WO2021035641A1 - Procédé de commande, serveur distant, station de commande et support de stockage - Google Patents

Procédé de commande, serveur distant, station de commande et support de stockage Download PDF

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Publication number
WO2021035641A1
WO2021035641A1 PCT/CN2019/103427 CN2019103427W WO2021035641A1 WO 2021035641 A1 WO2021035641 A1 WO 2021035641A1 CN 2019103427 W CN2019103427 W CN 2019103427W WO 2021035641 A1 WO2021035641 A1 WO 2021035641A1
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WIPO (PCT)
Prior art keywords
control station
unmanned aerial
aerial vehicle
verification information
communication verification
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PCT/CN2019/103427
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English (en)
Chinese (zh)
Inventor
陈文月
尹小俊
饶雄斌
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201980030362.6A priority Critical patent/CN112119648A/zh
Priority to PCT/CN2019/103427 priority patent/WO2021035641A1/fr
Publication of WO2021035641A1 publication Critical patent/WO2021035641A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/0005—Control or signalling for completing the hand-off
    • H04W36/0083—Determination of parameters used for hand-off, e.g. generation or modification of neighbour cell lists
    • H04W36/0085—Hand-off measurements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/24—Reselection being triggered by specific parameters
    • H04W36/30—Reselection being triggered by specific parameters by measured or perceived connection quality data

Definitions

  • the present invention relates to the field of communication technology, in particular to a control method, a remote server, a control station and a storage medium.
  • the current drones can be used in many fields such as aerial photography, oil pipeline inspections, power inspections, and border patrols.
  • the user controls the drone to perform tasks through the remote control, and the remote control can receive the data collected by the drone during the execution of the task.
  • the power limitation of the radio management regulations and the size of the remote control's own antenna the ultimate communication distance reached by the drone in an ideal environment is about 10 kilometers. In the case of electromagnetic environment interference, terrain occlusion, etc., the communication distance will be greatly reduced.
  • the embodiment of the present invention provides a control method, a remote server, a control station, and a storage medium.
  • the remote server can control the unmanned aerial vehicle to switch the control station connected to it during flight according to the signal reception strength of multiple control stations.
  • the control station is connected for flight, which can realize the effective long-distance communication of the unmanned aerial vehicle.
  • an embodiment of the present invention provides a control method, characterized in that the control method is applied to a remote server, and the remote server is in communication connection with a selected control station and a candidate control station, and the selected control station
  • the two-way data interaction with the unmanned aerial vehicle, the method includes:
  • the switching instruction is sent to the selected control station so that the selected control station controls the unmanned aerial vehicle to disconnect the two-way data interaction with the selected control station, and controls the unmanned aerial vehicle to establish a connection with the unmanned aerial vehicle.
  • the two-way data exchange of the candidate control station is sent to the selected control station so that the selected control station controls the unmanned aerial vehicle to disconnect the two-way data interaction with the selected control station, and controls the unmanned aerial vehicle to establish a connection with the unmanned aerial vehicle.
  • an embodiment of the present invention provides another control method, characterized in that the control method is applied to a selected control station that has established a two-way data interaction with an unmanned aerial vehicle, and the selected control station is connected to a remote server. Communication connection, the method includes:
  • the switching instruction sent by the remote server where the switching instruction is generated by the remote server according to the first signal reception strength and the second signal reception strength sent by the candidate control station received by the remote server ,
  • the second signal reception strength is determined by the candidate control station according to the downlink service data received from the unmanned aerial vehicle by the candidate control station;
  • an embodiment of the present invention provides a remote server, which is characterized in that:
  • the remote server is in communication connection with the selected control station and the candidate control station, the selected control station performs two-way data interaction with the unmanned aerial vehicle, and the remote server includes a memory and a processor:
  • the memory is used to store program codes
  • the processor calls the program code, and when the program code is executed, is used to perform the following operations:
  • the switching instruction is sent to the selected control station so that the selected control station controls the UAV to disconnect the two-way data interaction with the selected control station, and establishes a connection with the candidate control station Two-way data interaction.
  • an embodiment of the present invention provides a control station, which is characterized in that:
  • the control station is a selected control station that establishes two-way data interaction with the unmanned aerial vehicle, the selected control station is in communication connection with a remote server, and the remote server is also communicatively connected to a candidate control station.
