WO2022088208A1 - 一种无人机遥控系统 - Google Patents

一种无人机遥控系统 Download PDF

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Publication number
WO2022088208A1
WO2022088208A1 PCT/CN2020/126245 CN2020126245W WO2022088208A1 WO 2022088208 A1 WO2022088208 A1 WO 2022088208A1 CN 2020126245 W CN2020126245 W CN 2020126245W WO 2022088208 A1 WO2022088208 A1 WO 2022088208A1
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remote control
control device
main
communication module
processing module
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PCT/CN2020/126245
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English (en)
French (fr)
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高廉洁
田瑜
任乐乐
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南京拓攻自动驾驶技术研究院有限公司
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Publication of WO2022088208A1 publication Critical patent/WO2022088208A1/zh

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    • 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
    • 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
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present application belongs to the technical field of unmanned aerial vehicles, and for example, relates to a remote control system of unmanned aerial vehicles.
  • UAVs are widely used in agriculture, meteorology, electric power, surveying and mapping, telemetry and other industries.
  • UAVs When UAVs perform tasks, they will carry mounted equipment, such as cameras, radar imagers, and ultrasonic detectors. Therefore, it is necessary to control the UAV flight and control the mounted equipment at the same time to complete the task.
  • one master remote control device and a plurality of slave remote control devices can be provided.
  • the operator controls the flight of the UAV through the main remote control device, and the professional technicians can directly control the flight of the UAV and control the mounted equipment through the slave remote control device.
  • controlling both the drone flight and the mounted equipment from the RC increases the load running on the RC processor.
  • controlling the UAV from the remote control device alone is prone to overloading of multiple mounted devices or conflicting flight paths of the UAV, thereby increasing the hidden dangers of safety and the risk of flight failure of the UAV.
  • the present application discloses a remote control system for an unmanned aerial vehicle to solve the problem that in the existing remote control system, the unmanned aerial vehicle and the mounted equipment are independently controlled from the remote control device, which increases the risk of flight failure of the unmanned aerial vehicle.
  • the present application provides an unmanned aerial vehicle remote control system, comprising: a main remote control device, at least one auxiliary remote control device, an unmanned aerial vehicle, and a mounting device arranged on the unmanned aerial vehicle;
  • the main remote control device is wirelessly connected to the drone and the mount device, and the secondary remote control device is wirelessly authenticated and connected to the main remote control device;
  • the main remote control device is used to control the flight of the drone
  • the secondary remote control device is used to generate a mounting device manipulation instruction and send it to the primary remote control device;
  • the main remote control device is further configured to control the mount device according to the mount device manipulation instruction.
  • the main remote control device includes: a first main communication module, a first main processing module, a second main communication module and a second main processing module;
  • the first main communication module is configured to: establish a communication connection between the main remote control device and the unmanned aerial vehicle and the mounting device;
  • the first main processing module is configured to: generate a UAV flight instruction, and send the flight instruction and the received mounting device manipulation instruction to the UAV through the first main communication module and the mount device;
  • the second main communication module is configured to: establish a communication connection between the main remote control device and the secondary remote control device;
  • the second main processing module is configured to obtain the mounting device manipulation instruction through the second main communication module, and send the mounting device manipulation instruction to the first main processing module.
  • the secondary remote control device includes: a first secondary communication module and a first secondary processing module; wherein the first secondary communication module is configured to: establish communication between the secondary remote control device and the primary remote control device connection; the first secondary processing module is configured to: generate the mounting device manipulation instruction, and send the mounting device manipulation instruction to the main remote control device through the first secondary communication module.
  • the secondary remote control device further includes: a second secondary communication module and a second secondary processing module; wherein the second secondary communication module is configured to: connect the secondary remote control device with other secondary remote control devices establishing a communication connection; the second sub-processing module is configured to obtain data of the other sub-remote control devices through the second sub-communication module, and send the data to the first sub-processing module.
  • the second secondary communication module is configured to: connect the secondary remote control device with other secondary remote control devices establishing a communication connection;
  • the second sub-processing module is configured to obtain data of the other sub-remote control devices through the second sub-communication module, and send the data to the first sub-processing module.
  • the secondary remote control device further includes: a data analysis and processing module; wherein, the first main processing module is further configured to: obtain the data collected by the mounting device through the first main communication module, and sent to the second main processing module; the second main processing module is further configured to: send the received data collected by the mount device to the data analysis and processing module through the second main communication module; The data analysis and processing module is configured to: perform data analysis and processing on the received data collected by the mount device.
  • system further includes: a central remote control device, the central remote control device is wirelessly connected to the main remote control device and the secondary remote control device respectively, and the central remote control device is used to comprehensively analyze and process the main remote control device. and the data of the secondary remote control device.
