WO2020172873A1

WO2020172873A1 - Communication method for unmanned aerial vehicle, and unmanned aerial vehicle

Info

Publication number: WO2020172873A1
Application number: PCT/CN2019/076566
Authority: WO
Inventors: 马宁; 陈颖; 朱伟伟
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-02-28
Filing date: 2019-02-28
Publication date: 2020-09-03
Also published as: CN111316576A

Abstract

Provided are a communication method for an unmanned aerial vehicle, and an unmanned aerial vehicle. The method comprises: monitoring a broadcast signal sent by an external unmanned aerial vehicle on at least one preset frequency point, with the broadcast signal comprising channel information of the external unmanned aerial vehicle (S201); determining, according to the monitored broadcast signal, a working channel of the unmanned aerial vehicle (S202); and the unmanned aerial vehicle using the working channel for communication (S203). By means of monitoring a broadcast signal, the automatic optimization selection of a frequency point is realized, and the efficiency of selecting a frequency point is improved; and determining, according to the monitored broadcast signal, a working channel of an unmanned aerial vehicle can better prevent communication frequency point conflicts and reduce the communication interference of the unmanned aerial vehicle.

Description

UAV communication method and UAV

Technical field

The embodiment of the present invention relates to the technical field of drones, and in particular to a communication method of the drone and the drone.

Background technique

Unmanned Aerial Vehicle (UAV) can be referred to as "UAV" for short, and it communicates with the remote control of the ground station through an unlicensed frequency band. The remote control of the ground station can control the flight of the drone, and the drone can send information to the remote control of the ground station in real time during the flight. Since the wireless communication between the drone and the remote control of the ground station mainly works in the unlicensed frequency band, when multiple drones are working in the same airspace, especially in a smaller airspace, there are multiple unlicensed frequencies. When man-machine, it is easy to interfere with each other, which affects the control and communication quality of UAV.

The existing method mainly uses drones to scan the working frequency band for interference, to detect which channels have less interference, and then select these less interference channels for communication. However, since this kind of UAV scanning usually only scans in a certain small time window, and does not scan the entire frequency band, it is impossible to obtain interference conditions for all channels on the entire frequency band. In the aforementioned scenario, when there are multiple drones and paired remote controllers in a small airspace to communicate, for example, during a cross-machine competition, there may be many drones on the competition field at the same time. At this time, this way of working is likely to cause multiple drones to work on the same channel, thereby causing mutual interference.

Summary of the invention

The embodiment of the present invention provides a communication method of an unmanned aerial vehicle and an unmanned aerial vehicle, which are used to solve the problem that the existing unmanned aerial vehicle is likely to interfere with each other in the communication process.

In the first aspect, an embodiment of the present invention provides a communication method for drones, which is applied to drones, including:

Listening to a broadcast signal sent by an external drone on at least one preset frequency point, where the broadcast signal includes channel information of the external drone;

Determine the working channel of the UAV according to the monitored broadcast signal;

The UAV uses the working channel for communication.

In the second aspect, an embodiment of the present invention provides a drone, including: a memory and a processor;

The processor is used for:

Use the working channel for communication.

In a third aspect, an embodiment of the present invention provides a communication device (such as a chip, an integrated circuit, etc.) of a drone, including: a receiving antenna for receiving signals; a transmitting antenna for transmitting signals; a memory, the memory, Code for storing and executing the communication method of the drone; and a processor, the processor is configured to call the code stored in the memory to execute the drone according to the embodiment of the present invention in the first aspect Communication method.

In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having computer-executable instructions stored in the computer-readable storage medium. When the computer-executable instructions are executed by a processor, they are used to implement the present invention as in the first aspect. The communication method of the drone described in the embodiment.

