different. Therefore, the drone not only transmits the first beacon frame through the wireless channel when the transmission period of the first beacon frame arrives, but also broadcasts the second through the wireless channel when the transmission period of the second beacon frame arrives.
- Beacon frame where the first beacon frame includes the position information of the drone, and the second beacon frame includes the identification information of the drone, and the identification information of the drone is used to distinguish the drone from other Drone.
- the identification information of the drone is, for example, a name set by the user for the drone. If the user does not change the name of the drone, the identification information of the drone in the second beacon frame periodically sent by the drone All are the same information.
- the sending period of the second beacon frame is 100ms
- the sending period of the first beacon frame is 3s.
- the drone obtains the position information of the drone every 3s, and sends the first beacon frame and the first beacon frame. It includes the position information of the drone; and the drone sends a second beacon frame every 100ms, and the second beacon frame includes the identification information of the drone.
- the identification information of the drone is carried in an SSID field in the second beacon frame. If the SSID field in the beacon frame sent by the drone broadcast includes the position information of the drone, the beacon frame is called the first beacon frame. If the beacon frame sent by the drone broadcasts the The SSID field includes identification information of the drone, so the beacon frame is called a second beacon frame. Therefore, the terminal device receives the beacon frame sent by the drone broadcast through the same wireless channel. If the beacon frame is the first beacon frame, the terminal device can obtain the position of the drone by analyzing the SSID field in the beacon frame. Information, if the beacon frame is a second beacon frame, the terminal device can parse the SSID field in the beacon frame to obtain the identification information of the drone.
- the terminal device if the terminal device receives the first beacon frame sent by the drone broadcast through the same wireless channel, and also receives the second beacon frame sent by the drone broadcast, since the second beacon frame includes no Human machine identification information, so the terminal device can supervise the drone identified by the identification information according to the location information in the received first beacon frame, so that the terminal device can supervise each drone supervised distinguish.
- beacon frame for fields other than the SSID field in the first beacon frame, reference may be made to the description in the beacon frame in the 802.11 protocol, and details are not described herein again.
- the second beacon frame reference may also be made to the description in the beacon frame in the 802.11 protocol, and details are not described herein again.
- the terminal device can detect the position information of the drone without knowing the wireless connection password of the drone, and can also detect the identity of the drone, which has no impact on the normal flight of the drone.
- Using terminal equipment (such as smart phones) as a supervision tool for drones has greatly reduced supervision costs.
- An embodiment of the present invention further provides a computer storage medium.
- the computer storage medium stores program instructions.
- the program When the program is executed, the program may include a part or all of the steps of the method for monitoring and controlling the mobile platform in the foregoing embodiments.
- FIG. 4 is a schematic structural diagram of a movable platform according to an embodiment of the present invention.
- the movable platform 400 in this embodiment may include a first processor 401 and a first wireless communication device 402.
- a processor 401 and the first wireless communication device 402 may be communicatively connected through a bus.
- the first processor 401 may be a central processing unit (CPU), and the first processor 401 may also be another general-purpose processor, a digital signal processor (DSP), or an application specific integrated circuit (Application).
- DSP digital signal processor
- Application Application specific integrated circuit
- Specific Integrated Circuit (ASIC) ready-made programmable gate array
- FPGA ready-made programmable gate array
- FPGA field-Programmable Gate Array
- a general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
- the movable platform 400 in this embodiment may further include a positioning device 403, and the positioning device 403 and the above-mentioned first processor 401 may be connected through a bus communication.
- the first processor 401 is configured to obtain position information of the movable platform 400; and generate a first beacon frame according to the position information of the movable platform 400, where the first beacon frame includes the movable beacon Location information of the mobile platform 400.
- a first wireless communication device 402 configured to broadcast transmit the first beacon frame through a wireless channel, so that a terminal device receiving the first beacon frame supervises the first beacon frame according to the location information in the first beacon frame Mobile platform 400.
- the first processor 401 is specifically configured to: when the sending period of the first beacon frame arrives, obtain the location information of the movable platform 400.