  • the central remote control device includes: a central communication module, a central processing module and a comprehensive analysis module;
  • the central communication module is configured to: establish a communication connection between the central remote control device and the main remote control device and the secondary remote control device;
  • the central processing module is configured to: acquire the data of the main remote control device and the secondary remote control device through the central communication module, and send them to the comprehensive analysis module;
  • the comprehensive analysis module is configured to: comprehensively analyze and process the data of the main remote control device and the auxiliary remote control device, and send the comprehensive analysis result of the data to the main remote control device and the auxiliary remote control through the central communication module. device.
  • the central remote control device further includes: a task allocation module, the task allocation module is configured to: allocate and execute tasks, and send the task allocation result to the main remote control device and the main remote control device through the central communication module.
  • a task allocation module is configured to: allocate and execute tasks, and send the task allocation result to the main remote control device and the main remote control device through the central communication module.
  • Secondary remote control is configured to: allocate and execute tasks, and send the task allocation result to the main remote control device and the main remote control device through the central communication module.
  • the central remote control device further includes: an early warning module, the early warning module is configured to: monitor the operation data of the UAV and the mounted device, and if the operation data exceeds a preset early warning threshold, Then an early warning signal is generated and sent to the main remote control device through the central communication module.
  • an early warning module configured to: monitor the operation data of the UAV and the mounted device, and if the operation data exceeds a preset early warning threshold, Then an early warning signal is generated and sent to the main remote control device through the central communication module.
  • the method for authenticating a connection includes: the primary remote control device sends a connection opening instruction to the secondary remote control device;
  • the secondary remote control device receives the connection opening instruction and sends connection request information, where the connection request information includes: the number of the secondary remote control device and the number of the mounted device to be controlled;
  • the main remote control device receives the connection request information, and searches for the preset control mounting device number according to the number of the secondary remote control device;
  • the primary remote control device and the secondary remote control device establish a wireless connection through verification.
  • a remote control system for an unmanned aerial vehicle comprising: a main remote control device, at least one auxiliary remote control device, an unmanned aerial vehicle, and a mounting device arranged on the unmanned aerial vehicle;
  • the remote control device is wirelessly connected to the drone and the mounting device, and the secondary remote control device is wirelessly connected to the main remote control device;
  • the primary remote control device is used to control the flight of the drone;
  • the secondary remote control device is used to control the flight of the drone;
  • the remote control device is used for generating a mounting device manipulation instruction and sending it to the main remote control device;
  • the main remote control device is further configured to control the mounting device according to the mounting device manipulation instruction.
  • the control instruction of the mounted device is sent to the main remote control device, and the mounted device is controlled by the main remote control device.
  • the secondary remote control device does not directly control the mounted equipment.
  • the main remote control device controls the UAV's flight and mounting equipment, which can improve the flight safety of the UAV while ensuring that the mounted equipment and the UAV cooperate to complete the task.
  • FIG. 1 is a schematic diagram of a scene structure of an embodiment of a drone remote control system provided by the application;
  • FIG. 2 is a schematic diagram of the device structure of an embodiment of the UAV remote control system provided by the application;
  • FIG. 3 is a schematic structural diagram of an embodiment of a main remote control device in a drone remote control system provided by the application;
  • FIG. 4 is a schematic structural diagram of an embodiment of a secondary remote control device in a drone remote control system provided by the application;
  • FIG. 5 is a schematic structural diagram of an embodiment of a central remote control device in an unmanned aerial vehicle remote control system provided by the application;
  • FIG. 6 is a flowchart of an embodiment of an authentication connection method in a drone remote control system provided by the present application.
  • UAVs are widely used in agriculture, meteorology, electric power, surveying and mapping, telemetry and other industries.
  • the UAV When performing a mission, the UAV is in a very complex terrain environment, and the UAV operator cannot complete other tasks such as aerial photography and 3D scanning of the UAV under the condition of independently completing the basic flight tasks of the UAV. Need other professional operators to cooperate to complete.
  • the target For example, during the flight of the drone, the target needs to be tracked and photographed.
  • the drone operator is responsible for the safe flight of the drone, and the professional photographer operates the camera to take pictures of the target.
  • UAVs have limited flight time, and perform multiple different tasks in a short period of time, requiring multiple flight sorties. Time consuming and high cost. If the drone's mounting capacity allows, mount a variety of functional equipment. Different types of work in one flight sortie cooperate with each other, which greatly improves the efficiency of UAV operations.
  • one master remote control device and a plurality of slave remote control devices can be provided.
  • the operator controls the flight of the UAV through the main remote control device, and the professional technicians can directly control the flight of the UAV and control the mounted equipment through the slave remote control device.
  • controlling both the drone flight and the mounted equipment from the RC increases the load running on the RC processor.
  • controlling the drone from the remote control device alone is prone to overloading of multiple mounted devices or conflicting flight paths of the drone, thereby increasing the hidden dangers of safety and the risk of flight failure of the drone.
  • FIG. 1 is a schematic diagram of a scene structure of an embodiment of a drone remote control system provided by the application
  • FIG. 2 is a schematic diagram of a device structure of an embodiment of the drone remote control system provided by the application.
