WO2021013228A1 - 无线通信方法、装置、无人机以及无人机控制系统 - Google Patents

无线通信方法、装置、无人机以及无人机控制系统 Download PDF

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Publication number
WO2021013228A1
WO2021013228A1 PCT/CN2020/103852 CN2020103852W WO2021013228A1 WO 2021013228 A1 WO2021013228 A1 WO 2021013228A1 CN 2020103852 W CN2020103852 W CN 2020103852W WO 2021013228 A1 WO2021013228 A1 WO 2021013228A1
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WIPO (PCT)
Prior art keywords
information
drone
communication link
flight
module
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Application number
PCT/CN2020/103852
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English (en)
French (fr)
Inventor
张添保
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深圳市道通智能航空技术有限公司
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Publication of WO2021013228A1 publication Critical patent/WO2021013228A1/zh

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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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • 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
    • 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
    • H04W4/025—Services making use of location information using location based information parameters
    • 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
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W8/00—Network data management
    • H04W8/18—Processing of user or subscriber data, e.g. subscribed services, user preferences or user profiles; Transfer of user or subscriber data
    • H04W8/20—Transfer of user or subscriber data
    • H04W8/205—Transfer to or from user equipment or user record carrier
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Definitions

  • This application relates to the technical field of drones, in particular to a wireless communication method, device, drone, and drone control system.
  • UAV can be applied to many fields to realize various functions. For example, video images are taken by drones. However, in practical applications, it is easy for the drone to lose contact with the control terminal due to various reasons, and the drone is easy to fly and lose.
  • the technical problem to be solved by the present invention is to provide a wireless communication method, device, unmanned aerial vehicle and an unmanned aerial vehicle control system to solve the technical problem that the unmanned aerial vehicle easily loses contact with the control terminal.
  • a wireless communication method which is applied to a drone, and the method includes:
  • the flight status information is sent to the remote control terminal through the second communication link, so that the remote control terminal determines the flight status of the drone according to the flight status information.
  • the method further includes:
  • the first communication link is established according to the first eSIM card and the second eSIM card, wherein the first eSIM card is installed in the drone, and the second eSIM card is installed in the remote control terminal.
  • the drone includes a GPS module and a first Beidou module, then the acquiring flight status information of the drone includes:
  • the base station positioning information, the position information and speed information collected by the GPS module, and the position information and speed information collected by the first Beidou module are calculated to obtain data fusion information, wherein the data
  • the fusion information includes the position and flight speed of the UAV;
  • the method further includes:
  • the communication signal of the first communication link is searched in real time to connect the first communication link.
  • the real-time search for the communication signal of the first communication link includes:
  • the method further includes:
  • a wireless communication device applied to a drone includes:
  • An information acquisition module for acquiring flight status information of the drone
  • the communication link state determining module is used to determine that the first communication link is disconnected
  • the first information sending module is configured to send the flight status information to the remote control terminal through the second communication link, so that the remote control terminal determines the flight status of the drone according to the flight status information.
  • the device further includes:
  • the communication link establishment module is used to establish a first communication link according to the first eSIM card and the second eSIM card, wherein the first eSIM card is set in the drone, and the second eSIM card is set in all ⁇ remote control terminal.
  • the drone includes a GPS module and a first Beidou module
  • the information acquisition module includes:
  • the first obtaining unit is configured to obtain base station location information of the first eSIM card
  • the second acquiring unit is configured to acquire the position information and speed information of the drone collected by the GPS module;
  • the third acquiring unit is configured to acquire the position information and speed information of the drone collected by the first Beidou module;
  • the calculation unit is configured to calculate the base station positioning information, the position information and speed information collected by the GPS module, and the position information and speed information collected by the first Beidou module to obtain data fusion information, wherein, the data fusion information includes the position and flight speed of the drone;
  • the processing unit is configured to pack according to the base station positioning information, the position information and speed information collected by the GPS module, the position information and speed information collected by the first Beidou module, and the data fusion information To generate flight status information of the UAV.
  • the device further includes:
  • a second information sending module configured to send flight warning information to the remote control terminal through the second communication link
  • the signal search module is used to search for the communication signal of the first communication link in real time to connect the first communication link.
  • the signal search module is specifically configured to:
  • the device further includes:
  • the program start module is used to start the preset return-to-home program to make the UAV fly back to the take-off point.
  • an unmanned aerial vehicle in yet another aspect of the embodiments of the present invention, includes a fuselage, an arm connected to the fuselage, and a power device for providing power for the drone to fly, It is characterized in that the drone further includes a first eSIM card, a first Beidou module, and a flight controller arranged in the fuselage, and the flight controller is connected to the first eSIM card and the first eSIM card. Beidou module communication connection; among them,
  • the first eSIM card is used to establish a first communication link
  • the first Beidou module is used to establish a second communication link
  • the flight controller is configured to obtain flight status information of the drone; determine that the first communication link is disconnected; and send the flight status information to the remote control terminal through the second communication link, so that The remote control terminal determines the flight state of the drone according to the flight state information.
  • the drone further includes a GPS module, and the GPS module is in communication connection with the flight controller,
  • the GPS module is used to collect position information and speed information of the drone
  • the first eSIM card is used to obtain base station location information corresponding to the first eSIM card
  • the first Beidou module is used to collect position information and speed information of the UAV
  • the flight controller is configured to calculate the base station positioning information, the position information and speed information collected by the GPS module, and the position information and speed information collected by the first Beidou module to obtain data Fusion information, where the data fusion information includes the position and flight speed of the drone;
  • the flight controller is also used for:
  • the flight controller is also used for:
  • the communication signal of the first communication link is searched in real time to connect the first communication link.
  • the flight controller is also used for:
  • a drone control system including:
  • a remote control terminal the remote control terminal is provided with a second eSIM card and a second Beidou module;
  • the first eSIM card is connected to the second eSIM card to establish the first communication link
  • the first Beidou module is connected to the second Beidou module to establish the second communication link
  • the remote control terminal is configured to receive flight status information sent by the drone through the second communication link when the first communication link is disconnected, and determine the unmanned aircraft according to the flight status information The flight status of the aircraft.
  • the system further includes a cloud server configured to receive and store image information uploaded by the drone through the first eSIM card or the first Beidou module.
  • a cloud server configured to receive and store image information uploaded by the drone through the first eSIM card or the first Beidou module.
  • the flight status information of the UAV by acquiring the flight status information of the UAV, and monitoring the connection status of the first communication link, after monitoring that the first communication link is disconnected, it is sent to the remote control terminal through the second communication link.
  • the flight status information enables the remote control terminal to determine the flight status of the drone according to the flight status information.
  • This embodiment can always grasp the flight status of the drone, thereby ensuring that the drone will not lose connection, improving the safety of the drone, and reducing the loss of users.
  • Figure 1 is a schematic structural diagram of an unmanned aerial vehicle control system provided by an embodiment of the present invention
  • Figure 2 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present invention.
  • Figure 3 is a schematic diagram of the hardware structure of a drone provided by an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a remote control terminal provided by an embodiment of the present invention.
  • FIG. 5 is a flowchart of a wireless communication method provided by an embodiment of the present invention.
  • FIG. 6 is a flowchart of a method for acquiring flight status information of the drone in a wireless communication method provided by an embodiment of the present invention
  • FIG. 7 is a flowchart of a wireless communication method according to another embodiment of the present invention.
  • FIG. 8 is a flowchart of a wireless communication method according to another embodiment of the present invention.
  • FIG. 9 is a flowchart of a wireless communication method provided by still another embodiment of the present invention.
  • FIG. 10 is a schematic structural diagram of a wireless communication device provided by an embodiment of the present invention.
  • FIG. 1 is a schematic structural diagram of an unmanned aerial vehicle control system provided by an embodiment of the present invention. As shown in FIG. 1, the system 100 includes: a drone 10 and a remote control terminal 20.