According to the communication method of the drone and the drone provided by the embodiment of the present invention, the broadcast signal sent by the external drone is monitored on at least one preset frequency point, and the broadcast signal includes the channel information of the external drone; The monitored broadcast signal determines the working channel of the drone; the drone uses the working channel to communicate. By monitoring the broadcast signal, the automatic optimization of frequency selection is realized, and the efficiency of frequency selection is improved; according to the monitored broadcast signal, the working channel of the drone is determined, which can better avoid communication frequency conflicts and reduce unattended Communication interference of the machine.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings used in the description of the embodiments or the prior art. Obviously, the drawings in the following description These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

Figure 1 is a schematic architecture diagram of an unmanned aerial system provided according to an embodiment of the present invention;

2 is a flowchart of an embodiment of a communication method for drones provided by the present invention;

Fig. 3 is a schematic structural diagram of an embodiment of the drone provided by the present invention.

detailed description

In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of the embodiments of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or a central component may also exist. When a component is considered to be "connected" to another component, it can be directly connected to another component or there may be a centered component at the same time.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The term "and/or" as used herein includes any and all combinations of one or more related listed items.

Hereinafter, some embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

The embodiment of the present invention provides a communication method of a drone and a drone. The unmanned aerial vehicle may be, for example, a rotorcraft, for example, a multi-rotor aircraft propelled by a plurality of propulsion devices through the air, and the embodiment of the present invention is not limited thereto.

Fig. 1 is a schematic architecture diagram of an unmanned aerial system provided according to an embodiment of the present invention. In this embodiment, a rotary wing drone is taken as an example for description.

The unmanned flying system 100 may include a drone 110, a display device 130, and a control terminal 140. Among them, the UAV 110 may include a power system 150, a flight control system 160, a wireless communication device 170, a frame, and a pan/tilt 120 carried on the frame. The drone 110 can wirelessly communicate with the control terminal 140 and the display device 130 through the wireless communication device 170.

The wireless communication device 170 may include a receiving antenna 171 and a transmitting antenna 172. Among them, the receiving antenna 171 is used for receiving signals, and the transmitting antenna 172 is used for transmitting signals.

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 the one or more arms extend radially from the center frame. The tripod is connected with the fuselage, and is used for supporting the UAV 110 when landing.

The power system 150 may include one or more electronic speed regulators (referred to as ESCs) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153, wherein the motors 152 are connected to Between the electronic governor 151 and the propeller 153, the motor 152 and the propeller 153 are arranged on the arm of the UAV 110; the electronic governor 151 is used to receive the driving signal generated by the flight control system 160 and provide driving according to the driving signal Current is supplied to the motor 152 to control the speed of the motor 152. The motor 152 is used to drive the propeller to rotate, thereby providing power for the flight of the drone 110, and the power enables the drone 110 to realize one or more degrees of freedom of movement. In some embodiments, the drone 110 may rotate about one or more rotation axes. For example, the aforementioned rotation axis may include a roll axis (Roll), a yaw axis (Yaw), and a pitch axis (pitch). It should be understood that the motor 152 may be a DC motor or an AC motor. In addition, the motor 152 may be a brushless motor or a brushed motor.

The flight control system 160 may include a flight 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 state 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 sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (IMU), a vision sensor, a global navigation satellite system, and a barometer. For example, the global navigation satellite system may be a global positioning system (Global Positioning System, GPS). The flight controller 161 is used to control the flight of the drone 110, for example, it can control the flight of the drone 110 according to the attitude information measured by the sensor system 162. It should be understood that the flight controller 161 can control the drone 110 according to pre-programmed program instructions, and can also control the drone 110 by responding to one or more control instructions from the control terminal 140.

The pan/tilt head 120 may include a motor 122. The pan/tilt is used to carry the camera 123. The flight controller 161 can control the movement of the pan-tilt 120 through the motor 122. Optionally, as another embodiment, the pan/tilt head 120 may further include a controller for controlling the movement of the pan/tilt head 120 by controlling the motor 122. It should be understood that the pan-tilt 120 may be independent of the drone 110 or a part of the drone 110. It should be understood that the motor 122 may be a DC motor or an AC motor. In addition, the motor 122 may be a brushless motor or a brushed motor. It should also be understood that the pan-tilt may 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 images, such as a camera or a video camera, and the photographing device 123 may communicate with the flight controller and take pictures under the control of the flight controller. The imaging device 123 of this embodiment at least includes a photosensitive element, and the photosensitive element is, for example, a complementary metal oxide semiconductor (Complementary Metal Oxide Semiconductor, CMOS) sensor or a charge-coupled device (Charge-coupled Device, CCD) sensor. It can be understood that the camera 123 can also be directly fixed to the drone 110, so the pan/tilt 120 can be omitted.