- the first wireless communication device 402 includes a Wi-Fi module or a Bluetooth module.
- the Wi-Fi module is configured to broadcast transmit the first beacon frame through a Wi-Fi channel.
- the Bluetooth module is configured to broadcast transmit the first beacon frame through a Bluetooth channel.
- the position information of the movable platform 400 is carried in an SSID field in the first beacon frame.
- the SSID field in the first beacon frame further includes manufacturer identification information of the mobile platform 400.
- the position information includes at least one of the following: longitude, latitude, and altitude.
- the first wireless communication device 402 is further configured to broadcast and send a second beacon frame through the wireless channel when a sending period of a second beacon frame arrives, and the second beacon frame is The identification information of the movable platform 400 is included.
- the sending period of the first beacon frame is different from the sending period of the second beacon frame.
- the identification information of the movable platform 400 is carried in an SSID field in the second beacon frame.
- the positioning device 403 is configured to receive a positioning signal.
- the first processor 401 is specifically configured to determine position information of the movable platform 400 according to the positioning signal received by the positioning device 403.
- the movable platform 400 in this embodiment may further include a first memory (not shown in the figure).
- the first memory is used to store program code.
- the movable platform 400 may implement The technical solution of the above UAV.
- the movable platform of this embodiment can be used to implement the technical solutions of the drone in the foregoing method embodiments of the present invention.
- the implementation principles and technical effects are similar, and will not be repeated here.
- FIG. 5 is a schematic structural diagram of a terminal device according to an embodiment of the present invention.
- the terminal device 500 in this embodiment may include: a second wireless communication device 501 and a second processor 502;
- the communication device 501 and the second processor 502 may be communicatively connected through a bus.
- the second processor 502 may be a CPU, and the second processor 502 may also be another general-purpose processor, DSP, ASIC, FPGA, or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, and the like.
- a general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
- the second wireless communication device 501 is configured to receive, through a wireless channel, a first beacon frame broadcasted by a mobile platform, where the first beacon frame includes position information of the mobile platform, and the first The beacon frame is sent by the mobile platform when the transmission period of the first beacon frame arrives.
- the second processor 502 is configured to obtain position information of the movable platform according to the first beacon frame; and supervise the movable platform according to the position information of the movable platform.
- the second wireless communication device 501 is further configured to continue to receive the first beacon frame periodically sent by the mobile platform through the wireless channel.
- the second processor 502 is further configured to supervise the mobile platform according to the position information of the mobile platform in the first beacon frame that continues to be received.
- the second wireless communication device 501 includes a Wi-Fi module or a Bluetooth module.
- the Wi-Fi module is configured to receive, through a Wi-Fi channel, a first beacon frame broadcast and sent by a mobile platform.
- the Bluetooth module is configured to receive, through a Bluetooth channel, a first beacon frame broadcasted by a mobile platform.
- the position information of the movable platform is carried in an SSID field in the first beacon frame.
- the second processor 502 is specifically configured to parse an SSID field in the first beacon frame to obtain position information of the movable platform.
- the SSID field in the first beacon frame further includes manufacturer identification information of the mobile platform.
- the position information includes at least one of the following: longitude, latitude, and altitude.
- the second wireless communication device 501 is further configured to receive, through the wireless channel, a second beacon frame broadcast and sent by the mobile platform, where the second beacon frame is the mobile platform Sent when the sending period of the second beacon frame arrives, the second beacon frame includes identification information of the mobile platform.
- the second processor 502 is further configured to obtain the identification information of the mobile platform according to the second beacon frame.
- the second processor 502 when supervising the mobile platform, is specifically configured to supervise the mobile platform identified by the identification information.
- the sending period of the first beacon frame is different from the sending period of the second beacon frame.
- the identification information of the mobile platform is carried in an SSID field in the second beacon frame.
- the terminal device in this embodiment may be used to execute the technical solution of the terminal device in each of the foregoing method embodiments of the present invention.
- the implementation principles and technical effects are similar, and details are not described herein again.