  • the control station includes memory and processing Device:
  • the memory is used to store program code
  • the processor calls the program code, and when the program code is executed, is used to perform the following operations:
  • the switching instruction is generated by the remote server according to the first signal reception strength and the second signal reception strength sent by the candidate control station received by the remote server Yes, the second signal reception strength is determined by the candidate control station according to the downlink service data received from the unmanned aerial vehicle by the candidate control station;
  • the unmanned aerial vehicle is controlled to disconnect the two-way data interaction with the selected control station, so that the unmanned aerial vehicle establishes the two-way data interaction with the candidate control station.
  • an embodiment of the present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a first computer program, and the first computer program includes first program instructions, and The first program instruction, when executed by a processor, causes the processor to execute the control method of the above-mentioned first aspect, or the computer-readable storage medium stores a second computer program, and the second computer program includes second program instructions , The execution of the second program commands the processor to execute the control method of the second aspect when executed by the processor.
  • Figure 1 is a structural diagram of a control system provided by an embodiment of the present invention.
  • Figure 2 is an application scenario diagram of an unmanned aerial vehicle provided by an embodiment of the present invention.
  • FIG. 3 is a schematic flowchart of a control method provided by an embodiment of the present invention.
  • Figure 4a is a schematic diagram of a selected control station obtaining uplink control data according to an embodiment of the present invention
  • Figure 4b is a schematic diagram of another selected control station obtaining uplink control data according to an embodiment of the present invention.
  • FIG. 5 is a schematic flowchart of another control method provided by an embodiment of the present invention.
  • Figure 6 is a schematic structural diagram of a remote server provided by an embodiment of the present invention.
  • Fig. 7 is a schematic structural diagram of a control station provided by an embodiment of the present invention.
  • the embodiment of the present invention provides a control scheme, which can be applied to the application scenario of the unmanned aerial vehicle for long-distance navigation, specifically: the two-way data between the selected control station and the unmanned aerial vehicle among a plurality of preset control stations
  • the remote server can send uplink control data to the selected control, so that the selected control station sends the uplink control data to the unmanned aerial vehicle to control the unmanned aerial vehicle's flight or perform tasks; the unmanned aerial vehicle is in accordance with the selected control station
  • the downlink service data will be generated during the flight or mission execution of the uplink control data.
  • the unmanned aerial vehicle sends the downlink service data to the selected control station, and the selected control station determines the first signal reception strength according to the reception of the downlink service data.
  • candidate control stations among multiple preset control stations will also detect the downlink service data, and determine the second signal reception according to the reception of the downlink service data. strength.
  • the remote server receives the first signal receiving strength sent by the selected control station and the second signal receiving strength sent by the candidate control station, and generates a switching instruction based on the first receiving strength and the second signal receiving strength, and sends the switching instruction to the selected control Station, so that the selected control station controls the unmanned aerial vehicle to disconnect the two-way data interaction with the selected control station, and controls the unmanned aerial vehicle to establish the two-way data interaction with the candidate control.
  • the remote server can control the unmanned aerial vehicle to switch the connection between different preset control stations during the flight according to the signal reception strength of multiple preset control stations, and through different preset control stations.
  • the control station is connected to obtain the uplink control data for controlling the flight of the unmanned aerial vehicle, which avoids the phenomenon of blind flight due to the long distance between the unmanned aerial vehicle and its corresponding control terminal or remote terminal, and can realize the effective long-distance flight of the unmanned aerial vehicle. Distance flight.
  • FIG. 1 is a schematic structural diagram of a control system provided by an embodiment of the present invention.
  • the control system shown in FIG. 1 may include a remote server 101, an unmanned aerial vehicle 102, a preset control station 103, and a smart device 104 corresponding to the unmanned aerial vehicle 102.
  • the smart device 104 may be a control terminal such as a remote control, or a smart device.
  • 104 may also be a remote terminal such as a mobile phone or a computer.
  • the unmanned aerial vehicle 102 may include an unmanned aerial vehicle
  • the preset control station 103 includes at least two preset control stations.
  • the preset control station 103 as shown in FIG. 1 includes the preset control station A and the preset control station. Station B and preset control station C. Each preset control station corresponds to a signal coverage area, and any signal or data falling within the signal range can be collected by the preset control station. The signal coverage of each preset control station can be the same or different.