The display device 130 is located at the ground end of the unmanned aerial system 100, can communicate with the drone 110 in a wireless manner, and can be used to display the attitude information of the drone 110. In addition, the image taken by the imaging device may also be displayed on the display device 130. It should be understood that the display device 130 may be an independent device or integrated in the control terminal 140.

The control terminal 140 is located on the ground end of the unmanned aerial system 100, and can communicate with the drone 110 in a wireless manner for remote control of the drone 110.

In some embodiments, the display device 130 and the control terminal 140 may be the same device, and are not limited to the two devices shown in FIG. 1.

In addition, the drone 110 may also be equipped with a speaker (not shown in the figure), which is used to play audio files. The speaker can be directly fixed on the drone 110 or mounted on the pan-tilt 120.

It should be understood that the aforementioned naming of the components of the unmanned aerial system is only for identification purposes and should not be understood as a limitation to the embodiments of the present invention. The communication method of the UAV described in the following embodiment may be executed by the flight controller 161, for example, to control the UAV to use the working channel for communication.

Fig. 2 is a flowchart of an embodiment of a communication method for a drone provided by the present invention. The method provided in this embodiment can be applied to drones. As shown in Figure 2, the method provided in this embodiment may include:

S201. Monitor a broadcast signal sent by an external drone on at least one preset frequency point, where the broadcast signal includes channel information of the external drone.

The external drone in this embodiment is another drone in the same airspace as the drone that executes the drone communication method provided in this embodiment. It should be noted that as the drone flies, other drones in the same airspace as the drone may change. UAVs in the same airspace interfere with each other. The magnitude of the interference is related to the distance between the UAVs, the communication power of the UAVs and the communication frequency used, such as the magnitude of the interference and the distance between the UAVs Negative correlation, the magnitude of interference is positively related to the communication power of the UAV, and the magnitude of interference is negatively related to the communication frequency interval used by the UAV.

In order to reduce mutual interference, when the drones in this embodiment are powered on or resynchronized, they monitor the broadcast signals sent by external drones on at least one preset frequency point. The preset can be users, etc. Set. For example, when a drone competition is conducted on a field, at least one frequency point here may be preset by the organizer of the event, or may be preset by the user who controls the drone. Among them, the broadcast signal may include the channel information of the external drone, such as the frequency and channel identification used by the external drone for communication. Optionally, the broadcast signal may also include identification information of an external drone, for example, the serial number or a custom ID of the drone, etc. The identification information of different drones is different. It is understandable that in this embodiment, the external drone can transmit broadcast signals on at least one preset frequency point. Here, the preset frequency point for the external drone to transmit broadcast signals can be connected with the external drone. The frequency used by the drone for communication (that is, the content included in the broadcast channel information) is the same, and it can also be different from the frequency used by the external drone for communication.

The unlicensed frequency band used by the drone in this embodiment may be an industrial, scientific, and medical (Industrial Scientific, Medical, ISM) frequency band or a frequency band used by wireless fidelity (Wireless Fidelity, WIFI) technology, and may specifically include 2.405 GHz~ 2.485GHz and wireless signal frequency bands in the range of 5.15GHz～5.825GHz. The airspace where the drone is located is usually allocated a certain frequency domain resource, and the frequency domain resource may be one or more frequency points in the above-mentioned wireless signal frequency band. The one or more frequency points allocated to the airspace range may be understood as the frequency points associated with the airspace range. The number of frequency points allocated to the airspace range can be determined according to the maximum number of drones that can be accommodated in the airspace range. The at least one frequency point preset in this embodiment may be a frequency point among the frequency points associated with the spatial range.

S202. Determine the working channel of the drone according to the monitored broadcast signal.