- FIG. 6 is a schematic structural diagram of a supervisory control system for a mobile platform according to an embodiment of the present invention.
- the supervisory control system 600 for a mobile platform in this embodiment may include a mobile platform 601 and a terminal. Device 602. It should be noted that FIG. 6 is shown with one mobile platform and one terminal device, but this embodiment is not limited to this. This embodiment may include multiple mobile platforms and multiple terminal devices, or Multiple mobile platforms and one terminal device, or one mobile platform and multiple terminal devices.
- the movable platform 601 is configured to obtain position information of the movable platform 601, and generate a first beacon frame according to the position information of the movable platform 601.
- the first beacon frame includes all the The position information of the movable platform 601 is described, and the first beacon frame is broadcast and transmitted through a wireless channel.
- the terminal device 602 is configured to receive, through a wireless channel, a first beacon frame broadcastly sent by the mobile platform 601; obtain the position information of the mobile platform 601 according to the first beacon frame; The position information of the mobile platform 601 is described, and the mobile platform 601 is supervised.
- the movable platform 601 when acquiring the position information of the movable platform 601, is specifically configured to: when the sending period of the first beacon frame arrives, acquire the position of the movable platform 601. information.
- the movable platform 601 is specifically configured to: broadcast transmit the first beacon frame through a Wi-Fi channel; or broadcast transmit the first beacon frame through a Bluetooth channel.
- the position information of the movable platform 601 is carried in an SSID field in the first beacon frame.
- the terminal device 602 is specifically configured to parse an SSID field in the first beacon frame to obtain position information of the movable platform 601.
- the SSID field in the first beacon frame further includes manufacturer identification information of the mobile platform 601.
- the position information includes at least one of the following: longitude, latitude, and altitude.
- the terminal device 602 is further configured to continue to receive the first beacon frame periodically sent by the mobile platform 601 through the wireless channel; according to the first beacon frame that is continuously received, The position information of the movable platform 601 supervises the movable platform 601.
- the movable platform 601 is further configured to broadcast and send a second beacon frame through the wireless channel when a sending period of the second beacon frame arrives, and the second beacon frame includes all the The identification information of the mobile platform 601 is described; wherein the sending cycle of the first beacon frame is different from the sending cycle of the second beacon frame.
- the terminal device 602 is further configured to receive, through the wireless channel, a second beacon frame that is broadcast and sent by the mobile platform 601. Accordingly, when the terminal device 602 supervises the mobile platform 601, Is specifically used for: supervising the mobile platform 601 identified by the identification information.
- the identification information of the movable platform 601 is carried in an SSID field in the second beacon frame.
- the movable platform 601 is further configured to receive a positioning signal through a positioning device of the movable platform 601.
- the movable platform 601 is specifically configured to determine the position information of the movable platform 601 according to the positioning signal.
- the terminal device can detect the position information of the mobile platform without knowing the wireless connection password of the mobile platform, so that the mobile platform can be supervised.
- the terminal device can also detect no one.
- the identity of the mobile device; the above solution has no impact on the normal operation of the mobile platform.
- the use of terminal equipment (such as a smart phone) as a tool for monitoring the mobile platform has greatly reduced the cost of supervision.
- the movable platform 601 may adopt the structure of the embodiment shown in FIG. 4, and correspondingly, the technical solutions of the drone in the foregoing method embodiments may be implemented. The implementation principles and technical effects thereof are similar, and are not repeated here.
- the terminal device 602 may adopt the structure of the embodiment shown in FIG. 5, and correspondingly, the technical solutions of the terminal device in the foregoing method embodiments may be implemented. The implementation principles and technical effects are similar, and are not described herein again.
- the foregoing program may be stored in a computer-readable storage medium.
- the program is executed, the program is executed.
- the foregoing storage medium includes: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc. The medium.