  • the UAV control system is mainly based on GPS technology, 5G eSIM card and Beidou technology to provide a composite communication positioning method to ensure that the UAV 10 will not lose contact with the remote control terminal 20.
  • a solution to protect the unmanned aerial vehicle 10 is provided to try to reduce losses; in addition, it can also solve the problem that the unmanned aerial vehicle 10 is connected to the remote control terminal 20 When transmitting images, it is easy to be restricted by distance and restricted by obstructions.
  • the drone 10 is in communication connection with the remote control terminal 20, and the remote control terminal 20 can control the flight of the drone 10 and send instructions to the drone 10 so that the drone 10 can follow the The instruction returns corresponding information.
  • the drone 10 sends the captured image information to the remote control terminal 20 according to the instruction.
  • the drone 10 and the remote control terminal 20 establish a communication connection based on a composite communication method composed of GPS technology, 5G eSIM card, and Beidou technology.
  • the unmanned aerial vehicle 10 and the remote control terminal 20 may have a one-to-one correspondence. It can also be a many-to-one relationship.
  • multiple drones 10 correspond to a remote control terminal 20, where each of the multiple drones 10 can be based on GPS technology, 5G eSIM card, and Beidou technology
  • the composed composite communication method communicates with the remote control terminal 20.
  • the structure of the UAV control system 100 is not limited by FIG. 1.
  • the drone 10 includes a fuselage 101, four arms 102 extending from the fuselage 101, and a power device 103 respectively installed on each arm 102, And the first eSIM card 104, the first Beidou module 105, and the flight controller 106 arranged in the fuselage 101.
  • the flight controller 106 is in communication connection with the first eSIM card 104 and the first Beidou module 105 respectively.
  • the UAV 10 shown in FIG. 2 is a four-rotor unmanned aerial vehicle, and the number of power devices 103 is four.
  • the unmanned aerial vehicle 10 may be any other type of unmanned aerial vehicle, such as a fixed-wing unmanned aerial vehicle.
  • the power device 103 is applied to other types of unmanned aerial vehicles, the number of the power device 103 can be changed according to actual needs, which is not limited in the present invention.
  • the arm 102 and the body 101 are fixedly connected, and preferably, the arm 102 and the body 101 are integrally formed.
  • the arm 102 may also be connected to the fuselage 101 in a manner that can be expanded or folded relative to the fuselage 101.
  • the arm 102 can be connected to the main body 101 through a rotating shaft mechanism, so that the arm 102 can be expanded or folded relative to the main body 101.
  • the power device 103 includes a driving device 1031 and a propeller assembly 1032 driven by the driving device 1031.
  • the propeller assembly 1032 is installed on the output shaft of the driving device 1031.
  • the propeller assembly 1032 is driven by the driving device 1031. Rotate downward to generate lift or thrust to make the drone 10 fly.
  • the driving device 1031 may be any suitable type of motor, such as a brush motor, a brushless motor, a DC motor, a stepper motor, an AC induction motor, and so on.
  • the first eSIM card 104 is used to establish a first communication link.
  • the first eSIM card 104 may specifically be an eSIM card with 4G communication function or 5G communication function, which has the advantages of small size and light weight, and is convenient to install in the drone 10.
  • the first eSIM card 104 is used to obtain the base station positioning information corresponding to the first eSIM card 104, the base station positioning information refers to the positioning information of the drone 10, and the specific method for obtaining the base station positioning information It is the first eSIM card 104 that performs positioning according to its corresponding base station, thereby outputting the positioning information of the drone 10.
  • the first communication link refers to a communication link between the drone 10 and the remote control terminal 20 based on 5G communication technology or 4G communication technology.
  • the remote control terminal 20 can control the drone 10 according to the first communication link, such as controlling the drone 10 to take off, land, shoot videos, return images, and so on.
  • the first Beidou module 105 is used to establish a second communication link.
  • the first Beidou module 105 may specifically be a chip for receiving Beidou signals mounted on the drone 10, and the first Beidou module 105 may be used for navigation and positioning to provide the position and speed of the drone 10 Measurement information, etc.
  • the first Beidou module 105 may also connect the drone 10 with the remote control terminal 20, and send the position information, flight speed information, etc. of the drone 10 to the remote control terminal 20 through the second communication link.
  • the second communication link refers to a communication link between the UAV 10 and the remote control terminal 20 based on Beidou technology.
  • the second communication link is mainly used to transmit flight status information of the drone 10 to the remote control terminal 20, and the flight status information includes the position and flight speed of the drone 10 Wait.
  • Beidou communication is a short message communication method
  • short message communication usually has a delay of 0.5 seconds, and data can only be sent once per second, resulting in large data delay and low update frequency. Therefore, the remote control terminal 20 Generally, the flight of the UAV 10 is not controlled through the second communication link.
  • the second communication link may be used to control the UAV 10 according to specific conditions.
  • the first communication link or radio frequency communication is used to control the UAV 10, or the first communication link and the second communication link are used in combination to control the drone 10 ⁇ 10 ⁇ Machine 10.
  • the flight controller 106 is specifically a flight control system of the drone 10, which is used to ensure the normal flight of the drone 10.
  • the flight controller 106 may include a processor, a sensor, a memory, a power supply, etc. equipment.
  • the flight controller 106 is used to obtain flight status information of the UAV 10 and monitor the connectivity of the first communication link. When the first communication link is disconnected , Sending the flight status information to the remote control terminal 20 through the second communication link, so that the remote control terminal 20 determines the flight status of the drone 10 according to the flight status information.
  • the flight status information refers to the flight speed of the UAV 10, the longitude and latitude information of the current location, the flight altitude, etc.
  • the flight status of the drone 10 is determined according to the flight status information, that is, the position and flight speed of the drone are determined according to the flight status information.
  • the process of acquiring flight status information of the drone 10 and the process of monitoring the connectivity of the first communication link can be carried out at the same time.
  • the flight status information can always be acquired after the drone 10 takes off, and the flight status information can always be monitored.
  • the connectivity of the first communication link can be carried out at the same time.
  • the flight status information specifically includes the base station positioning information corresponding to the first eSIM card 104, and the position and speed information of the drone 10 detected by the first Beidou module 105.
  • the flight controller 106 packs the acquired location information of the base station and the position and speed information of the UAV 10 detected by the first Beidou module 105, and sends them to the remote control via the second communication link. Terminal 20.
  • the location information of the UAV 10 through the base station may be the same or different from the location information of the UAV 10 detected by the first Beidou module 105.
  • the two positions are displayed on the remote control terminal 20 at the same time, and it is judged whether the distance between the two positions is less than the preset distance threshold.
  • the middle position corresponding to the two positions can be used as the current position of the drone 10 .
  • the drone 10 further includes a GPS module 107.
  • the GPS module 107 is in communication connection with the flight controller 106.
  • the GPS module 107 may specifically be a GPS module included in the drone 10 itself, which is used to collect the position and flight speed of the drone 10.
  • the flight controller 106 has a data processing function.
  • the flight controller 106 is used to combine the base station positioning information collected by the first eSIM card 104 and the GPS module 107 Position information and speed information, the position information and speed information collected by the first Beidou module 105 are calculated to obtain data fusion information, and the data fusion information includes the position and flight speed of the drone 10.
  • the Kalman filtering method may be specifically used to calculate the position and flight speed of the UAV 10, and other methods may also be used to calculate the position and flight speed of the UAV 10.
  • the position information and flight speed are sent to the flight controller 106, and the flight controller 106 generates the position information and flight speed according to a preset control algorithm.
  • the pwm command of the motor is transmitted to the aircraft.
  • the flight controller 106 comprehensively calculates the position information and speed information collected by the first eSIM card 104, the first Beidou module 105, and the GPS module 107 to obtain more accurate position information and speed information. The accuracy of positioning the UAV 10 is improved.