In this embodiment, after the drone monitors the broadcast signal sent by the external drone, it can determine the channel information of each external drone according to the monitored broadcast signal, and then the drone can be determined according to the principle of minimizing interference The working channel, that is, the determined working channel can minimize the mutual interference between the UAV and the external UAVs.

S203. The drone uses the working channel for communication.

In this embodiment, after the working channel of the drone is determined, the drone can use the determined working channel to communicate, for example, using the working channel to communicate with the remote control of the ground station and/or the image transmission receiving device of the ground station For communication, it should be noted that the remote control and the image transmission receiving device can be the same device.

The communication method of the drone provided in this embodiment monitors the broadcast signal sent by the external drone on at least one pre-set frequency point, and the broadcast signal includes the channel information of the external drone; according to the monitored broadcast signal , Determine the working channel of the drone; the drone uses the working channel to communicate. By monitoring broadcast signals, the automatic selection of frequency points is realized, and the efficiency of frequency point selection is improved; according to the monitored broadcast signals, the working channel of the drone is determined, which can better avoid communication frequency conflicts and reduce drones Communication interference.

In some embodiments, an implementation of monitoring the broadcast signal sent by an external drone on at least one preset frequency point may be: listening to the broadcast signal sent by an external drone on a preset frequency point Signal; or, monitor the broadcast signal sent by an external drone on some or all of the pre-set frequency points set.

Among them, monitoring the broadcast signal sent by an external drone on a preset frequency point is suitable for all external drones sending broadcast signals on the preset frequency point. A preset frequency point is one of the frequency points associated with the spatial range. For example, a frequency point can be selected from the frequency points associated with the airspace range to be used for transmitting the broadcast signal.

Listening to the broadcast signal sent by an external drone on some or all frequency points in the preset frequency point set, which is suitable for the external drone to send broadcast signals on a frequency point in the preset frequency point set In this case, the preset frequency point set is a plurality of frequency points among the frequency points associated with the spatial range. When the external drone sends broadcast signals, it can use any frequency point in the preset frequency point set.

In some embodiments, one way to determine the working channel of the drone based on the monitored broadcast signal may be: determine whether there is an idle channel based on the monitored broadcast signal; if there is an idle channel, set the idle channel Determined as the working channel of the UAV.

The idle channel in this embodiment is a channel that is not used by any external drone. By determining the idle channel as the working channel of the drone, frequency conflicts can be avoided, the communication interference of the drone can be reduced, and the communication quality can be improved. . It is understandable that the existence of idle channels means that the number of drones flying in the airspace can be less than the number of frequency points associated with the airspace.

Optionally, when it is determined that there are multiple idle channels based on the monitored broadcast signal, the idle channel with the least interference may be determined as the working channel of the UAV. For example, the idle channel with the largest frequency separation from the used channel can be determined as the working channel of the drone; or the idle channel with the highest signal-to-noise ratio can be determined as the working channel of the drone.

For example, if the frequency points associated with the airspace range include: F1, F2, F3, F4, F5, F6, F7, F8, F9, and F10. From F1 to F10, the frequency increases sequentially. Among them, the frequency point F1 is a preset frequency point for transmitting broadcast signals. When the drone is turned on, by continuously monitoring the broadcast signal on the preset frequency point F1, it is determined that there are 4 external drones in the airspace. The corresponding frequency points of the channels used are F2, F3, F4. And F5. It can be determined that there are 5 idle channels, namely F6, F7, F8, F9, and F10. Determine any one of the idle channels F6, F7, F8, F9, and F10 as the working channel of the UAV, so as to avoid the conflict between the UAV and the external UAV operating frequency and reduce the mutual interference. Interference. In order to further reduce the mutual interference and further improve the communication quality, the channel with the least interference among the idle channels F6, F7, F8, F9 and F10 can be determined as the working channel of the UAV. The frequency point F10 has the largest distance from the used frequency point, so the channel corresponding to F10 can be determined as the working channel of the drone; or, measure the signal-to-noise ratio in the idle channels F6, F7, F8, F9 and F10 respectively, and The highest signal-to-noise ratio is determined as the working channel of the UAV.