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Abstract
Description
Claims (44)
- 一种可移动平台的监管控制方法,其特征在于,应用于可移动平台,所述方法包括:获取可移动平台的位置信息;根据所述可移动平台的位置信息,生成第一信标帧,所述第一信标帧中包括所述可移动平台的位置信息;通过无线信道,广播发送所述第一信标帧,以便接收所述第一信标帧的终端设备根据所述第一信标帧中的位置信息监管所述可移动平台。
- 根据权利要求1所述的方法,其特征在于,所述获取可移动平台的位置信息,包括:在所述第一信标帧的发送周期到达时,获取所述可移动平台的位置信息。
- 根据权利要求1或2所述的方法,其特征在于,所述通过无线信道,发送所述第一信标帧,包括:通过无线保真Wi-Fi信道,广播发送所述第一信标帧;或者,通过蓝牙信道,广播发送所述第一信标帧。
- 根据权利要求1-3任一项所述的方法,其特征在于,所述可移动平台的位置信息携带在所述第一信标帧中的服务集标识SSID字段中。
- 根据权利要求4所述的方法,其特征在于,所述第一信标帧中的SSID字段中还包括所述可移动平台的厂商标识信息。
- 根据权利要求1-5任一项所述的方法,其特征在于,所述位置信息包括以下至少一项:经度、纬度、海拔高度。
- 根据权利要求1-6任一项所述的方法,其特征在于,还包括:在第二信标帧的发送周期到达时,通过所述无线信道,广播发送第二信标帧,所述第二信标帧中包括所述可移动平台的标识信息;其中,所述第一信标帧的发送周期与所述第二信标帧的发送周期不相同。
- 根据权利要求7所述的方法,其特征在于,所述可移动平台的标识信息携带在所述第二信标帧中的SSID字段。
- 根据权利要求1-8任一项所述的方法,其特征在于,所述方法还包括:通过所述可移动平台的定位装置接收定位信号;所述获取可移动平台的位置信息,包括:根据所述定位信号,获取所述 可移动平台的位置信息。
- 一种可移动平台的监管控制方法,其特征在于,应用于终端设备,所述方法包括:通过无线信道,接收可移动平台广播发送的第一信标帧,所述第一信标帧中包括所述可移动平台的位置信息,所述第一信标帧是所述可移动平台在第一信标帧的发送周期到达时发送的;根据所述第一信标帧,获得所述可移动平台的位置信息;根据所述可移动平台的位置信息,对所述可移动平台进行监管。
- 根据权利要求10所述的方法,其特征在于,所述根据所述第一信标帧,获得所述可移动平台的位置信息之后,还包括:通过所述无线信道,继续接收所述可移动平台周期性广播发送的第一信标帧;根据继续接收到的第一信标帧中的所述可移动平台的位置信息,对所述可移动平台进行监管。
- 根据权利要求10或11所述的方法,其特征在于,所述通过无线信道,接收可移动平台广播发送的第一信标帧,包括:通过无线保真Wi-Fi信道,接收可移动平台广播发送的第一信标帧;或者,通过蓝牙信道,接收可移动平台广播发送的第一信标帧。
- 根据权利要求10-12任一项所述的方法,其特征在于,所述可移动平台的位置信息携带在所述第一信标帧中的服务集标识SSID字段中;所述根据所述第一信标帧,获得所述可移动平台的位置信息,包括:对所述第一信标帧中的SSID字段进行解析,获得所述可移动平台的位置信息。
- 根据权利要求13所述的方法,其特征在于,所述第一信标帧中的SSID字段中还包括所述可移动平台的厂商标识信息。
- 根据权利要求10-14任一项所述的方法,其特征在于,所述位置信息包括以下至少一项:经度、纬度、海拔高度。
- 根据权利要求10-15任一项所述的方法,其特征在于,还包括:通过所述无线信道,接收所述可移动平台广播发送的第二信标帧,所述 第二信标帧是所述可移动平台在第二信标帧的发送周期到达时发送的,所述第二信标帧中包括所述可移动平台的标识信息;根据所述第二信标帧,获得所述可移动平台的标识信息;所述对所述可移动平台进行监管,包括:对所述标识信息标识的所述可移动平台进行监管;其中,所述第一信标帧的发送周期与所述第二信标帧的发送周期不相同。