  • the present application provides a remote control system for an unmanned aerial vehicle, including: a main remote control device, at least one auxiliary remote control device, an unmanned aerial vehicle, and a mounting device arranged on the unmanned aerial vehicle;
  • the mounting equipment includes, but is not limited to, a camera, an ultrasonic detector, a radar imager, a throwing device, a spraying device, and the like.
  • the main remote control device is wirelessly connected to the drone and the mounted device
  • the secondary remote control device is wirelessly authenticated and connected to the main remote control device
  • the connection between the secondary remote control device and the main remote control device requires a security authentication process
  • the primary remote control device identifies whether the secondary remote control device requested to join corresponds to the mounted device performing the task, and if the matching is successful, the primary remote control device establishes a wireless connection with the secondary remote control device.
  • the main remote control device is used to control the flight of the UAV, and the main remote control device has the decision control authority over the UAV, which can ensure the flight safety of the UAV.
  • the secondary remote control device is used to generate a mounted device manipulation instruction and send it to the main remote control device; the primary remote control device is further configured to control the mounted device according to the mounted device manipulation instruction.
  • the secondary remote control device cannot control the flight of the drone, but can only control the mounted equipment.
  • the secondary remote control device is not directly connected to the mounting device for control, but controls the mounting device through the main remote control device. It can not only reduce the processor load of the secondary remote control device, but also improve the smoothness of the operation of the mounted device. Moreover, the interference of the secondary remote control device to the flight of the drone controlled by the main remote control device can be avoided, and the safety of the flight of the drone can be improved.
  • FIG. 3 is a schematic structural diagram of an embodiment of the main remote control device in the UAV remote control system provided by the present application.
  • the main remote control device includes: a first main communication module, a first main processing module, a second main communication module and a second main processing module.
  • the first main communication module is configured to: establish a communication connection between the main remote control device and the drone and the mounting device.
  • the first main communication module can use a high-power transmission communication technology with a long transmission distance, and specifically can use the transmission communication technology of 5.8G radio frequency and 2.4G radio frequency.
  • Using the above-mentioned radio frequency transmission communication technology can increase the range of UAV flight operations and improve the stability of the communication connection between the main remote control device and the UAV.
  • the first main processing module is configured to: generate a UAV flight instruction, and send the flight instruction and the received mounting device manipulation instruction to the UAV through the first main communication module. machine and the mount device.
  • the first main processing module can generate the flight instruction of the UAV according to the specific operation of the operator, and send it to the UAV through the first main communication module, and the UAV flies according to the flight instruction.
  • the first main processing module can also receive the manipulation instruction of the mount device, and send it to the mount device through the first main communication module, and the mount device completes the specified task according to the manipulation instruction.
  • the second main communication module is configured to: establish a communication connection between the main remote control device and the secondary remote control device; the second main communication module can use a wireless transmission communication technology with a short transmission distance, including but not limited to WIFI wireless Communication Technology.
  • the short-range transmission technology can be more selective, and the technology adopted by the second main communication module and the first main communication module is different.
  • the two communication modules work without interfering with each other.
  • the cost of the UAV remote control system can also be reduced.
  • the second main processing module is configured to: obtain the mounting device control instruction through the second main communication module, and send the mounting device control instruction to the first main processing module, the first main processing module.
  • the processing module then sends the mounted device manipulation instruction to the controlled mounted device through the first main communication module.
  • FIG. 4 is a schematic structural diagram of an embodiment of a secondary remote control device in the UAV remote control system provided by the application.
  • the secondary remote control device includes: a first secondary communication module and a first secondary processing module; wherein, the first secondary communication module is configured to: connect the secondary remote control device with all The main remote control device establishes a communication connection; specifically, the first auxiliary communication module establishes a two-way wireless communication connection with the second main communication module.
  • the first sub-communication module can use a wireless transmission communication technology with a relatively short transmission distance, such as WIFI wireless communication technology.
  • the first secondary processing module is configured to: generate the mounting device manipulation instruction, and send the mounting device manipulation instruction to the main remote control device through the first secondary communication module.
  • the first sub-processing module generates a corresponding mounting device control instruction according to the specific operation of the operator, and sends it to the main remote control device through the first sub-communication module.
  • the secondary remote control device further includes: a second secondary communication module and a second secondary processing module; wherein the second secondary communication module is configured to: connect the secondary remote control device with other secondary remote control devices establishing a communication connection; the second sub-processing module is configured to obtain data of the other sub-remote control devices through the second sub-communication module, and send the data to the first sub-processing module.
  • the second secondary communication module is configured to: connect the secondary remote control device with other secondary remote control devices establishing a communication connection;
  • the second sub-processing module is configured to obtain data of the other sub-remote control devices through the second sub-communication module, and send the data to the first sub-processing module.
  • the drone remote control system includes a plurality of sub-remote control devices, and the second sub-communication module and the second sub-processing module can establish connection and data exchange among the plurality of sub-remote control devices.
  • the second sub-communication module and the second sub-processing module can establish connection and data exchange among the plurality of sub-remote control devices.
  • the secondary remote control device when the UAV performs the task, it can only collect the data of the target, and cannot analyze and process the collected data in real time.