The communication method of the UAV provided in this embodiment is based on the above-mentioned embodiment and determines whether there is an idle channel based on the monitored broadcast signal; if there is an idle channel, the idle channel is determined as the work of the UAV channel. It is realized that when the number of drones flying in the same airspace is less than the number of frequency points associated with the airspace range, the same frequency interference between drones is avoided.

In the following, two embodiments are used to describe how to determine the working channel of the UAV when there is no idle channel. It is understandable that if there is no idle channel, it means that the number of drones flying in the airspace range is greater than or equal to the number of frequency points associated with the airspace range.

On the basis of the foregoing embodiment, the method provided in this embodiment may further include: if there is no idle channel, obtaining the channel interference value of each used channel; and determining the channel with the smallest channel interference value as the operation of the drone channel.

In this embodiment, the frequency points associated with the spatial range have been used, that is, there is no idle channel, and the channel interference value of each used channel is obtained. Wherein, the channel interference value may be measured by one or more of signal-to-noise ratio, received power, and signal-to-interference ratio. After the channel interference value of each used channel is determined, the channel with the smallest channel interference value is determined as the working channel of the UAV. It is realized that when the number of drones flying in the same airspace is greater than or equal to the number of frequency points associated with the airspace range, mutual interference between drones is minimized.

On the basis of the above-mentioned embodiment, the method provided in this embodiment may further include: if there is no idle channel, sending prompt information to the user, the prompt information is used to remind the user that there is interference; according to the instruction input by the user, determine that no one The working channel of the machine.

In this embodiment, when there is no idle channel, a prompt message is sent to the user to remind the user that there is interference. For example, the prompt information can be displayed by voice, text, or image, so that the user can grasp the airspace in time. The interference situation. Optionally, the prompt information, for example, may also include the channel interference value of each used channel, so that the user can refer to the prompt information for channel selection. Then, according to the instructions entered by the user, the operating channel of the drone is determined.

Optionally, the working channel may include an uplink working channel and a downlink working channel, that is, the UAV performs two-way communication with the remote controller of the corresponding ground station and/or the image transmission receiving device of the ground station. In other words, the UAV uses the working channel to communicate can include: the UAV uses the uplink working channel to receive signals sent by the UAV's remote control to the UAV, and the UAV uses the downlink working channel to remotely control the UAV. The device sends a signal.

Optionally, the uplink working channel and the downlink working channel may be the same, that is, the frequencies corresponding to the uplink working channel and the downlink working channel are the same. The remote controller of the UAV and its corresponding ground station and/or the image transmission receiving device of the ground station may, for example, perform two-way communication in a time division duplex TDD manner on the same frequency corresponding to the working channel.

Optionally, the uplink working channel and the downlink working channel may be different, that is, the frequency points corresponding to the uplink working channel and the downlink working channel are different. The remote controller of the UAV and its corresponding ground station and/or the image transmission receiving device of the ground station, for example, can perform two-way communication through frequency division duplex FDD on two frequency points corresponding to the working channel.

When the drone is working normally, in order to enable the external drone to learn its channel information in time, the method provided in this embodiment, on the basis of any of the above embodiments, after the drone uses the working channel for communication, Can include:

A broadcast signal is sent on at least one preset frequency point, and the broadcast signal includes working channel information and/or identification information of the UAV.

Optionally, sending a broadcast signal on at least one preset frequency point may include:

Send a broadcast signal on a preset frequency point;

or,

The broadcast signal is sent on a frequency point in the preset frequency point set.

When the drone is working normally, as the drone is flying, the external drone in the same airspace as the drone may change. Therefore, in order to know the interference situation in the airspace where the drone is located in time, this The method provided by the embodiment, on the basis of any of the foregoing embodiments, after the drone uses the working channel for communication, may further include: the drone monitors on at least one preset frequency point in a preset period Broadcast signal sent by an external drone; adjust the working channel of the drone according to the monitored broadcast signal.

The preset period in this embodiment may be determined according to the size of the business load of the drone, for example. When the service load of the drone increases, the value of the preset period can be increased; when the service load of the drone decreases, the value of the preset period can be decreased.