  • the flight controller 106 After the flight controller 106 obtains the above-mentioned data fusion information, when detecting that the first communication link is disconnected, the data fusion information can be collected through the second communication link, and the first eSIM card 104 collects The position information, the position and speed information collected by the first Beidou module 105, and the position and speed information collected by the GPS module 107 are sent to the remote control terminal 20, so that the remote control terminal 20 can obtain a more accurate The position and flight speed of the aircraft 10. Wherein, when each position information and speed information are sent through the second communication link, each position information and speed information can be packaged and compressed, and then the packaged and compressed data is sent through the second communication link, thus, Can improve data transmission efficiency.
  • the remote control terminal 20 After the remote control terminal 20 obtains the current position and flight speed of the drone 10, the remote control terminal 20 cannot control the drone 10 to fly through the second communication link. Therefore, in order to ensure that no one The safety of the drone 10 can be protected by the following methods.
  • the flight controller 106 is further configured to send flight warning information to the remote control terminal 20 through the second communication link.
  • the flight warning information is used to remind the user corresponding to the remote control terminal 20 that the drone 10 may lose connection, so that the user can respond to the disconnection accident in time.
  • the flight controller 106 is also used to search for the communication signal of the first communication link in real time, so as to connect the first communication link.
  • the real-time search for the communication signal of the first communication link specifically includes: acquiring the historical flight path of the UAV 10, and searching for the communication signal of the first communication link on the historical flight path in real time . In this embodiment, when the first communication link of the drone 10 is disconnected, it is determined that the drone 10 is disconnected from the remote control terminal 20.
  • the drone 10 autonomously decides to fly.
  • the UAV 10 flies according to its historical flight path, and automatically searches for the signal connecting the first communication link during the flight.
  • the remote control terminal 20 can control the drone 10 to fly.
  • the UAV 10 autonomously decides to fly, it will trigger a preset disconnection processing instruction.
  • the flight controller 106 generates a corresponding pwm instruction according to the disconnection processing instruction, thereby driving the motor to control the The man-machine 10 flies autonomously.
  • the drone 10 remains hovering in place, waiting for the remote control terminal 20 to send an operation instruction.
  • the flight controller 106 is also used to initiate a preset return-to-home program, so that the unmanned aerial vehicle 10 can fly back to the take-off point.
  • the UAV 10 records its take-off point when it takes off.
  • the drone 10 can automatically fly back to the take-off point, thereby protecting the drone 10.
  • the drone 10 further includes an SD card, and the SD card is used to store data information of the drone 10, for example, to store image information taken by the drone 10.
  • the remote control terminal 20 includes a second eSIM card 201 and a second Beidou module 202.
  • the second eSIM card 201 has the same composition as the aforementioned first eSIM card 104 and has the same functions implemented, and the second Beidou module 202 has the same composition as the first Beidou module 105 and implements the same functions.
  • the second eSIM card 201 communicates with the first eSIM card 104 to establish the first communication link; the second Beidou module 201 communicates with the first Beidou module 105 to establish the second Communication link.
  • the remote control terminal 20 may specifically be a remote control, or a mobile terminal device such as a smart phone or a tablet computer.
  • a mobile terminal device such as a smart phone or a tablet computer.
  • the drone 10 can be controlled through an APP installed on the mobile terminal device.
  • the remote control terminal 20 further includes an SD card, and the SD card is used to store data information, such as storing image information returned by the drone 10, the flight status of the drone 10, and the like.
  • the SD card is optional, and the SD card is set in the remote control terminal 20 by default.
  • the remote control terminal 20 is not provided with the SD card, the SD card is set in the remote control terminal 20.
  • Human machine 10 When neither the drone 10 nor the remote control terminal 20 is provided with the SD card, the image information taken by the drone 10 can be stored in a cloud server.
  • the image information includes pictures, videos, audios, etc.
  • the remote control terminal 20 further includes a display module, and the display module may specifically be an LED display screen or the like.
  • the display module is used to display flight status information of the drone 10, such as displaying a map on a screen, and highlighting the drone 10 on the map according to the location of the drone 10.
  • the map may be a two-dimensional plane map or a three-dimensional map.
  • the UAV 10 adjusts its display mode according to the format of the map.
  • the UAV control system 100 establishes a first communication link with the second eSIM card 201 through the first eSIM card 104, and communicates with the second eSIM card 201 through the first Beidou module 105.
  • the Beidou module 202 establishes a second communication link.
  • the remote control terminal 20 obtains the flight status of the UAV 10 via the second communication link, thereby reducing the The probability of the human-machine 10 losing contact improves the stability of the drone 10.
  • the drone control system 100 further includes a cloud server for receiving and storing the drone 10 through the first eSIM card 104 or the first Beidou module 105 Uploaded image information.
  • the embodiment of the present invention provides an unmanned aerial vehicle control system, which obtains the flight status information of the unmanned aerial vehicle and monitors the connection status of the first communication link.
  • the second communication link sends the flight status information to the remote control terminal, so that the remote control terminal determines the flight status of the drone according to the flight status information.
  • This embodiment can always grasp the flight status of the drone, thereby ensuring that the drone will not lose connection, improving the safety of the drone, and reducing the loss of users.
  • an embodiment of the present invention provides a wireless communication method, the method is applied to the above-mentioned drone 10, the method is specifically executed by the above-mentioned flight controller 106, and the method includes:
  • the drone includes a GPS module and a first Beidou module. Please refer to FIG. 6.
  • the acquiring flight status information of the drone includes:
  • the base station positioning information includes the position and flight speed of the drone;
  • S115 Pack according to the base station positioning information, the position information and speed information collected by the GPS module, the position information and speed information collected by the Beidou module, and the data fusion information to generate the Flight status information of man and machine.
  • step S13 it is determined that the first communication link is disconnected, the method further includes:
  • FIG. 8 The main difference between FIG. 8 and the above-mentioned FIG. 7 is that the method further includes:
  • the real-time search for the communication signal of the first communication link specifically includes: acquiring the historical flight path of the drone, and searching for the communication signal of the first communication link on the historical flight path in real time.
  • FIG. 9 The main difference between FIG. 9 and the above-mentioned FIG. 8 is that the method further includes:
  • the embodiment of the present invention provides a wireless communication method.
  • the method obtains the flight status information of the UAV and monitors the connection status of the first communication link. After monitoring that the first communication link is disconnected, the second communication link is disconnected.
  • the communication link sends the flight status information to the remote control terminal, so that the remote control terminal determines the flight status of the drone according to the flight status information.
  • This embodiment can always grasp the flight status of the drone, thereby ensuring that the drone will not lose connection, improving the safety of the drone, and reducing the loss of users.
  • FIG. 10 is a schematic structural diagram of a wireless communication device 30 according to an embodiment of the present invention, and the wireless communication device 30 is applied to the aforementioned drone 10.
  • the wireless communication device 30 includes: an information acquiring module 31, a communication link state determining module 32 and a first information sending module 33.
  • the information acquiring module 31, the communication link state determining module 32, and the first information sending module 33 may be flight controllers in the drone.
  • the information acquisition module 31 is used to obtain flight status information of the UAV; the communication link state determination module 32 is used to determine that the first communication link is disconnected; the first information sending module 33 is used to pass the first communication link The second communication link sends the flight status information to the remote control terminal, so that the remote control terminal determines the flight status of the drone according to the flight status information.
  • the UAV 10 includes a GPS module and a first Beidou module.
  • the information acquisition module 31 includes: a first acquisition unit 311, a second acquisition unit 312, and a third acquisition unit 313, a calculation unit 314, and a processing unit 315.