  • the secondary remote control device further includes: a data analysis and processing module.
  • the first main processing module is further configured to: obtain the data collected by the mounted device through the first main communication module, and send it to the second main processing module; the second main processing module is also configured to: send the received data collected by the mounting device to the data analysis and processing module through the second main communication module; the data analysis and processing module is configured to: The data collected by the device is analyzed and processed.
  • the first main processing module of the main remote control device can acquire the data collected by the mounted device, such as photos taken by the photographing device, data scanned by the radar imager, etc.
  • the data collected by the onboard equipment is sent to the data analysis and processing module of the secondary remote control device through the second main communication module.
  • the data analysis and processing module further processes the data.
  • the auxiliary remote control device has the function of data processing by setting the data analysis and processing module, and performs real-time analysis and processing on the data collected by the mounted equipment, so as to arrange the next operation plan according to the processing results in time, and further improve the operation efficiency.
  • FIG. 5 is a schematic structural diagram of an embodiment of a central remote control device in the UAV remote control system provided by the present application.
  • the system further includes: a central remote control device, the central remote control device is wirelessly connected to the main remote control device and the secondary remote control device respectively, and the central remote control device is used for comprehensive analysis
  • the data acquired by the primary remote control device and the secondary remote control device are processed.
  • the central remote control device has a powerful data processing function, which can obtain and summarize the data obtained by the main remote control device and multiple sub remote control devices, and conduct comprehensive analysis and processing of the data to improve the efficiency and accuracy of the coordinated operation of multiple mounted devices of the UAV. .
  • the central remote control device includes: a central communication module, a central processing module and a comprehensive analysis module; wherein, the central communication module is configured to: connect the central remote control device with the main remote control device, the secondary remote control device, and the secondary remote control device.
  • the remote control device establishes a communication connection.
  • the central communication module is connected to the second main communication module and the second sub communication module.
  • the central communication module can also use wireless transmission communication technology with a short transmission distance to improve the stability of the remote control system.
  • the central processing module is configured to acquire the data of the primary remote control device and the secondary remote control device through the central communication module, and send the data to the comprehensive analysis module.
  • the data includes: the flight data of the UAV, the data collected by the mounted equipment, and the data processed by the auxiliary remote control device. Obtain the necessary data according to the actual task requirements.
  • the comprehensive analysis module is configured to: comprehensively analyze and process the data of the main remote control device and the auxiliary remote control device, and send the comprehensive analysis result of the data to the main remote control device and the auxiliary remote control device through the central communication module.
  • Remote control device The comprehensive analysis module can use a processor with high processing capacity to quickly process and analyze the data according to the task requirements, and generate the analysis results, which are sent to the main remote control device and the auxiliary remote control device for the next step. Data analysis can improve the efficiency of UAV operations.
  • the central remote control device further includes: a task allocation module, the task allocation module is configured to: allocate and execute tasks, and send the task allocation result to the main remote control device and the main remote control device through the central communication module.
  • a task allocation module configured to: allocate and execute tasks, and send the task allocation result to the main remote control device and the main remote control device through the central communication module.
  • Secondary remote control The central remote control device can store job task details and work priorities, and the task assignment module can analyze and decompose the tasks, send specific tasks to the main remote control device and the secondary remote control device, and remind the operator of the specific work content and work focus.
  • the central remote control device further includes: an early warning module, the early warning module is configured to: monitor the operation data of the UAV and the mounted device, and if the operation data exceeds a preset early warning threshold, Then an early warning signal is generated and sent to the main remote control device through the central communication module.
  • the main remote control device has the right to decide the control of the drone. If the mounted equipment fails and affects the normal flight of the drone, the early warning module detects the fault and generates an early warning signal.
  • the main remote control device can actively disconnect the auxiliary remote control device corresponding to the faulty mounted equipment according to the early warning signal, so as to ensure the normal flight of the UAV and improve the safety of the UAV operation.
  • the remote control system of the unmanned aerial vehicle includes: a main remote control device, three auxiliary remote control devices and a central remote control device.
  • the mounted equipment includes cameras, radar imagers and insulator electric field detectors.
  • the main tasks include: the whole body of the power tower, the tower sign, the ground wire mounting point, the upper phase mounting point, Insulators, etc. take pictures, and the flight mission is equipped with a drone pilot to operate the main remote control device; a camera operator, a radar imager controller and an insulator electric field tester respectively operate a sub-remote control device; a central remote control The unit operator operates the central remote control unit.
  • the UAV pilot controls the main remote control device to make the UAV fly to the designated working airspace.
  • the central remote control device operator operates the central remote control device to decompose the tasks, and respectively sends the specific decomposed tasks to the corresponding secondary remote control devices.
  • the radar imager controller aligns the airspace in the direction of the insulator, constructs a real-time 3D model of the power tower, and sends the data to the main remote control unit and the secondary remote control unit, the camera operator points the camera at the insulator, the drone pilot, according to the camera image And real-time power tower 3D model, through the main remote control device to control the position of the drone to the best detection airspace of the insulator.