- 根据权利要求16所述的方法,其特征在于,所述可移动平台的标识信息携带在所述第二信标帧中的SSID字段。
- 一种可移动平台,其特征在于,包括:第一处理器,用于获取可移动平台的位置信息;以及根据所述可移动平台的位置信息,生成第一信标帧,所述第一信标帧中包括所述可移动平台的位置信息;第一无线通信装置,用于通过无线信道,广播发送所述第一信标帧,以便接收所述第一信标帧的终端设备根据所述第一信标帧中的位置信息监管所述可移动平台。
- 根据权利要求18所述的可移动平台,其特征在于,所述第一处理器,具体用于:在所述第一信标帧的发送周期到达时,获取所述可移动平台的位置信息。
- 根据权利要求18或19所述的可移动平台,其特征在于,所述第一无线通信装置包括无线保真Wi-Fi模块;所述Wi-Fi模块,用于通过Wi-Fi信道,广播发送所述第一信标帧;或者,所述第一无线通信装置包括蓝牙模块;所述蓝牙模块,用于通过蓝牙信道,广播发送所述第一信标帧。
- 根据权利要求18-20任一项所述的可移动平台,其特征在于,所述可移动平台的位置信息携带在所述第一信标帧中的服务集标识SSID字段中。
- 根据权利要求21所述的可移动平台,其特征在于,所述第一信标帧中的SSID字段中还包括所述可移动平台的厂商标识信息。
- 根据权利要求18-22任一项所述的可移动平台,其特征在于,所述位置信息包括以下至少一项:经度、纬度、海拔高度。
- 根据权利要求18-23任一项所述的可移动平台,其特征在于,所述第一无线通信装置,还用于在第二信标帧的发送周期到达时,通过所述无线信道,广播发送第二信标帧,所述第二信标帧中包括所述可移动平台的标识信息;其中,所述第一信标帧的发送周期与所述第二信标帧的发送周期不相同。
- 根据权利要求24所述的可移动平台,其特征在于,所述可移动平台的标识信息携带在所述第二信标帧中的SSID字段。
- 根据权利要求18-25任一项所述的可移动平台,其特征在于,还包括:定位装置;所述定位装置,用于接收定位信号;所述第一处理器,具体用于根据所述定位装置接收的所述定位信号,获取所述可移动平台的位置信息。
- 一种终端设备,其特征在于,包括:第二无线通信装置,用于通过无线信道,接收可移动平台广播发送的第一信标帧,所述第一信标帧中包括所述可移动平台的位置信息,所述第一信标帧是所述可移动平台在第一信标帧的发送周期到达时发送的;第二处理器,用于根据所述第一信标帧,获得所述可移动平台的位置信息;以及根据所述可移动平台的位置信息,对所述可移动平台进行监管。
- 根据权利要求27所述的终端设备,其特征在于,所述第二无线通信装置,还用于通过所述无线信道,继续接收所述可移动平台周期性广播发送的第一信标帧;所述第二处理器,还用于根据继续接收到的第一信标帧中的所述可移动平台的位置信息,对所述可移动平台进行监管。
- 根据权利要求27或28所述的终端设备,其特征在于,所述第二无线通信装置包括:无线保真Wi-Fi模块;所述Wi-Fi模块,用于通过Wi-Fi信道,接收可移动平台广播发送的第一信标帧;或者,所述第二无线通信装置包括:蓝牙模块;所述蓝牙模块,用于通过蓝牙信道,接收可移动平台广播发送的第一信标帧。
- 根据权利要求27-29任一项所述的终端设备,其特征在于,所述可移动平台的位置信息携带在所述第一信标帧中的服务集标识SSID字段中;所述第二处理器,具体用于:对所述第一信标帧中的SSID字段进行解析, 获得所述可移动平台的位置信息。
- 根据权利要求30所述的终端设备,其特征在于,所述第一信标帧中的SSID字段中还包括所述可移动平台的厂商标识信息。
- 根据权利要求27-31任一项所述的终端设备,其特征在于,所述位置信息包括以下至少一项:经度、纬度、海拔高度。