  • the first obtaining unit 311 is used to obtain the base station location information of the first eSIM card; the second obtaining unit 312 is used to obtain the position information and speed information of the drone collected by the GPS module; the third obtaining unit 313 , Used to obtain the position information and speed information of the UAV collected by the Beidou module; the calculation unit 314, used to combine the base station positioning information, the position information and speed information collected by the GPS module, and the Beidou module The position information and speed information collected by the module are calculated to obtain data fusion information, where the data fusion information includes the position and flight speed of the UAV; the processing unit 315 is configured to perform positioning information based on the base station The position information and speed information collected by the GPS module, the position information and speed information collected by the Beidou module, and the data fusion information are packaged to generate flight status information of the drone.
  • the device 30 further includes a communication link establishing module 34.
  • the communication link establishment module 34 is configured to establish a first communication link according to a first eSIM card and a second eSIM card, wherein the first eSIM card is set in the drone, and the second eSIM card Set in the remote control terminal.
  • the communication link establishment module 34 may be a flight controller in the drone.
  • the device 30 further includes a second information sending module 35 and a signal search module 36.
  • the second information sending module 35 is used to send flight warning information to the remote control terminal through the second communication link;
  • the signal search module 36 is used to search for the communication signal of the first communication link in real time, so that all The first communication link is connected.
  • the second information sending module 35 and the signal search module 36 may be flight controllers in the drone.
  • the signal search module 36 is specifically configured to: obtain the historical flight path of the UAV, and search the communication signal of the first communication link on the historical flight path in real time, so that the first communication The link is connected.
  • the device 30 further includes a program startup module 37.
  • the program start module 37 is used to start a preset return-to-home program to make the UAV 10 fly back to the take-off point.
  • the program start module 37 may be a flight controller in the drone.
  • each module in the embodiments of the present invention can be implemented as separate hardware or software, and separate hardware or software can be used as needed to implement the combination of functions of each unit.
  • the embodiment of the present invention provides a wireless communication device, which obtains the flight status information of the drone and monitors the connection status of the first communication link. After monitoring that the first communication link is disconnected, the The communication link sends the flight status information to the remote control terminal, so that the remote control terminal determines the flight status of the drone according to the flight status information.
  • This embodiment can always grasp the flight status of the drone, thereby ensuring that the drone will not lose connection, improving the safety of the drone, and reducing the loss of users.
  • the device embodiments described above are merely illustrative.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • each implementation manner can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware.
  • a person of ordinary skill in the art can understand that all or part of the processes in the method of the foregoing embodiments can be implemented by instructing relevant hardware through a computer program.