For the specific implementation manner of monitoring the broadcast signal sent by the external drone on at least one preset frequency point in this embodiment, reference may be made to the above-mentioned embodiment, which will not be repeated here.

According to the monitored broadcast signal in this embodiment, an implementation manner of adjusting the working channel of the UAV may be:

If, according to the monitored broadcast signal, it is determined that there is no external drone in the airspace where the drone is located using the working channel of the drone to communicate, the drone continues to use the working channel for communication.

If based on the monitored broadcast signal, it is determined that there is an external UAV in the airspace where the UAV is located and uses the working channel of the UAV to communicate. In order to avoid co-channel interference, further determine whether there is any based on the monitored broadcast signal. Idle channel. If there is an idle channel, adjust the working channel of the UAV to the idle channel.

Optionally, if there is no idle channel, the channel interference value of each used channel is further obtained; the working channel of the drone is adjusted to the channel with the smallest channel interference value.

Optionally, if there is no idle channel, a prompt message is sent to the user, and the prompt message is used to remind the user that there is interference; adjust the working channel of the drone according to the instruction input by the user.

The communication method of the drone provided in this embodiment is based on any of the above embodiments, the drone is used to monitor the broadcast signal sent by the external drone on at least one pre-set frequency in a preset period ; And according to the monitored broadcast signal, adjust the working channel of the UAV. When the UAV is working normally, it can grasp the interference situation in the airspace in time, and adjust the working channel of the UAV accordingly, which reduces the interference and improves the communication quality.

Optionally, the method may further include: the unmanned aerial vehicle and the external unmanned aerial vehicle use the frequency points of their respective working channels to send broadcast signals.

In this embodiment, the unmanned aerial vehicle and the external unmanned aerial vehicle use the frequency points of their respective working channels to send broadcast signals. Therefore, there is no need to set additional frequency points for sending broadcast signals, which improves the utilization of frequency resources.

Fig. 3 is a schematic structural diagram of an embodiment of the drone provided by the present invention. As shown in FIG. 3, the drone 300 provided in this embodiment may include: a memory 301, a processor 302, and a wireless communication device 303. The memory 301, the processor 302, and the wireless communication device 303 can be connected via a bus. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an extended industry standard architecture. (Extended Industry Standard Architecture, EISA) bus, etc. The aforementioned processor 302 may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), ready-made Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like. The wireless communication device 303 may include a receiving antenna and a transmitting antenna. Among them, the receiving antenna is used to receive signals, and the transmitting antenna is used to transmit signals.

The memory 301 may be used to store control instructions.

The processor 302 may be used for the control instructions stored in the direct memory 301 to realize:

Monitor the broadcast signal sent by the external drone on at least one pre-set frequency point, the broadcast signal includes the channel information of the external drone;

Use the working channel for communication.

Optionally, the processor 302 is configured to execute the control instruction to monitor the broadcast signal sent by the external drone on at least one preset frequency point, which specifically includes:

On a pre-set frequency point, monitor the broadcast signal sent by an external drone through the receiving antenna;

or,

On some or all frequency points in the preset frequency point set, the broadcast signal sent by the external drone is monitored through the receiving antenna.

Optionally, the processor 302 is configured to execute the control instruction to determine the working channel of the drone according to the monitored broadcast signal, which specifically includes:

Determine whether there is an idle channel based on the monitored broadcast signal;

If there is an idle channel, the idle channel is determined as the working channel of the UAV.

Optionally, the processor 302 is further configured to execute the control instruction to realize:

If there is no idle channel, obtain the channel interference value of each used channel;

The channel with the smallest channel interference value is determined as the working channel of the UAV.

If there is no idle channel, a prompt message is sent to the user, and the prompt message is used to remind the user that there is interference;

According to the instructions entered by the user, the operating channel of the drone is determined.

Optionally, the working channel includes an uplink working channel and a downlink working channel;

The processor 302 is configured to execute the control instruction to implement communication using a working channel, which specifically includes:

The signal sent by the remote controller of the drone to the drone is received through the receiving antenna on the uplink working channel; the signal is sent to the remote controller of the drone on the downlink working channel through the transmitting antenna.