  • the insulator electric field tester adjusts the parameters of the insulator electric field detector for real-time detection. Under the condition that the drone pilot maintains a safe detection distance, he adjusts the height and angle of the drone to perform a 360-degree all-round three-dimensional detection of the insulator.
  • the camera operator controls the deputy remote control.
  • the device performs data analysis on the appearance of the insulator to determine whether the appearance is damaged.
  • the radar imager controller controls the auxiliary remote control device to analyze the collected 3D model of the insulator to determine whether the structure of the insulator is complete.
  • the insulator electric field tester controls the auxiliary remote control device and analyzes the data to determine whether there is any damage inside the insulator. Three kinds of technicians and drone pilots work in coordination at the same time, and work together to complete the task.
  • a camera operator In a single specific task, a camera operator, a radar imager controller and an insulator electric field tester, any two of which can set the secondary remote control to follow mode, such as the camera operator to control the camera angle And other equipments perform other operations according to this shooting angle.
  • the central remote control device can obtain the data of other auxiliary remote control devices, and comprehensively analyze the data, which can improve the accuracy of the overall data analysis of the task.
  • FIG. 6 is a flowchart of an embodiment of an authentication connection method in a drone remote control system provided by the present application.
  • the method for authenticating the connection includes:
  • the secondary remote control device receives the connection opening instruction and sends connection request information, where the connection request information includes: the number of the secondary remote control device and the number of the mounted device to be controlled;
  • the primary remote control device receives the connection request information, and searches for the preset control mount device number according to the number of the secondary remote control device;
  • the connection of other non-operating auxiliary remote control devices can be prevented from interfering, which can further ensure the safe flight of the drone.
  • a remote control system for an unmanned aerial vehicle comprising: a main remote control device, at least one auxiliary remote control device, an unmanned aerial vehicle, and a mounting device arranged on the unmanned aerial vehicle;