  • the program can be stored in a computer readable storage medium. When executed, it may include the processes of the above-mentioned method embodiments.
  • the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.

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Abstract

本发明涉及无人机技术领域，尤其涉及一种无线通信方法、装置、无人机以及无人机控制系统。该方法包括：获取所述无人机的飞行状态信息；确定第一通信链路断开；通过第二通信链路发送所述飞行状态信息至遥控终端，以使所述遥控终端根据所述飞行状态信息确定所述无人机的飞行状态。该实施方式能够始终掌握无人机的飞行状态，从而确保了无人机不会失联，提高了无人机的安全性，降低了用户的损失。

Description

无线通信方法、装置、无人机以及无人机控制系统
本申请要求于2019年7月24日提交中国专利局、申请号为201910672651.8、申请名称为“无线通信方法、装置、无人机以及无人机控制系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及无人机技术领域，尤其涉及一种无线通信方法、装置、无人机以及无人机控制系统。
背景技术
无人机作为一种远程操控的飞行设备，其可被应用到多个领域中，实现多种多样的功能。比如，通过无人机拍摄视频图像等。然而，在实际应用中，很容易因为各种各样的原因造成无人机与控制端失去联系，无人机很容易飞丢。
发明内容
本发明要解决的技术问题是提供一种无线通信方法、装置、无人机以及无人机控制系统，解决无人机容易与控制端失去联系的技术问题。
本发明实施例的一个方面，提供一种无线通信方法，应用于无人机，所述方法包括：
获取所述无人机的飞行状态信息；
确定第一通信链路断开；
通过第二通信链路发送所述飞行状态信息至遥控终端，以使所述遥控终端根据所述飞行状态信息确定所述无人机的飞行状态。
可选地，在所述确定第一通信链路断开之前，所述方法还包括：
根据第一eSIM卡和第二eSIM卡建立第一通信链路，其中，所述第一eSIM卡设置于所述无人机，所述第二eSIM卡设置于所述遥控终端。
可选地，所述无人机包括GPS模块和第一北斗模块，则，所述获取所述无人机的飞行状态信息包括：
获取所述第一eSIM卡的基站定位信息；
获取GPS模块采集的所述无人机的位置信息和速度信息；
获取所述第一北斗模块采集的所述无人机的位置信息和速度信息；
将所述基站定位信息、所述GPS模块采集的所述位置信息和速度信息、所述第一北斗模块采集的所述位置信息和速度信息进行计算，以得到数据融合信息，其中，所述数据融合信息包括所述无人机的位置和飞行速度；
根据所述基站定位信息、所述GPS模块采集的所述位置信息和速度信息、所述第一北斗模块采集的所述位置信息和速度信息、以及所述数据融合信息进行打包，生成所述无人机的飞行状态信息。
可选地，所述方法还包括：
通过所述第二通信链路向所述遥控终端发送飞行警告信息；
实时搜索所述第一通信链路的通信信号，以使所述第一通信链路连通。
可选地，所述实时搜索所述第一通信链路的通信信号包括：
获取所述无人机的历史飞行路径，在所述历史飞行路径上实时搜索所述第一通信链路的通信信号。
可选地，所述方法还包括：
启动返航程序，以使所述无人机飞回起飞点。
本发明实施例的另一个方面，提供一种无线通信装置，应用于无人机，所述装置包括：
信息获取模块，用于获取所述无人机的飞行状态信息；
通信链路状态确定模块，用于确定第一通信链路断开；
第一信息发送模块，用于通过第二通信链路发送所述飞行状态信息至遥控终端，以使所述遥控终端根据所述飞行状态信息确定所述无人机的飞行状态。
可选地，所述装置还包括：
通信链路建立模块，用于根据第一eSIM卡和第二eSIM卡建立第一通信链路，其中，所述第一eSIM卡设置于所述无人机，所述第二eSIM卡设置于所述遥控终端。
可选地，所述无人机包括GPS模块和第一北斗模块，所述信息获取模块包括：
第一获取单元，用于获取所述第一eSIM卡的基站定位信息；
第二获取单元，用于获取GPS模块采集的所述无人机的位置信息和速度信息；
第三获取单元，用于获取所述第一北斗模块采集的所述无人机的位置信息和速度信息；
计算单元，用于将所述基站定位信息、所述GPS模块采集的所述位置信息和速度信息、所述第一北斗模块采集的所述位置信息和速度信息进行计算，以得到数据融合信息，其中，所述数据融合信息包括所述无人机的位置和飞行速度；
处理单元，用于根据所述基站定位信息、所述GPS模块采集的所述位置信息和速度信息、所述第一北斗模块采集的所述位置信息和速度信息、以及所述数据融合信息进行打包，生成所述无人机的飞行状态信息。
可选地，所述装置还包括：
第二信息发送模块，用于通过所述第二通信链路向所述遥控终端发送飞行警告信息；
信号搜索模块，用于实时搜索所述第一通信链路的通信信号，以使所述第一通信链路连通。
可选地，所述信号搜索模块具体用于：
获取所述无人机的历史飞行路径，在所述历史飞行路径上实时搜索所述第一通信链路的通信信号，以使所述第一通信链路连通。
可选地，所述装置还包括：
程序启动模块，用于启动预设的返航程序，以使所述无人机飞回起飞点。
本发明实施例又一个方面，提供一种无人机，所述无人机包括机身，与所述机身相连的机臂以及用于给所述无人机提供飞行的动力的动力装置，其特征在于，所述无人机还包括设于所述机身内的第一eSIM卡、第一北斗模块以及飞行控制器，所述飞行控制器与所述第一eSIM卡和所述第一北斗模块通信连接；其中，
所述第一eSIM卡，用于建立第一通信链路；
所述第一北斗模块，用于建立第二通信链路；
所述飞行控制器，用于获取所述无人机的飞行状态信息；确定所述第一通信链路断开；通过所述第二通信链路发送所述飞行状态信息至遥控终端，以使所述遥控终端根据所述飞行状态信息确定所述无人机的飞行状态。
可选地，所述无人机还包括GPS模块，所述GPS模块与所述飞行控制器通信连接，
所述GPS模块，用于采集所述无人机的位置信息和速度信息；
所述第一eSIM卡，用于获取所述第一eSIM卡对应的基站定位信息；
所述第一北斗模块，用于采集所述无人机的位置信息和速度信息；
所述飞行控制器，用于将所述基站定位信息、所述GPS模块采集的所述位置信息和速度信息、所述第一北斗模块采集的所述位置信息和速度信息进行计算，以得到数据融合信息，其中，所述数据融合信息包括所述无人机的位置和飞行速度；
所述飞行控制器还用于：
根据所述基站定位信息、所述GPS模块采集的所述位置信息和速度信息、所述北斗模块采集的所述位置信息和速度信息、以及所述数据融合信息进行打包，生成所述无人机的飞行状态信息。
可选地，所述飞行控制器还用于：
通过所述第二通信链路向所述遥控终端发送飞行警告信息；
实时搜索所述第一通信链路的通信信号，以使所述第一通信链路连通。
可选地，所述飞行控制器还用于：
启动返航程序，以使所述无人机飞回起飞点。
本发明实施例的再一个方面，提供一种无人机控制系统，所述系统包括：
如上所述的无人机；
遥控终端，所述遥控终端设置有第二eSIM卡和第二北斗模块；
所述第一eSIM卡连接所述第二eSIM卡，以建立所述第一通信链路，所述第一北斗模块连接所述第二北斗模块，以建立所述第二通信链路；
所述遥控终端，用于在所述第一通信链路断开时，接收所述无人机通过所 述第二通信链路发送的飞行状态信息，根据所述飞行状态信息确定所述无人机的飞行状态。
可选地，所述系统还包括云端服务器，所述云端服务器用于，接收并存储所述无人机通过所述第一eSIM卡或者所述第一北斗模块上传的图像信息。
在本发明的实施例中，通过获取无人机的飞行状态信息，并且监测第一通信链路的连接状态，在监测到第一通信链路断开，通过第二通信链路向遥控终端发送所述飞行状态信息，以使所述遥控终端根据所述飞行状态信息确定所述无人机的飞行状态。该实施方式能够始终掌握无人机的飞行状态，从而确保了无人机不会失联，提高了无人机的安全性，降低了用户的损失。
附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1是本发明实施例提供的一种无人机控制系统的结构示意图；
图2是本发明实施例提供的一种无人机的结构示意图；
图3是本发明实施例提供的一种无人机的硬件结构示意图；
图4是本发明实施例提供的遥控终端的结构示意图；
图5是本发明实施例提供的一种无线通信方法的流程图；
图6是本发明实施例提供的一种无线通信方法中获取所述无人机的飞行状态信息的方法的流程图；
图7是本发明另一实施例提供的一种无线通信方法的流程图；
图8是本发明又一实施例提供的一种无线通信方法的流程图；
图9是本发明再一实施例提供的一种无线通信方法的流程图；
图10是本发明实施例提供的一种无线通信装置的结构示意图。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。