Optionally, the uplink working channel is the same as the downlink working channel.

Optionally, after using the working channel for communication, the processor 302 is further configured to execute the control instruction to achieve:

On at least one preset frequency point, a broadcast signal is sent through the transmitting antenna, and the broadcast signal includes working channel information and/or identification information of the drone.

Optionally, the processor 302 is configured to execute the control instruction to implement sending a broadcast signal on at least one preset frequency point, which specifically includes:

Transmitting a broadcast signal through the transmitting antenna on a preset frequency point;

or,

On one frequency point in the preset frequency point set, the broadcast signal is transmitted through the transmitting antenna.

Monitor the broadcast signal sent by the external drone through the receiving antenna at a preset period and at least one preset frequency point;

According to the monitored broadcast signal, adjust the working channel of the UAV.

Optionally, the broadcast signal also includes identification information of the external drone.

On the frequency point of the working channel, the broadcast signal is transmitted through the transmitting antenna.

The embodiment of the present invention also provides a communication device (such as a chip, an integrated circuit, etc.) of the drone, which includes a memory and a processor. The memory is used to store codes for executing the communication method of the drone. The processor is configured to call the code stored in the memory to execute the communication method of the drone as described in any of the above method embodiments.

A person of ordinary skill in the art can understand that all or part of the steps in the above method embodiments can be implemented by a program instructing relevant hardware. The foregoing program can be stored in a computer readable storage medium, and when the program is executed, it is executed. Including the steps of the foregoing method embodiment; and the foregoing storage medium includes: read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disks or optical disks, etc., which can store program codes Medium.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand: The technical solutions recorded in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention. range.

Claims

A communication method for unmanned aerial vehicles, applied to unmanned aerial vehicles, characterized in that it includes:

Listening to a broadcast signal sent by an external drone on at least one preset frequency point, where the broadcast signal includes channel information of the external drone;

Determine the working channel of the UAV according to the monitored broadcast signal;

The UAV uses the working channel for communication.
The method according to claim 1, wherein the monitoring a broadcast signal sent by an external drone on at least one preset frequency point comprises:

Monitor the broadcast signal sent by the external drone on a preset frequency point;

or,

The broadcast signal sent by the external drone is monitored on some or all frequency points in a preset frequency point set.
The method according to claim 1, wherein the determining the working channel of the drone according to the monitored broadcast signal comprises:

Determine whether there is an idle channel based on the monitored broadcast signal;

If there is an idle channel, the idle channel is determined as the working channel of the UAV.
The method according to claim 3, wherein the method further comprises:

If there is no idle channel, obtain the channel interference value of each used channel;

The channel with the smallest channel interference value is determined as the working channel of the UAV.
The method according to claim 3, wherein the method further comprises:

If there is no idle channel, sending prompt information to the user, where the prompt information is used to remind the user that there is interference;

Determine the working channel of the drone according to the instruction input by the user.
The method according to claim 1, wherein the working channel includes an uplink working channel and a downlink working channel;

The communication by the drone using the working channel includes:

The drone uses the uplink working channel to receive the signal sent by the drone's remote control to the drone, and the drone uses the downlink working channel to send the signal to the drone's remote control Send the signal.
The method according to claim 6, wherein the uplink working channel is the same as the downlink working channel.
The method according to claim 1, wherein after the drone uses the working channel for communication, the method further comprises:

A broadcast signal is sent on the at least one preset frequency point, and the broadcast signal includes working channel information and/or identification information of the drone.
The method according to claim 8, wherein the sending a broadcast signal on the at least one preset frequency point comprises:

Send a broadcast signal on a preset frequency point;

or,

The broadcast signal is sent on a frequency point in the preset frequency point set.
The method according to claim 1, wherein after the drone uses the working channel for communication, the method further comprises:

The unmanned aerial vehicle monitors the broadcast signal sent by the external unmanned aerial vehicle on the preset at least one frequency point in a preset period;