  • the preset control station 103 in the control system shown in FIG. 1 may be set by the relevant personnel in the operation area of the selected UAV 102. Specifically, assuming that the signal coverage of each preset control station is the same, in the selected operation area, the preset control that needs to be deployed in the operation area is determined according to the signal coverage of the preset control station and the total area of the operation area The number of stations and the deployment location of each preset control station; in each deployment location, the preset control station is deployed at the same or close distance to each other, as shown in Figure 1 for the preset control station A, the preset control station B and the preset control station. Set up control station C.
  • the application scenario of the unmanned aerial vehicle performing flight tasks is shown in FIG. 2 under normal circumstances.
  • the user can input a control command to the unmanned aerial vehicle 102 through the smart device 104, and then
  • the smart device 104 carries the control instruction in the uplink control data and sends it to the UAV 102, so that the UAV 102 executes the flight task according to the control instruction in the uplink control data; at the same time, the UAV 102 will generate the flight tasks during the execution of the flight task.
  • the downlink service data is sent to the smart device 104 so that the user can detect the task execution status of the unmanned aerial vehicle through the smart device 104.
  • the above-mentioned control method for UAV 102 may have the following problems in practical applications: the distance between UAV 102 and smart device 104 is relatively long, and the uplink control data of smart device 104 cannot be sent to UAV 102. Similarly, the downlink service data generated by the UAV 102 cannot be sent to the smart device 104 either. In this way, the unmanned aerial vehicle may have a blind flight phenomenon, which causes the unmanned aerial vehicle 102 to have a safety hazard.
  • the remote server 101 may determine a selected control station from a plurality of preset control stations 103, assuming it is A, and notify the unmanned aerial vehicle 102 and the selected control station. Two-way data interaction is established between the control stations A.
  • the remote server 101 due to the limited signal coverage of each control station, in order to enable the UAV to achieve long-distance navigation, the remote server 101 also needs to determine a candidate control station hypothesis B from the preset control stations 103, so that it can be used as an unmanned aircraft.
  • the UAV 102 can be controlled to disconnect from the unmanned aerial vehicle 102. Select the two-way data interaction between the control station A and establish the two-way data interaction with the candidate control station B to continue the flight mission.
  • the remote server 101 may send the uplink control data to the selected control station A so that the selected control station is based on the uplink control data.
  • the uplink control data may be controlling the unmanned aerial vehicle to adjust the flight speed, flight direction, and other data for controlling the unmanned aerial vehicle to fly.
  • the unmanned aerial vehicle 102 can transmit the downlink service data collected during the flight to the selected control station A.
  • the selected control station A may determine the first signal reception strength according to the received downlink service data, and send the first signal reception strength to the remote server 101.
  • the unmanned aerial vehicle 102 may fly to the overlapping area of the signal coverage of the selected control station A and the candidate control station B. At this time, the unmanned aerial vehicle 102 transmits downlink service data to the selected control station A It will also be detected by the candidate control station B.
  • the candidate control station B may determine the second signal reception strength according to the received downlink service data, and send the second signal reception strength to the remote server 101.
  • the remote server 101 compares the first signal reception strength with the second signal reception strength, and if it detects that the difference between the second signal reception strength and the first signal reception strength is greater than the preset value, it indicates that the UAV 102 is in contact with the candidate control at this time.
  • the data transmission quality during the two-way data exchange between station B is higher than the data transmission quality between the UAV 102 and the selected control station A.
  • the remote server 101 can generate a switching instruction to instruct the UAV 102 to disconnect A two-way data interactive connection with the selected control station A, and a two-way data interactive connection with the candidate control station B.
  • FIG. 3 it is a schematic flowchart of a control method provided by an embodiment of the present invention.
  • the control method shown in FIG. 3 can be applied to a remote server.
  • the remote server communicates with a selected control station and a candidate control station.
  • the selected control station performs two-way data interaction with the unmanned aerial vehicle.
  • the control method shown in FIG. 3 It can include the following steps:
  • Step S301 Send uplink control data to the selected control station so that the selected control station controls the unmanned aerial vehicle according to the uplink control data.
  • the uplink control data may include basic flight setting data such as the flight direction and flight speed of the unmanned aerial vehicle; or, the uplink control data may also include setting data related to the flight mission performed by the unmanned aerial vehicle, for example, assuming no The flight task performed by the human aircraft is to collect image data, and the uplink control data may include setting data such as the shooting delay and shooting resolution of the shooting device on the unmanned aerial vehicle.
  • the uplink control data sent by the remote server to the selected control station may be generated by the remote terminal corresponding to the unmanned aerial vehicle and sent to the remote server.