需要说明的是，如果不冲突，本发明实施例中的各个特征可以相互组合，均在本发明的保护范围之内。另外，虽然在装置示意图中进行了功能模块的划分，在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于装置示意图中的模块划分，或流程图中的顺序执行所示出或描述的步骤。
请参阅图1，图1是本发明实施例提供的一种无人机控制系统的结构示意图。如图1所示，该系统100包括：无人机10和遥控终端20。
在本发明实施例中，所述无人机控制系统主要基于GPS技术、5G eSIM卡 以及北斗技术提供一种复合通信定位方式，来确保所述无人机10不会与所述遥控终端20失联；并且，在所述无人机10与所述遥控终端20失联后，提供一种保护无人机10的方案，以尽力降低损失；此外，还可以解决无人机10向遥控终端20传输图像时容易受距离限制以及受遮挡物限制的问题。
其中，所述无人机10与所述遥控终端20通信连接，所述遥控终端20可以控制所述无人机10的飞行，向无人机10发送指令，以使无人机10根据所述指令返回对应的信息，比如，无人机10根据所述指令向遥控终端20发送拍摄的图像信息。在本实施例中，所述无人机10正常飞行时，无人机10与遥控终端20基于GPS技术、5G eSIM卡以及北斗技术组成的复合通信方式建立通信连接。
需要说明的是，所述无人机10与所述遥控终端20可以是一一对应的关系。也可以是多对一的关系，比如多个无人机10对应一个遥控终端20，其中，多个无人机10中的每一个无人机10都可以基于GPS技术、5G eSIM卡以及北斗技术组成的复合通信方式与所述遥控终端20通信。所述无人机控制系统100的结构并不受图1的限制。
具体的，请参阅图2和图3，所述无人机10包括：机身101、四个自机身101延伸的机臂102、分别装设在每个机臂102上的动力装置103，以及设于所述机身101内的第一eSIM卡104、第一北斗模块105、飞行控制器106。所述飞行控制器106分别与所述第一eSIM卡104和所述第一北斗模块105通信连接。
图2所示的无人机10为四旋翼无人飞行器，动力装置103的数量为四个。在其他可能的实施例中，无人机10可以是其他任何类型的无人飞行器，例如固定翼无人机飞行器等。在动力装置103应用于其他类型无人飞行器的场合，动力装置103的数量可以根据实际需要改变，本发明对此不作限定。
在发明的一实施例中，机臂102与机身101固定连接，优选地，机臂102与机身101一体成型。在其他可能的实施例中，机臂102还可以可相对于机身101展开或折叠的方式与机身101相连。例如，机臂102可以通过一转轴机构与机身101相连，以实现机臂102可相对于机身101展开或折叠。
在本发明的一实施例中，动力装置103包括驱动装置1031和由驱动装置1031驱动的螺旋桨组件1032，螺旋桨组件1032装设于驱动装置1031的输出轴上，螺旋桨组件1032在驱动装置1031的驱动下旋转以产生使无人机10飞行的升力或推力。驱动装置1031可以是任何合适类型的电机，例如有刷电机、无刷电机、直流电机、步进电机、交流感应电机等。
请参阅图3，所述第一eSIM卡104用于建立第一通信链路。所述第一eSIM卡104具体可以是具有4G通信功能或者5G通信功能的eSIM卡，其具有体积小、重量轻的优点，方便安装于所述无人机10。所述第一eSIM卡104用于获取所述第一eSIM卡104对应的基站定位信息，所述基站定位信息指的是所述无人机10的定位信息，获取所述基站定位信息的具体方式是所述第一eSIM 卡104根据其对应的基站来进行定位，从而输出所述无人机10的定位信息。所述第一通信链路指的是基于5G通信技术或者4G通信技术实现所述无人机10和所述遥控终端20连通的通信链路。在本发明实施例中，所述遥控终端20可以根据第一通信链路控制所述无人机10，比如控制无人机10起飞、降落、拍摄视频、回传图像等等。
所述第一北斗模块105用于建立第二通信链路。所述第一北斗模块105具体可以是装载于无人机10上的用于接收北斗信号的芯片，所述第一北斗模块105可以用于导航定位，提供所述无人机10的位置、速度测量信息等。所述第一北斗模块105还可以将无人机10与遥控终端20连接，通过所述第二通信链路向所述遥控终端20发送所述无人机10的位置信息、飞行速度信息等。所述第二通信链路指的是基于北斗技术实现所述无人机10与所述遥控终端20连通的通信链路。在本发明实施例中，所述第二通信链路主要用于传输所述无人机10的飞行状态信息至遥控终端20，所述飞行状态信息包括所述无人机10的位置、飞行速度等。
值得说明的是，由于北斗通信是短报文通信方式，短报文通信通常时延0.5秒，并且只能1秒发送一次数据，从而造成数据延迟大，更新频率低，因此，所述遥控终端20一般不通过所述第二通信链路控制所述无人机10的飞行，当然，在实际应用中，可以根据具体的情况选择使用所述第二通信链路控制所述无人机10，而优选的，使用所述第一通信链路，或者射频通信的方式控制所述无人机10，或者结合使用所述第一通信链路和所述第二通信链路来控制所述无人机10。
所述飞行控制器106具体是所述无人机10的飞行控制系统，其用于保证所述无人机10的正常飞行，所述飞行控制器106可以包括处理器、传感器、存储器、电源等设备。在本实施例中，所述飞行控制器106用于获取所述无人机10的飞行状态信息，并且监测所述第一通信链路的连通情况，在所述第一通信链路断开时，通过所述第二通信链路发送所述飞行状态信息至遥控终端20，以使所述遥控终端20根据所述飞行状态信息确定所述无人机10的飞行状态。其中，所述飞行状态信息指的是所述无人机10的飞行速度，当前所在位置的经度、纬度信息，飞行高度等。根据所述飞行状态信息确定所述无人机10的飞行状态，即根据所述飞行状态信息确定所述无人机的位置和飞行速度。其中，获取无人机10飞行状态信息的过程与监测第一通信链路的连通情况的过程可以同时进行，可以在无人机10起飞后就一直获取所述飞行状态信息，并且一直监测所述第一通信链路的连通情况。
在本实施例中，所述飞行状态信息具体包括所述第一eSIM卡104对应的基站定位信息，所述第一北斗模块105检测的所述无人机10的位置、速度信息。所述飞行控制器106将获取到的所述基站定位信息和所述第一北斗模块105检测的所述无人机10的位置速度信息进行打包，并通过所述第二通信链路发送给遥控终端20。其中，通过基站对无人机10进行定位的信息与通过第 一北斗模块105检测的所述无人机10的位置信息可能相同，也可能不相同，当这两个位置信息不相同时，可以在所述遥控终端20上同时显示这两个位置，判断这两个位置的距离是否小于预设距离阈值，若是，可以将这两个位置对应的中间位置作为所述无人机10当前的位置。或者，分析所述第一eSIM卡104对应的历史基站定位信息，以及所述第一北斗模块105检测的所述无人机10的历史位置，根据得到的两组历史位置信息分别确定所述无人机10的飞行轨迹，此时可以得到两条飞行轨迹，再根据这两条飞行轨迹确定所述无人机10当前的位置。
在一些实施例中，同样请参阅图3，所述无人机10还包括GPS模块107。所述GPS模块107与所述飞行控制器106通信连接。
其中，所述GPS模块107具体可以是所述无人机10自身所包含的GPS模块，其用于采集所述无人机10的位置和飞行速度。
其中，所述飞行控制器106具备数据处理功能，在本实施例中，所述飞行控制器106用于将所述第一eSIM卡104采集的基站定位信息、所述GPS模块107采集的所述位置信息和速度信息、所述第一北斗模块105采集的所述位置信息和速度信息进行计算得到数据融合信息，所述数据融合信息包括所述无人机10的位置和飞行速度。其中，计算所述数据融合信息时，具体可以采用卡尔曼滤波方法计算所述无人机10的位置和飞行速度，也可以采用其他方法计算所述无人机10的位置和飞行速度。计算得到所述无人机10的位置信息和飞行速度后，将所述位置信息和飞行速度发送至飞行控制器106，飞行控制器106根据预设的控制算法将所述位置信息和飞行速度生成电机的pwm指令，传送给飞机。在本实施例中，飞行控制器106将第一eSIM卡104、第一北斗模块105以及GPS模块107各自采集的位置信息和速度信息进行综合计算，能够得到较为准确的位置信息和速度信息，从而提高了对无人机10定位的准确率。
飞行控制器106获取到上述数据融合信息后，在检测到所述第一通信链路断开时，可以通过所述第二通信链路将所述数据融合信息，所述第一eSIM卡104采集的位置信息，所述第一北斗模块105采集的位置、速度信息，以及所述GPS模块107采集的位置、速度信息发送至遥控终端20，从而使遥控终端20能够获取较为准确的所述无人机10的位置和飞行速度。其中，通过所述第二通信链路发送上述各位置信息和速度信息时，可以对各位置信息和速度信息进行打包压缩，然后再通过第二通信链路发送打包压缩后的数据，由此，能够提高数据的传输效率。
一般情况下，在遥控终端20获取到无人机10当前的位置和飞行速度后，遥控终端20并不能通过所述第二通信链路控制所述无人机10飞行，因此，为了保障无人机10的安全，可以采用下述方式保护所述无人机10。