  • the remote control device is wirelessly connected to the drone and the mounting device, and the secondary remote control device is wirelessly connected to the main remote control device;
  • the primary remote control device is used to control the flight of the drone;
  • the secondary remote control device is used to control the flight of the drone;
  • the remote control device is used for generating a mounting device manipulation instruction and sending it to the main remote control device;
  • the main remote control device is further configured to control the mounting device according to the mounting device manipulation instruction.
  • the control instruction of the mounted device is sent to the main remote control device, and the mounted device is controlled by the main remote control device.
  • the secondary remote control device does not directly control the mounted equipment.
  • the main remote control device controls the UAV's flight and mounting equipment, which can improve the flight safety of the UAV while ensuring that the mounted equipment and the UAV cooperate to complete the task.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
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Abstract

一种无人机遥控系统，包括：主遥控装置、至少一个副遥控装置、无人机和设置在无人机上的挂载设备；其中，主遥控装置与无人机和挂载设备无线连接，副遥控装置与主遥控装置无线认证连接；主遥控装置用于控制无人机飞行；副遥控装置用于生成挂载设备操控指令，并发送至主遥控装置；主遥控装置还用于根据挂载设备操控指令操控挂载设备。

Description

一种无人机遥控系统
本申请要求在2020年10月30日提交中国专利局、申请号为202011189163.0、发明名称为“一种无人机遥控系统”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
本申请属于无人机技术领域，例如涉及一种无人机遥控系统。
背景技术
随着无人机技术的迅速发展，无人机被广泛应用到农业、气象、电力、测绘、遥测等行业。无人机在执行任务时，会携带挂载设备，例如：照相机、雷达成像仪和超声波探测仪等。因此，需要同时控制无人机飞行和操控挂载设备完成任务。
在相关技术中，可以通过设置一个主遥控装置和多个从遥控装置。操作人员通过主遥控装置控制无人机的飞行，专业的技术人员通过从遥控装置可以直接控制无人机飞行和操控挂载设备。
但是，从遥控装置既控制无人机飞行又操控挂载设备，会增大从遥控装置处理器运行的负载。同时，从遥控装置单独控制无人机，容易出现多个挂载设备超负荷运行或无人机的飞行路线冲突的情况，从而增大安全隐患，提高无人机发生飞行故障的风险。
发明内容
本申请公开了一种无人机遥控系统，以解决现有的遥控系统中，从遥控装置单独控制无人机和挂载设备，会提高无人机出现飞行故障风险的问题。
本申请提供一种无人机遥控系统，包括：主遥控装置、至少一个副遥控装置、无人机和设置在所述无人机上的挂载设备；
其中，所述主遥控装置与所述无人机和所述挂载设备无线连接，所述副遥控装置与所述主遥控装置无线认证连接；
所述主遥控装置用于控制所述无人机飞行；
所述副遥控装置用于生成挂载设备操控指令，并发送至所述主遥控装置；
所述主遥控装置还用于根据所述挂载设备操控指令操控所述挂载设备。
可选的，所述主遥控装置包括：第一主通讯模块、第一主处理模块、第二主通讯模块和第二主处理模块；
其中，所述第一主通讯模块被配置为：将所述主遥控装置与所述无人机、所述挂载设备建立通讯连接；
所述第一主处理模块被配置为：生成无人机飞行指令，以及将所述飞行指令和接收到的所述挂载设备操控指令通过所述第一主通讯模块发送至所述无人机和所述挂载设备；
所述第二主通讯模块被配置为：将所述主遥控装置与所述副遥控装置建立通讯连接；
所述第二主处理模块被配置为：通过所述第二主通讯模块获取所述挂载设备操控指令，并将所述挂载设备操控指令发送至所述第一主处理模块。
可选的，所述副遥控装置包括：第一副通讯模块和第一副处理模块；其中，所述第一副通讯模块被配置为：将所述副遥控装置与所述主遥控装置建立通讯连接；所述第一副处理模块被配置为：生成所述挂载设备操控指令，并将所述挂载设备操控指令通过所述第一副通讯模块发送至所述主遥控装置。
可选的，所述副遥控装置还包括：第二副通讯模块和第二副处理模块；其中，所述第二副通讯模块被配置为：将所述副遥控装置与其它所述副遥控装置建立通讯连接；所述第二副处理模块被配置为：通过所述第二副通讯模块获取其它所述副遥控装置的数据，并发送至所述第一副处理模块。