  • the remote terminal refers to a terminal device that can be used to monitor the flight status of the unmanned aerial vehicle and send control instructions to the unmanned aerial vehicle.
  • the terminal device may be a mobile phone or a computer.
  • Fig. 4a is a schematic diagram of a selected control station obtaining uplink control data according to an embodiment of the present invention.
  • the unmanned aerial vehicle 401 is an unmanned aerial vehicle
  • the remote terminal corresponding to the unmanned aerial vehicle 401 is a terminal device. 402.
  • the user can start the setting interface for setting the drone in the user interface of the terminal device 402, and can input control operations or control instructions, such as control instructions, in the setting interface through a terminal device related input device such as a keyboard or a microphone. It is “set the shooting delay of 3 seconds” or the control command can also be “adjust a certain parameter of the shooting device to XX value”.
  • the terminal device 402 generates uplink control data according to the detected control or control instruction, and sends the uplink control data to the remote server 403, and the remote server 403 sends the uplink control data to the selected control station 404, so that the selected control station according to the uplink
  • the control data controls the flight of the unmanned aerial vehicle 401.
  • the selected control station may also obtain the uplink service data through the control terminal corresponding to the unmanned aerial vehicle.
  • the control terminal can refer to the remote control matched with the unmanned aerial vehicle.
  • the user can input control operations on the control terminal corresponding to the unmanned aerial vehicle.
  • the control terminal generates uplink control data according to the control operation input by the user and sends it to the remote server.
  • FIG. 4b a schematic diagram of a selected control station obtaining uplink control data according to an embodiment of the present invention.
  • the unmanned aerial vehicle 401 is an unmanned aerial vehicle
  • the control terminal corresponding to the unmanned aerial vehicle 401 is a remote controller. 405.
  • the user can control the flight direction and flight speed of the drone through the remote control 405.
  • the remote controller 405 generates uplink control data according to the detected user operation, and sends the uplink control data to the selected control station 404, so that the selected control station 404 controls the unmanned aerial vehicle to fly according to the uplink control data.
  • the selected control station and remote server are introduced between the unmanned aerial vehicle and the control terminal or remote terminal to solve this problem.
  • the uplink service data generated by the control terminal or remote terminal is first sent to the remote server.
  • the remote server then forwards the uplink control data to the selected control station, so that the selected control station controls the UAV according to the uplink control data.
  • the remote server may first determine the selected control station and the candidate control station from a plurality of preset control stations.
  • the preset control station can be set in advance in the operation area of the unmanned aerial vehicle. Specifically: first, the operation area of the unmanned aerial vehicle is selected, according to the total area of the operation area and the signal coverage of each preset control station The scope determines the number of preset control stations required in the operation area and the deployment location of each preset control station; at each deployment location, each preset control station is deployed at the same or close distance from each other.
  • the total area of the operation area of the selected UAV is 100
  • the signal coverage of each preset control station is 18, and the number of preset control stations required in the operation area is at least 6, which can be set in Deploy 6, or 8 or any number of preset control stations in the operation area.
  • the implementation manner of determining the selected control station and the candidate control station from a plurality of preset control stations may be: receiving the control station indication information sent by the control terminal or the remote terminal of the unmanned aerial vehicle, where: The control station indication information is determined by the control terminal or the remote terminal based on the detection of the user's control station selection operation; the selected control station and the candidate control station are determined from a plurality of preset control stations according to the control station indication information.
  • the user can use the control terminal or the remote terminal to set the selected control station for two-way data interaction with the UAV at the current moment, and the candidate control station that is about to conduct two-way data interaction with the UAV.
  • the user interface of the control terminal or the remote terminal may display the current position of the UAV in the selected operation area, as well as various preset control stations included in the selected operation area, and the user Select the selected control station and candidate control station according to the current position of the UAV.
  • the selected work area map is displayed in the user interface of the remote terminal, and the work area map includes the location identifier corresponding to the current position of the drone in the work area, and the control corresponding to each preset control station identifier.
  • Station ID such as (A, 1, 1 km).
  • the control station identifier corresponding to each preset control station may include the name of the corresponding preset control station, such as A and a number such as 1, or even the distance between the preset control station and the drone.
  • the user can select the preset control station closest to the drone as the selected control station according to the control station identifier of each preset control station, and then select from other preset control stations except the selected control station
  • the preset control station closest to the selected control station is used as a candidate control station.