Adjust the working channel of the drone according to the monitored broadcast signal.
The method according to claim 1, wherein the broadcast signal further includes identification information of the external drone.
The method of claim 1, wherein the method further comprises:

The unmanned aerial vehicle and the external unmanned aerial vehicle use the frequency points of their respective working channels to send broadcast signals.
An unmanned aerial vehicle, characterized in that it includes:

A wireless communication device, the wireless communication device includes a receiving antenna and a transmitting antenna, the receiving antenna is used for receiving signals, and the transmitting antenna is used for transmitting signals;

A memory for storing control instructions; and

A processor, the processor is configured to execute the control instruction to realize:

Listening to a broadcast signal sent by an external drone on at least one preset frequency point, where the broadcast signal includes channel information of the external drone;

Determine the working channel of the UAV according to the monitored broadcast signal;

Use the working channel for communication.
The unmanned aerial vehicle according to claim 13, wherein the processor is configured to execute the control instruction to monitor the broadcast signal sent by an external unmanned aerial vehicle on at least one preset frequency point, which specifically includes:

Monitor the broadcast signal sent by the external drone through the receiving antenna on a preset frequency point;

or,

On some or all frequency points in the preset frequency point set, the broadcast signal sent by the external drone is monitored through the receiving antenna.
The UAV according to claim 13, wherein the processor is configured to execute the control instruction to determine the working channel of the UAV according to the monitored broadcast signal, which specifically includes:

Determine whether there is an idle channel based on the monitored broadcast signal;

If there is an idle channel, the idle channel is determined as the working channel of the UAV.
The UAV according to claim 15, wherein the processor is further configured to execute the control instruction to realize:

If there is no idle channel, obtain the channel interference value of each used channel;

The channel with the smallest channel interference value is determined as the working channel of the UAV.
The UAV according to claim 15, wherein the processor is further configured to execute the control instruction to realize:

If there is no idle channel, sending prompt information to the user, where the prompt information is used to remind the user that there is interference;

Determine the working channel of the drone according to the instruction input by the user.
The UAV according to claim 13, wherein the working channel includes an uplink working channel and a downlink working channel;

The processor is configured to execute the control instruction to implement communication using the working channel, which specifically includes:

Receiving the signal sent by the remote controller of the drone to the drone on the uplink working channel through the receiving antenna;

Through the transmitting antenna, a signal is sent to the remote control of the drone on the downlink working channel.
The UAV according to claim 18, wherein the uplink working channel is the same as the downlink working channel.
The UAV according to claim 13, characterized in that, after the working channel is used for communication, the processor is further configured to execute the control instruction to realize:

On the at least one preset frequency point, a broadcast signal is sent through the transmitting antenna, and the broadcast signal includes working channel information and/or identification information of the drone.
The unmanned aerial vehicle according to claim 20, wherein the processor is configured to execute the control instruction to send a broadcast signal on the at least one preset frequency point, which specifically includes:

Transmitting a broadcast signal through the transmitting antenna on a preset frequency point;

or,

On one frequency point in the preset frequency point set, the broadcast signal is transmitted through the transmitting antenna.
The UAV according to claim 13, characterized in that, after the working channel is used for communication, the processor is further configured to execute the control instruction to realize:

Listening to the broadcast signal sent by the external drone through the receiving antenna on the at least one preset frequency point in a preset period;

Adjust the working channel of the drone according to the monitored broadcast signal.
The drone of claim 13, wherein the broadcast signal further includes identification information of the external drone.
The drone according to claim 13, wherein the processor is further configured to execute the control instruction to realize:

On the frequency point of the working channel, a broadcast signal is transmitted through the transmitting antenna.
A communication device for drones, which is characterized in that it comprises:

The receiving antenna is used to receive signals; the transmitting antenna is used to transmit signals;

A memory for storing control instructions; and

A processor, which is configured to execute the control instructions to implement the communication method of the drone according to any one of claims 1-12.
A computer-readable storage medium, wherein a computer-executable instruction is stored in the computer-readable storage medium, and when the computer-executable instruction is executed by a processor, it is used to implement any one of claims 1-12. Communication method of the drone.