- 根据权利要求27-32任一项所述的终端设备,其特征在于,所述第二无线通信装置,还用于通过所述无线信道,接收所述可移动平台广播发送的第二信标帧,所述第二信标帧是所述可移动平台在第二信标帧的发送周期到达时发送的,所述第二信标帧中包括所述可移动平台的标识信息;所述第二处理器,还用于根据所述第二信标帧,获得所述可移动平台的标识信息;相应地,所述第二处理器在对所述可移动平台进行监管时,具体用于:对所述标识信息标识的所述可移动平台进行监管;其中,所述第一信标帧的发送周期与所述第二信标帧的发送周期不相同。
- 根据权利要求33所述的终端设备,其特征在于,所述可移动平台的标识信息携带在所述第二信标帧中的SSID字段。
- 一种可移动平台的监管控制系统,其特征在于,包括:可移动平台和终端设备;所述可移动平台,用于获取所述可移动平台的位置信息;根据所述可移动平台的位置信息,生成第一信标帧,所述第一信标帧中包括所述可移动平台的位置信息;通过无线信道,广播发送所述第一信标帧;所述终端设备,用于通过无线信道,接收所述可移动平台广播发送的第一信标帧;根据所述第一信标帧,获得所述可移动平台的位置信息;根据所述可移动平台的位置信息,对所述可移动平台进行监管。
- 根据权利要求35所述的系统,其特征在于,所述可移动平台在获取所述可移动平台的位置信息时,具体用于:在所述第一信标帧的发送周期到达时,获取所述可移动平台的位置信息。
- 根据权利要求35或36所述的系统,其特征在于,所述可移动平台,具体用于:通过无线保真Wi-Fi信道,广播发送所述第一信标帧;或者,通 过蓝牙信道,广播发送所述第一信标帧。
- 根据权利要求35-37任一项所述的系统,其特征在于,所述可移动平台的位置信息携带在所述第一信标帧中的服务集标识SSID字段中;所述终端设备,具体用于对所述第一信标帧中的SSID字段进行解析,获得所述可移动平台的位置信息。
- 根据权利要求38所述的系统,其特征在于,所述第一信标帧中的SSID字段中还包括所述可移动平台的厂商标识信息。
- 根据权利要求35-39任一项所述的系统,其特征在于,所述位置信息包括以下至少一项:经度、纬度、海拔高度。
- 根据权利要求35-40任一项所述的系统,其特征在于,所述终端设备,还用于通过所述无线信道,继续接收所述可移动平台周期性广播发送的第一信标帧;根据继续接收到的第一信标帧中的所述可移动平台的位置信息,对所述可移动平台进行监管。
- 根据权利要求35-41任一项所述的系统,其特征在于,所述可移动平台,还用于在第二信标帧的发送周期到达时,通过所述无线信道,广播发送第二信标帧,所述第二信标帧中包括所述可移动平台的标识信息;其中,所述第一信标帧的发送周期与所述第二信标帧的发送周期不相同;所述终端设备,还用于通过所述无线信道,接收所述可移动平台广播发送的第二信标帧;相应地,所述终端设备在对所述可移动平台进行监管时,具体用于:对所述标识信息标识的所述可移动平台进行监管。
- 根据权利要求42所述的系统,其特征在于,所述可移动平台的标识信息携带在所述第二信标帧中的SSID字段。
- 根据权利要求35-43任一项所述的系统,其特征在于,所述可移动平台,还用于通过所述可移动平台的定位装置接收定位信号;所述可移动平台在获取可移动平台的位置信息时,具体用于:根据所述定位信号,获取所述可移动平台的位置信息。
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CN107180561A (zh) * | 2017-07-04 | 2017-09-19 | 中国联合网络通信集团有限公司 | 一种无人机飞行监管方法、平台及系统 |
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EP3826365A1 (en) | 2021-05-26 |
US20210160662A1 (en) | 2021-05-27 |
EP3826365A4 (en) | 2021-07-14 |
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