可选的，所述副遥控装置还包括：数据分析处理模块；其中，所述第一主处理模块还被配置为：通过所述第一主通讯模块获取所述挂载设备采集的数据，并发送至所述第二主处理模块；所述第二主处理模块还被配置为：将接收的所述挂载设备采集的数据通过所述第二主通讯模块发送至所述数据分析处理模块；所述数据分析处理模块被配置为：对接收的所述挂载设备采集的数据进行数据分析处理。
可选的，所述系统还包括：中枢遥控装置，所述中枢遥控装置分别与所述主遥控装置和所述副遥控装置无线连接，所述中枢遥控装置用于综合分析处理所述主遥控装置和所述副遥控装置的数据。
可选的，所述中枢遥控装置包括：中枢通讯模块、中枢处理模块和综合分析模块；
其中，所述中枢通讯模块被配置为：将所述中枢遥控装置与所述主遥控装置、所述副遥控装置建立通讯连接；
所述中枢处理模块被配置为：通过所述中枢通讯模块获取所述主遥控装置和所述副遥控装置的数据，并发送至所述综合分析模块；
所述综合分析模块被配置为：综合分析处理所述主遥控装置和所述副遥控装置的数据，并将数据综合分析结果通过所述中枢通讯模块发送至所述主遥控装置和所述副遥控装置。
可选的，所述中枢遥控装置还包括：任务分配模块，所述任务分配模块被配置为：分配执行任务，并将任务分配结果通过所述中枢通讯模块发送至所述主遥控装置和所述副遥控装置。
可选的，所述中枢遥控装置还包括：预警模块，所述预警模块被配置为：监测所述无人机和所述挂载设备的运行数据，如果所述运行数据超过预设预警阈值，则生成预警信号，通过所述中枢通讯模块发送至所述主遥控装置。
可选的，所述认证连接的方法包括：所述主遥控装置向所述副遥控装置发送连接开启指令；
所述副遥控装置接收所述连接开启指令，并发送连接请求信息，所述连接请求信息包括：所述副遥控装置编号和待控制挂载设备编号；
所述主遥控装置接收所述连接请求信息，根据所述副遥控装置编号查找预设控制挂载设备编号；
如果所述待控制挂载设备编号与所述预设控制挂载设备编号相同，则通过验证，所述主遥控装置和所述副遥控装置建立无线连接。
由以上技术方案可知，本申请提供一种无人机遥控系统，包括：主遥控装置、至少一个副遥控装置、无人机和设置在所述无人机上的挂载设备；其中，所述主遥控装置与所述无人机和所述挂载设备无线连接，所述副遥控装置与所述主遥控装置无线认证连接；所述主遥控装置用于控制所述无人机飞行；所述副遥控装置用于生成挂载设备操控指令，并发送至所述主遥控装置；所述主遥控装置还用于根据所述挂载设备操控指令操控所述挂载设备。
本申请提供的无人机遥控系统，副遥控装置与主遥控装置认证连接后，将挂载设备操控指令发送至主遥控装置，通过主遥控装置操控挂载设备。副遥控装置不直接操控挂载设备，通过主遥控装置控制无人机的飞行和挂载设备，可以在保证挂载设备与无人机配合完成任务的同时，提高无人机飞行的安全性。
附图说明
为了更清楚地说明本申请的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，对于本领域普通技术人员而言，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请提供的无人机遥控系统的一个实施例的场景结构示意图；
图2为本申请提供的无人机遥控系统的一个实施例的装置结构示意图；
图3为本申请提供的无人机遥控系统中主遥控装置的一个实施例的结构示意图；
图4为本申请提供的无人机遥控系统中副遥控装置的一个实施例的结构示意图；
图5为本申请提供的无人机遥控系统中中枢遥控装置的一个实施例的结构示意图；
图6为本申请提供的无人机遥控系统中认证连接方法的一个实施例的流程图。
具体实施方式
下面将详细地对实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下实施例中描述的实施方式并不代表与本申请相一致的所有实施方式。仅是与权利要求书中所详述的、本申请的一些方面相一致的系统和方法的示例。
随着无人机技术的迅速发展，无人机被广泛应用到农业、气象、电力、测绘、遥测等行业。在执行任务时，无人机处于非常复杂的地形环境中，无人机操控者在独立完成无人机基本飞行任务的情况下，无法在去完成无人机的航拍、3D扫描等其他任务。需要其他专业的操作员来配合完成。例如，无人机飞行过程中需要对目标跟踪拍照等操作，无人机操控者负责操作无人机的安全飞行，由专业的摄影师操作照相机对目标进行拍照。
目前无人机飞行时间有限，短时间内执行多个不同的任务，需要多个飞行架次。耗费时间长，成本高。如果在无人机挂载能力允许的情况下，挂载多种功能设备。一个飞行架次不同工种相互协同操作，大大提高了无人机作业效率。
在相关技术中，可以通过设置一个主遥控装置和多个从遥控装置。操作人员通过主遥控装置控制无人机的飞行，专业的技术人员通过从遥控装置可以直接控制无人机飞行和操控挂载设备。
但是，从遥控装置既控制无人机飞行又操控挂载设备，会增大从遥控装置处理器运行的负载。同时，从遥控装置单独控制无人机，容易出现多个挂载设备超负荷运行或控制无人机的飞行路线冲突的情况，从而增大安全隐患，提高无人机发生飞行故障的风险。
以下对本申请所提供的无人机遥控系统的实施例进行说明。图1为本申请提供的无人机遥控系统的一个实施例的场景结构示意图，图2为本申请提供的无人机遥控系统的一个实施例的装置结构示意图。
如图1和图2所示，本申请提供一种无人机遥控系统，包括：主遥控装置、至少一个副遥控装置、无人机和设置在所述无人机上的挂载设备；在本实施例中，所述挂载设备包括但不限于：照相机、超声波探测仪、雷达成像仪、抛投装置和喷洒作业装置等。
其中，所述主遥控装置与所述无人机和所述挂载设备无线连接，所述副遥控装置与所述主遥控装置无线认证连接，副遥控装置与主遥控装置的连接需要安全认证过程，主遥控装置通过识别请求加入的副遥控装置是否与执行任务的挂载设备相对应，如果匹配成功，则主遥控装置与所述副遥控装置建立无线连接。通过在连接过程中设置安全认证，可以保证连接副遥控装置的安全性，进一步提高无人机飞行的安全性。
所述主遥控装置用于控制所述无人机飞行，主遥控装置具有对无人机的决定控制权限，可以保证无人机的飞行安全。