  • the method for determining the selected control station and the candidate control station from a plurality of preset control stations may also be: receiving the position information of the unmanned aerial vehicle sent by the control terminal of the unmanned aerial vehicle according to the position.
  • the information determines the selected control station and candidate control from a plurality of preset control stations. Because when multiple preset control stations are deployed in the operation area, the remote server can record the location information of each preset control station. After obtaining the location information of the unmanned aerial vehicle from the control terminal, it can be based on the location information of the unmanned aerial vehicle and each The position information of the preset control station determines the distance between the UAV and each pre-control station, and the selected controller is selected according to the calculated distance.
  • the uplink control data received by the remote server from the control terminal or the remote terminal may include the route data of the unmanned aerial vehicle, and the selected control station and the implementation of the candidate control are determined from a plurality of preset control stations.
  • the method may also be: determining the selected control station and the candidate control station from a plurality of preset control stations according to the location information of the waypoint in the route data.
  • the specific method for determining the selected control station and the candidate control station from a plurality of preset control stations according to the waypoint position information in the route data may be: set a corresponding preset for each waypoint in advance
  • the control station according to the position information of the waypoint at the current moment, determines the current waypoint of the UAV, finds the preset control station corresponding to the waypoint as the determined selected control station, and then obtains the next one of the waypoint The waypoint, and the preset control station corresponding to the next waypoint, determine the preset control station corresponding to the next waypoint as the candidate control station of the unmanned aerial vehicle at the current moment.
  • Step S302 Receive the first signal reception strength sent by the selected control station.
  • the selected control station can send the received uplink control data sent by the remote server to the UAV, and the UAV will follow the uplink
  • the control data controls the unmanned aerial vehicle to fly; when the unmanned aerial vehicle is flying based on the uplink control data, it sends the generated downlink service data to the selected control station.
  • Step S305 Send a switching instruction to the selected control station so that the selected control station controls the unmanned aerial vehicle to disconnect the two-way data interaction with the selected control station, and controls the unmanned aerial vehicle to establish two-way data interaction with the candidate control station .
  • step S304 the switching instruction is used to instruct the selected controller to control the UAV to disconnect the two-way data interaction with the selected control station, and to control the UAV to establish the two-way data interaction with the candidate control station .
  • the remote server may also detect whether the strength difference between the second signal receiving strength and the first signal receiving strength is greater than a preset value When the intensity difference is greater than the preset value, a switching instruction is generated. If the intensity difference is not greater than the preset value, no switching instruction is generated; when the intensity difference is not greater than the preset value, the switching instruction may not be generated.
  • the selected control station informs the UAV to disconnect from the selected control station and establish a connection with the candidate control station.
  • the remote server sends the uplink control data received in step S301 to the candidate control station so that the candidate control station controls the unmanned aerial vehicle according to the uplink control data .
  • the candidate control station is received to send downlink service data, and the downlink service data is sent by the unmanned aerial vehicle to the candidate control station.
  • the two-way data interaction between the unmanned aerial vehicle and the candidate control station is determined based on the first communication verification information of the unmanned aerial vehicle and the third communication verification information of the candidate control station.
  • the third communication verification information may include the identity identification and/or communication key of the candidate control station, the identity identification may be the SN code of the candidate control station, and the communication key may be the communication identification and/or communication password of the candidate control station.
  • the unmanned aerial vehicle and the selected control station can exchange their respective communication verification information through the remote server.
  • the remote server receives the first communication verification information of the unmanned aerial vehicle sent by the planting terminal of the unmanned aerial vehicle, and Send the first communication verification information to the selected control station and the candidate control station; obtain the second communication verification information of the selected control station and the third communication verification information of the candidate control station, and combine the second communication verification information with the third communication
  • the verification information is sent to the control terminal, so that the control terminal sends the second communication verification information and the third communication verification information to the unmanned aerial vehicle; wherein the first communication verification information and the second communication verification information are used to establish the The two-way data exchange between the unmanned aerial vehicle and the selected control station, the first communication verification information and the third communication verification information are used to establish the communication between the unmanned aerial vehicle and the candidate control station Two-way data interaction.
  • the method for the remote server to receive the first communication verification information of the unmanned aerial vehicle sent by the control terminal of the unmanned aerial vehicle may include: receiving the first communication verification information of the unmanned aerial vehicle sent by the control terminal through a mobile communication network.