具体的，所述飞行控制器106还用于通过所述第二通信链路向所述遥控终端20发送飞行警告信息。所述飞行警告信息用于提醒所述遥控终端20对应的用户所述无人机10可能会失联，以便用户能够及时响应失联事故。与此同时， 所述飞行控制器106还用于实时搜索所述第一通信链路的通信信号，以使所述第一通信链路连通。其中，所述实时搜索所述第一通信链路的通信信号具体包括：获取所述无人机10的历史飞行路径，在所述历史飞行路径上实时搜索所述第一通信链路的通信信号。在本实施例中，当所述无人机10的第一通信链路断开时，确定所述无人机10与遥控终端20失联，此时所述无人机10自主决定飞行，所述无人机10根据其历史飞行路径飞行，并且在飞行过程中自动搜索使所述第一通信链路连通的信号。在所述第一通信链路连通后，所述遥控终端20能够控制所述无人机10飞行。其中，所述无人机10自主决定飞行时，会触发预设的失联处理指令，所述飞行控制器106根据所述失联处理指令生成对应的pwm指令，从而驱使电机，控制所述无人机10自主飞行。其中，在所述第一通信链路连通后，所述无人机10保持原地悬停，等待所述遥控终端20发送操作指令。
在一些实施例中，在所述无人机10失联后，所述飞行控制器106还用于启动预设的返航程序，以使所述无人机10飞回起飞点。其中，所述无人机10起飞时记录了其起飞点。在本实施例中，所述无人机10可以自动飞回起飞点，从而保护所述无人机10。
可选地，所述无人机10还包括SD卡，所述SD卡用于存储所述无人机10的数据信息，比如，存储所述无人机10拍摄的图像信息。
其中，请参阅图4，所述遥控终端20包括第二eSIM卡201和第二北斗模块202。所述第二eSIM卡201与上述第一eSIM卡104组成相同，所实现的功能相同，所述第二北斗模块202与上述第一北斗模块105组成相同，所实现的功能也相同。所述第二eSIM卡201与上述第一eSIM卡104通信连接，以建立所述第一通信链路；所述第二北斗模块201与上述第一北斗模块105通信连接，以建立所述第二通信链路。
所述遥控终端20具体可以是遥控器，或者智能手机、平板电脑等移动终端设备。当所述遥控终端20是移动终端设备时，可以通过所述移动终端设备上安装的APP来操控所述无人机10。
可选地，所述遥控终端20还包括SD卡，所述SD卡用于存储数据信息，比如存储所述无人机10返回的图像信息、所述无人机10的飞行状态等。
值得说明的是，所述SD卡是可选择的，所述SD卡默认设置于所述遥控终端20，当所述遥控终端20未设置所述SD卡时，所述SD卡设置于所述无人机10。当所述无人机10和所述遥控终端20均未设置所述SD卡时，所述无人机10拍摄的图像信息可以存储在云端服务器。所述图像信息包括图片、视频、音频等。
可选地，所述遥控终端20还包括显示模块，所述显示模块具体可以是LED显示屏等。所述显示模块用于显示所述无人机10的飞行状态信息，比如在屏幕上显示地图，根据所述无人机10的位置在地图上突出显示所述无人机10。其中，所述地图可以是二维平面地图，也可以是三维立体地图，无人机10根 据地图的格式对应调整其显示方式。
在本实施例中，所述无人机控制系统100通过所述第一eSIM卡104与所述第二eSIM卡201建立第一通信链路，通过所述第一北斗模块105与所述第二北斗模块202建立第二通信链路，在所述第一通信链路断开时，所述遥控终端20通过所述第二通信链路获取所述无人机10的飞行状态，从而降低了无人机10失联的概率，提高了无人机10的稳定性。
在一些实施例中，所述无人机控制系统100还包括云端服务器，所述云端服务器用于接收并存储所述无人机10通过所述第一eSIM卡104或者所述第一北斗模块105上传的图像信息。
本发明的实施例提供了一种无人机控制系统，该系统通过获取无人机的飞行状态信息，并且监测第一通信链路的连接状态，在监测到第一通信链路断开，通过第二通信链路向遥控终端发送所述飞行状态信息，以使所述遥控终端根据所述飞行状态信息确定所述无人机的飞行状态。该实施方式能够始终掌握无人机的飞行状态，从而确保了无人机不会失联，提高了无人机的安全性，降低了用户的损失。
请参阅图5，本发明实施例提供了一种无线通信方法，所述方法应用于上述无人机10，所述方法具体由上述飞行控制器106执行，所述方法包括：
S11、获取所述无人机的飞行状态信息；
其中，所述无人机包括GPS模块和第一北斗模块，请参阅图6，所述获取所述无人机的飞行状态信息包括：
S111、获取所述第一eSIM卡的基站定位信息；
S112、获取GPS模块采集的所述无人机的位置信息和速度信息；
S113、获取第一北斗模块采集的所述无人机的位置信息和速度信息；
S114、将所述基站定位信息、所述GPS模块采集的所述位置信息和速度信息、所述第一北斗模块采集的所述位置信息和速度信息进行计算，以得到数据融合信息，其中，所述数据融合信息包括所述无人机的位置和飞行速度；
S115、根据所述基站定位信息、所述GPS模块采集的所述位置信息和速度信息、所述北斗模块采集的所述位置信息和速度信息、以及所述数据融合信息进行打包，生成所述无人机的飞行状态信息。
S13、确定第一通信链路断开；
S14、通过第二通信链路发送所述飞行状态信息至遥控终端，以使所述遥控终端根据所述飞行状态信息确定所述无人机的飞行状态。
上述步骤S11至步骤S14由上述实施例中的无人机10执行，其具体实现可以参考上述无人机控制系统的实施例，在此不再赘述。
在一些实施例中，请参阅图7，图7与图5的主要区别在于，在步骤S13、确定第一通信链路断开之前，所述方法还包括：
S12、根据第一eSIM卡和第二eSIM卡建立第一通信链路，其中，所述第一eSIM卡设置于所述无人机，所述第二eSIM卡设置于所述遥控终端。
在一些实施例中，请参阅图8，图8与上述图7的主要区别在于，所述方法还包括：
S15、通过所述第二通信链路向所述遥控终端发送飞行警告信息；
S16、实时搜索所述第一通信链路的通信信号，以使所述第一通信链路连通。
所述实时搜索所述第一通信链路的通信信号具体包括：获取所述无人机的历史飞行路径，在所述历史飞行路径上实时搜索所述第一通信链路的通信信号。
在一些实施例中，请参阅图9，图9与上述图8的主要区别在于，所述方法还包括：
S17、启动返航程序，以使所述无人机飞回起飞点。
关于本发明实施例提供的无线通信方法的详细内容可以参见本发明实施例提供的无人机控制系统实施例，在此不再详述。
本发明的实施例提供了一种无线通信方法，该方法通过获取无人机的飞行状态信息，并且监测第一通信链路的连接状态，在监测到第一通信链路断开，通过第二通信链路向遥控终端发送所述飞行状态信息，以使所述遥控终端根据所述飞行状态信息确定所述无人机的飞行状态。该实施方式能够始终掌握无人机的飞行状态，从而确保了无人机不会失联，提高了无人机的安全性，降低了用户的损失。
请参阅图10，图10是本发明实施例提供的一种无线通信装置30的结构示意图，所述无线通信装置30应用于上述无人机10。所述无线通信装置30包括：信息获取模块31、通信链路状态确定模块32以及第一信息发送模块33。在本发明一实施例中，信息获取模块31、通信链路状态确定模块32以及第一信息发送模块33可以是无人机内的飞行控制器。
其中，信息获取模块31，用于获取所述无人机的飞行状态信息；通信链路状态确定模块32，用于确定第一通信链路断开；第一信息发送模块33，用于通过第二通信链路发送所述飞行状态信息至遥控终端，以使所述遥控终端根据所述飞行状态信息确定所述无人机的飞行状态。
其中，所述无人机10包括GPS模块和第一北斗模块，此时，同样请参阅图10，所述信息获取模块31包括：第一获取单元311、第二获取单元312、第三获取单元313、计算单元314以及处理单元315。第一获取单元311，用于获取所述第一eSIM卡的基站定位信息；第二获取单元312，用于获取GPS模块采集的所述无人机的位置信息和速度信息；第三获取单元313，用于获取北斗模块采集的所述无人机的位置信息和速度信息；计算单元314，用于将所述基站定位信息、所述GPS模块采集的所述位置信息和速度信息、所述北斗模块采集的所述位置信息和速度信息进行计算，以得到数据融合信息，其中，所述数据融合信息包括所述无人机的位置和飞行速度；处理单元315，用于根据所述基站定位信息、所述GPS模块采集的所述位置信息和速度信息、所述北斗 模块采集的所述位置信息和速度信息、以及所述数据融合信息进行打包，生成所述无人机的飞行状态信息。
在一些实施例中，同样请参阅图10，所述装置30还包括通信链路建立模块34。所述通信链路建立模块34，用于根据第一eSIM卡和第二eSIM卡建立第一通信链路，其中，所述第一eSIM卡设置于所述无人机，所述第二eSIM卡设置于所述遥控终端。在本发明一实施例中，所述通信链路建立模块34可以是无人机内的飞行控制器。
在一些实施例中，同样请参阅图10，所述装置30还包括第二信息发送模块35和信号搜索模块36。第二信息发送模块35，用于通过所述第二通信链路向所述遥控终端发送飞行警告信息；信号搜索模块36，用于实时搜索所述第一通信链路的通信信号，以使所述第一通信链路连通。在本发明一实施例中，所述第二信息发送模块35和信号搜索模块36可以是无人机内的飞行控制器。
其中，所述信号搜索模块36具体用于：获取所述无人机的历史飞行路径，在所述历史飞行路径上实时搜索所述第一通信链路的通信信号，以使所述第一通信链路连通。
在一些实施例中，同样请参阅图10，所述装置30还包括程序启动模块37。所述程序启动模块37用于启动预设的返航程序，以使所述无人机10飞回起飞点。在本发明一实施例中，所述程序启动模块37可以是无人机内的飞行控制器。