  • An implementation manner in which the remote server sends the second communication verification information and the third communication verification information to the control terminal may be: sending the second communication verification information and the third communication verification information to the control terminal via a mobile communication network.
  • the acquiring of the second communication verification information of the selected control station and the third communication verification of the candidate control station by the remote server includes: acquiring the second communication from the selected control station Verification information; or, obtain the second communication verification information of the selected control station from a local storage device; obtain the third communication verification information from the candidate control station; or obtain the candidate from the local storage device The third communication verification information of the control station. It should be understood that if the remote server has previously acquired the second communication verification information of the selected control station through interaction with the selected control station, or has acquired the candidate control station’s information through interaction with the candidate control station. The third communication verification information, the remote server may store the acquired second communication verification information or the third communication verification information in the local storage device. When it is detected that the remote server needs to obtain the second communication verification information and the third communication verification information, the second communication verification information and the third communication verification information can be directly obtained from the local storage device, avoiding the remote server and the selected control Frequent interaction between stations.
  • the unmanned aerial vehicle may store the second communication verification information and the third communication verification information in the pairing information of the unmanned aerial vehicle In; After receiving the first communication verification information, the selected control station and the candidate control station can store the first communication verification information in their respective pairing information.
  • the implementation manner of establishing a two-way data interaction between the unmanned aerial vehicle and the selected control station based on the first communication verification information and the second communication verification information may be: the unmanned aerial vehicle can use its own first communication verification information And the second communication verification information is sent to the selected control station; the selected control station receives and verifies the received second communication verification information, if the received second communication verification information is the second communication verification of the selected control station itself If the information is the same, it is further verified whether the received first communication verification information is the same as the first communication verification information stored in the pairing information; if they are the same, a two-way data interaction between the unmanned aerial vehicle and the selected control station is established.
  • the implementation of establishing two-way data interaction between the unmanned aerial vehicle and the candidate control station based on the first communication verification information and the third communication verification information is the same as the foregoing establishment based on the first communication verification information and the second communication verification information.
  • the two-way data exchange method between the UAV and the selected control station is the same, so I won't repeat it here.
  • the remote server sends uplink control data to the selected control station so that the selected control station controls the UAV according to the uplink control data; receives the first signal reception strength sent by the selected control station, and the first signal is received The strength is determined by the selected control station in the process of controlling the UAV according to the received downlink service data sent by the UAV; at the same time, the remote server also receives the second signal reception strength sent by the candidate control station, and the second signal is received The strength is determined by the candidate control station based on the downlink service data received from the unmanned aerial vehicle; the switching command is generated according to the first signal reception strength and the second signal reception strength; the switching command is sent to the selected control station to enable the selected control station The station control UAV disconnects the two-way data interaction with the selected control station, and establishes the two-way data interaction with the candidate control station.
  • the remote server can control the UAV to switch the connection with different control stations during the flight according to the signal receiving intensity of multiple control stations.
  • FIG. 5 another control method provided by an embodiment of the present invention is applied to a selected control station that establishes two-way data interaction with an unmanned aerial vehicle.
  • the selected control station communicates with a remote server, and the remote server also communicates with the remote server.
  • the method shown in FIG. 5 can be executed by the selected control station, and specifically can be executed by the processor of the selected control station.
  • the control method shown in Figure 5 may include the following steps:
  • Step S501 Obtain the downlink service data sent by the unmanned aerial vehicle and the first signal reception strength of the selected control station regarding the downlink service data.
  • Step S502 Send the first signal strength to the remote server.
  • the selected control station can receive the uplink control data sent by the remote server, and control the unmanned aerial vehicle to fly according to the uplink control data.
  • the uplink control data received by the selected control station may be generated by the remote terminal corresponding to the unmanned aerial vehicle.
  • the remote server can communicate with the remote terminal of the unmanned aerial vehicle and the selected control station, and the selected control station can Two-way data interaction with unmanned aerial vehicles.
  • the remote terminal After the remote terminal generates uplink control data according to the user's operating instructions, it sends the uplink control data to the remote server, and the remote server sends the uplink control data to the selected control station.
  • the selected control station sends the uplink control data to the UAV to control the flight of the UAV.
  • the selected control station may also receive the uplink service data sent by the control terminal corresponding to the unmanned aerial vehicle. Specifically, the control terminal generates uplink control data according to the user's control instruction; directly sends the uplink control data to the selected control station.
  • the unmanned aerial vehicle will generate downlink service data under the control of the selected control station.
  • the so-called downlink service data may include image data or other data collected by the unmanned aerial vehicle.
  • the unmanned aerial vehicle sends the downlink service data to the selected control station.
  • the selected control station evaluates the first signal reception strength of the received downlink service data.
  • the selected control may also send the downlink service data to the remote server, and the remote server sends the downlink service data to the control terminal or the remote terminal for the user to view.
  • the selected control station may also directly send the downlink service data to the control terminal or the remote terminal for the user to view.
  • the selected control station also receives the first communication verification information of the unmanned aerial vehicle sent by the remote server, the first communication verification information is sent to the remote controller by the control terminal of the unmanned aerial vehicle; the selected control station obtains The second communication verification information of the selected control station, and the second communication verification information is sent to the remote server, so that the remote server sends the second communication verification information to the control terminal of the unmanned aerial vehicle to save the pairing information in the unmanned aerial vehicle
  • the control terminal For the implementation manner for the control terminal to send the first communication verification information to the remote server, reference may be made to the description in the related embodiment in the embodiment of FIG. 2, which will not be repeated here.
  • the unmanned aerial vehicle flies, the distance between the unmanned aerial vehicle and the selected control station is getting farther and farther, and the distance between the unmanned aerial vehicle and the candidate control station is getting closer and closer.
  • the unmanned aerial vehicle flies to the selected control station and the candidate
  • the candidate control station determines the second signal reception strength based on the detected downlink service data.
  • the second signal receiving strength is sent to the remote server, and the remote server generates a switching instruction according to the first signal receiving strength and the second signal receiving strength.
  • the switching instruction sent by the remote server may include the candidate control station identification, and the selected control station sends a switching instruction to the unmanned aerial vehicle according to the candidate control station identification, so that the unmanned aerial vehicle actively disconnects from the selected control station The two-way data interaction between the two, and the establishment of two-way data interaction with the candidate control station identified by the candidate control station identifier.
  • the embodiment of the present invention also provides a remote server.
  • a remote server Refer to FIG. 6 for a schematic structural diagram of a remote server provided by an embodiment of the present invention.
  • the remote server is in communication connection with the selected control station and the candidate control station.
  • the selected control station and the UAV conduct two-way data interaction, the remote server may include a processor 601 and a memory 602, and the processor 601 and the memory 602 may be connected via a bus 603.
  • the processor 601 when the processor 601 generates a switching instruction according to the first signal reception strength and the second signal reception strength, the following operations are performed: when the first signal reception strength is less than the second signal reception strength When the signal is received, a switching command is generated.
  • the uplink control data includes route data
  • the processor 601 performs the following operations when determining the selected control station and the candidate control station from a plurality of preset control stations:
  • the location information of the waypoint in the route data determines the selected control station and the candidate control station from a plurality of preset control stations.

Abstract

L'invention concerne un procédé de commande, un serveur distant, une station de commande et un support de stockage. Le procédé de commande peut comprendre les étapes consistant à : envoyer des données de commande de liaison montante à une station de commande sélectionnée de façon à permettre à la station de commande sélectionnée de commander un véhicule aérien sans pilote en fonction des données de commande de liaison montante ; recevoir une première intensité de réception de signal envoyée par la station de commande sélectionnée, la première intensité de réception de signal étant déterminée en fonction de données de service de liaison descendante du véhicule aérien sans pilote reçues par la station de commande sélectionnée ; recevoir une seconde intensité de réception de signal envoyée par une station de commande candidate, la seconde intensité de réception de signal étant déterminée en fonction des données de service de liaison descendante du véhicule aérien sans pilote reçues par la station de commande candidate ; générer une instruction de commutation en fonction de la première intensité de réception de signal et de la seconde intensité de réception de signal ; envoyer l'instruction de commutation à la station de commande sélectionnée de telle sorte que la station de commande sélectionnée commande le véhicule aérien sans pilote de façon à déconnecter une interaction de données bidirectionnelle avec la station de commande sélectionnée et commande le véhicule aérien sans pilote de façon à établir une interaction de données bidirectionnelle avec la station de commande candidate. Le procédé permet un vol à longue distance de véhicules aériens sans pilote.
PCT/CN2019/103427 2019-08-29 2019-08-29 Procédé de commande, serveur distant, station de commande et support de stockage WO2021035641A1 (fr)

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