需要说明的是，本发明实施例中的一种无线通信装置中的各个模块、单元之间的信息交互、执行过程等内容，由于与本发明方法实施例基于同一构思，具体内容同样适用于无线通信装置。本发明实施例中的各个模块能作为单独的硬件或软件来实现，并且可以根据需要使用单独的硬件或软件来实现各个单元的功能的组合。
本发明的实施例提供了一种无线通信装置，该装置通过获取无人机的飞行状态信息，并且监测第一通信链路的连接状态，在监测到第一通信链路断开，通过第二通信链路向遥控终端发送所述飞行状态信息，以使所述遥控终端根据所述飞行状态信息确定所述无人机的飞行状态。该实施方式能够始终掌握无人机的飞行状态，从而确保了无人机不会失联，提高了无人机的安全性，降低了用户的损失。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。
通过以上的实施方式的描述，本领域普通技术人员可以清楚地了解到各实施方式可借助软件加通用硬件平台的方式来实现，当然也可以通过硬件来实现。本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程是 可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random Access Memory，RAM)等。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；在本发明的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本发明的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (18)

  1. 一种无线通信方法，应用于无人机，其特征在于，所述方法包括：
    获取所述无人机的飞行状态信息；
    确定第一通信链路断开；
    通过第二通信链路发送所述飞行状态信息至遥控终端，以使所述遥控终端根据所述飞行状态信息确定所述无人机的飞行状态。
  2. 根据权利要求1所述的方法，其特征在于，在所述确定第一通信链路断开之前，所述方法还包括：
    根据第一eSIM卡和第二eSIM卡建立第一通信链路，其中，所述第一eSIM卡设置于所述无人机，所述第二eSIM卡设置于所述遥控终端。
  3. 根据权利要求2所述的方法，其特征在于，所述无人机包括GPS模块和第一北斗模块，则，所述获取所述无人机的飞行状态信息包括：
    获取所述第一eSIM卡的基站定位信息；
    获取所述GPS模块采集的所述无人机的位置信息和速度信息；
    获取所述第一北斗模块采集的所述无人机的位置信息和速度信息；
    将所述基站定位信息、所述GPS模块采集的所述位置信息和速度信息、所述第一北斗模块采集的所述位置信息和速度信息进行计算，以得到数据融合信息，其中，所述数据融合信息包括所述无人机的位置和飞行速度；
    根据所述基站定位信息、所述GPS模块采集的所述位置信息和速度信息、所述第一北斗模块采集的所述位置信息和速度信息、以及所述数据融合信息进行打包，生成所述无人机的飞行状态信息。
  4. 根据权利要求1至3任一项所述的方法，其特征在于，所述方法还包括：
    通过所述第二通信链路向所述遥控终端发送飞行警告信息；
    实时搜索所述第一通信链路的通信信号，以使所述第一通信链路连通。
  5. 根据权利要求4所述的方法，其特征在于，所述实时搜索所述第一通信链路的通信信号，包括：
    获取所述无人机的历史飞行路径，在所述历史飞行路径上实时搜索所述第一通信链路的通信信号。
  6. 根据权利要求1至3任一项所述的方法，其特征在于，所述方法还包括：
    启动返航程序，以使所述无人机飞回起飞点。
  7. 一种无线通信装置，应用于无人机，其特征在于，所述装置包括：
    信息获取模块，用于获取所述无人机的飞行状态信息；
    通信链路状态确定模块，用于确定第一通信链路断开；
    第一信息发送模块，用于通过第二通信链路发送所述飞行状态信息至遥控终端，以使所述遥控终端根据所述飞行状态信息确定所述无人机的飞行状态。
  8. 根据权利要求7所述的装置，其特征在于，所述装置还包括：
    通信链路建立模块，用于根据第一eSIM卡和第二eSIM卡建立第一通信链路，其中，所述第一eSIM卡设置于所述无人机，所述第二eSIM卡设置于所述遥控终端。
  9. 根据权利要求8所述的装置，其特征在于，所述无人机包括GPS模块和第一北斗模块，所述信息获取模块包括：
    第一获取单元，用于获取所述第一eSIM卡的基站定位信息；
    第二获取单元，用于获取所述GPS模块采集的所述无人机的位置信息和速度信息；
    第三获取单元，用于获取所述第一北斗模块采集的所述无人机的位置信息和速度信息；
    计算单元，用于将所述基站定位信息、所述GPS模块采集的所述位置信息和速度信息、所述第一北斗模块采集的所述位置信息和速度信息进行计算，以得到数据融合信息，其中，所述数据融合信息包括所述无人机的位置和飞行速度；
    处理单元，用于根据所述基站定位信息、所述GPS模块采集的所述位置信息和速度信息、所述第一北斗模块采集的所述位置信息和速度信息、以及所述数据融合信息进行打包，生成所述无人机的飞行状态信息。
  10. 根据权利要求7至9任一项所述的装置，其特征在于，所述装置还包括：
    第二信息发送模块，用于通过所述第二通信链路向所述遥控终端发送飞行警告信息；
    信号搜索模块，用于实时搜索所述第一通信链路的通信信号，以使所述第一通信链路连通。
  11. 根据权利要求10所述的装置，其特征在于，所述信号搜索模块具体用于：
    获取所述无人机的历史飞行路径，在所述历史飞行路径上实时搜索所述第一通信链路的通信信号，以使所述第一通信链路连通。
  12. 根据权利要求7至9任一项所述的装置，其特征在于，所述装置还包括：
    程序启动模块，用于启动返航程序，以使所述无人机飞回起飞点。
  13. 一种无人机，其特征在于，所述无人机包括机身，与所述机身相连的机臂以及用于给所述无人机提供飞行的动力的动力装置，其特征在于，所述无人机还包括设于所述机身内的第一eSIM卡、第一北斗模块以及飞行控制器，所述飞行控制器与所述第一eSIM卡和所述第一北斗模块通信连接；其中，
    所述第一eSIM卡，用于建立第一通信链路；
    所述第一北斗模块，用于建立第二通信链路；
    所述飞行控制器，用于获取所述无人机的飞行状态信息；确定所述第一通 信链路断开；通过所述第二通信链路发送所述飞行状态信息至遥控终端，以使所述遥控终端根据所述飞行状态信息确定所述无人机的飞行状态。
  14. 根据权利要求13所述的无人机，其特征在于，所述无人机还包括GPS模块，所述GPS模块与所述飞行控制器通信连接，
    所述GPS模块，用于采集所述无人机的位置信息和速度信息；
    所述第一eSIM卡，用于获取所述第一eSIM卡对应的基站定位信息；
    所述第一北斗模块，用于采集所述无人机的位置信息和速度信息；
    所述飞行控制器，用于将所述基站定位信息、所述GPS模块采集的所述位置信息和速度信息、所述第一北斗模块采集的所述位置信息和速度信息进行计算，以得到数据融合信息，其中，所述数据融合信息包括所述无人机的位置和飞行速度；
    所述飞行控制器还用于：
    根据所述基站定位信息、所述GPS模块采集的所述位置信息和速度信息、所述北斗模块采集的所述位置信息和速度信息、以及所述数据融合信息进行打包，生成所述无人机的飞行状态信息。
  15. 根据权利要求13或14所述的无人机，其特征在于，所述飞行控制器还用于：
    通过所述第二通信链路向所述遥控终端发送飞行警告信息；
    实时搜索所述第一通信链路的通信信号，以使所述第一通信链路连通。
  16. 根据权利要求13或14所述的无人机，其特征在于，所述飞行控制器还用于：
    启动返航程序，以使所述无人机飞回起飞点。
  17. 一种无人机控制系统，其特征在于，所述系统包括：
    权利要求13至16中任一项所述的无人机；
    遥控终端，所述遥控终端设置有第二eSIM卡和第二北斗模块；
    所述第一eSIM卡连接所述第二eSIM卡，以建立所述第一通信链路，所述第一北斗模块连接所述第二北斗模块，以建立所述第二通信链路；
    所述遥控终端，用于在所述第一通信链路断开时，接收所述无人机通过所述第二通信链路发送的飞行状态信息，根据所述飞行状态信息确定所述无人机的飞行状态。
  18. 根据权利要求17所述的系统，其特征在于，所述系统还包括：云端服务器，
    所述云端服务器用于，接收并存储所述无人机通过所述第一eSIM卡或者所述第一北斗模块上传的图像信息。
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CN115767450A (zh) * 2022-11-22 2023-03-07 亿航智能设备（广州）有限公司 一种北斗短报文通讯方法、设备及计算机可读存储介质

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