所述副遥控装置用于生成挂载设备操控指令，并发送至所述主遥控装置；所述主遥控装置还用于根据所述挂载设备操控指令操控所述挂载设备。副遥控装置不能控制无人机的飞行，只能操控挂载设备。
具体的，副遥控装置不直接与挂载设备连接进行操控，而是通过主遥控装置操控挂载设备。不仅可以降低副遥控装置的处理器负载，提高对挂载设备操作的流畅性。而且可以避免副遥控装置对主遥控装置控制无人机飞行的干扰，提高无人机飞行的安全性。
下面结合附图3对前述实施例中主遥控装置的结构进行进一步的说明。附图3为 本申请提供的无人机遥控系统中主遥控装置的一个实施例的结构示意图。
如图3所示，可选的，所述主遥控装置包括：第一主通讯模块、第一主处理模块、第二主通讯模块和第二主处理模块。
其中，所述第一主通讯模块被配置为：将所述主遥控装置与所述无人机、所述挂载设备建立通讯连接。第一主通讯模块可以使用传输距离远的大功率传输通讯技术，具体可以采用5.8G射频和2.4G射频的传输通信技术。使用上述射频的传输通信技术可以增大无人机飞行作业的范围，提高主遥控装置与无人机通讯连接的稳定性。
所述第一主处理模块被配置为：生成无人机飞行指令，以及将所述飞行指令和接收到的所述挂载设备操控指令，通过所述第一主通讯模块发送至所述无人机和所述挂载设备。
第一主处理模块可以根据操作人员的具体操作生成无人机的飞行指令，并通过第一主通讯模块发送至无人机，无人机根据飞行指令飞行。第一主处理模块还可以接收挂载设备的操控指令，并通过第一主通讯模块发送至挂载设备，挂载设备根据操控指令完成指定任务。
所述第二主通讯模块被配置为：将所述主遥控装置与所述副遥控装置建立通讯连接；第二主通讯模块可以使用传输距离较近的无线传输通讯技术，包括但不限于WIFI无线通讯技术。
近距离的传输技术可选择性较多，第二主通讯模块与所述第一主通讯模块采用的技术不同。两个通讯模块工作时不会相互干扰。同时，在保证无人机遥控系统通讯稳定性的前提下，也能降低无人机遥控系统的造价成本。
所述第二主处理模块被配置为：通过所述第二主通讯模块获取所述挂载设备操控指令，并将所述挂载设备操控指令发送至所述第一主处理模块，第一主处理模块再将挂载设备操控指令通过第一主通讯模块发送至被控制的挂载设备。
下面结合附图4对前述实施例中副遥控装置的结构进行进一步的说明。附图4为本申请提供的无人机遥控系统中副遥控装置的一个实施例的结构示意图。
如图4所示，可选的，所述副遥控装置包括：第一副通讯模块和第一副处理模块；其中，所述第一副通讯模块被配置为：将所述副遥控装置与所述主遥控装置建立通讯连接；具体的，第一副通讯模块与所述第二主通讯模块建立双向无线通讯连接。同样 第一副通讯模块可以使用传输距离较近的无线传输通讯技术，例如WIFI无线通讯技术。
所述第一副处理模块被配置为：生成所述挂载设备操控指令，并将所述挂载设备操控指令通过所述第一副通讯模块发送至所述主遥控装置。第一副处理模块根据操作人员的具体操作，生成对应的挂载设备操控指令，并通过第一副通讯模块发送至主遥控装置。
可选的，所述副遥控装置还包括：第二副通讯模块和第二副处理模块；其中，所述第二副通讯模块被配置为：将所述副遥控装置与其它所述副遥控装置建立通讯连接；所述第二副处理模块被配置为：通过所述第二副通讯模块获取其它所述副遥控装置的数据，并发送至所述第一副处理模块。
在本实施例中，无人机遥控系统包括多个副遥控装置，通过所述第二副通讯模块和所述第二副处理模块可以在多个副遥控装置之间建立连接及数据交换。通过多个副遥控装置，不同的专业技术人员可以分别操作不用的挂载设备协同作业，以提高无人机作业的效率。
相关技术中，无人机执行任务时，只能做到对目标的数据采集，对采集的数据不能做到实时分析处理。为进一步提高副遥控装置的实用性，可选的，所述副遥控装置还包括：数据分析处理模块。
其中，所述第一主处理模块还被配置为：通过所述第一主通讯模块获取所述挂载设备采集的数据，并发送至所述第二主处理模块；所述第二主处理模块还被配置为：将接收的所述挂载设备采集的数据通过所述第二主通讯模块，发送至所述数据分析处理模块；所述数据分析处理模块被配置为：对接收的所述挂载设备采集的数据进行数据分析处理。
在本实施例中，通过主遥控装置的第一主处理模块可以获取挂载设备采集的数据，例如拍摄设备拍摄的照片，雷达成像仪扫描的数据等，通过第二主处理模块将获取的挂载设备采集的数据通过第二主通讯模块发送至副遥控装置的数据分析处理模块。
所述数据分析处理模块对数据进行进一步的处理。副遥控装置通过设置数据分析处理模块，使其具备数据处理的功能，对挂载设备采集的数据进行实时分析处理，以便于及时根据处理结果安排下一步作业计划，进一步提高作业效率。
下面结合附图5对前述实施例中副遥控装置的结构进行进一步的说明。附图5为 本申请提供的无人机遥控系统中中枢遥控装置的一个实施例的结构示意图。
如图5所示，可选的，所述系统还包括：中枢遥控装置，所述中枢遥控装置分别与所述主遥控装置和所述副遥控装置无线连接，所述中枢遥控装置用于综合分析处理所述主遥控装置和所述副遥控装置获取的数据。中枢遥控装置具有强大的数据处理功能，可以获取汇总主遥控装置和多个副遥控装置获取的数据，对数据进行综合分析处理，以提高无人机多个挂载设备协同作业的效率和准确性。
可选的，所述中枢遥控装置包括：中枢通讯模块、中枢处理模块和综合分析模块；其中，所述中枢通讯模块被配置为：将所述中枢遥控装置与所述主遥控装置、所述副遥控装置建立通讯连接。具体的，中枢通讯模块与所述第二主通讯模块和所述第二副通讯模块连接。中枢通讯模块同样可以使用传输距离较近的无线传输通讯技术，以提高遥控系统的稳定性。
所述中枢处理模块被配置为：通过所述中枢通讯模块获取所述主遥控装置和所述副遥控装置的数据，并发送至所述综合分析模块。所述数据包括：无人机的飞行数据、挂载设备采集的数据和经过副遥控装置处理过的数据等。根据实际执行的任务需求，获取相应的必要数据。
所述综合分析模块被配置为：综合分析处理所述主遥控装置和所述副遥控装置的数据，并将数据综合分析结果通过所述中枢通讯模块，发送至所述主遥控装置和所述副遥控装置。综合分析模块可以采用高处理能力的处理器，根据任务需求，快速对数据进行处理分析，并生成分析结果，发送给主遥控装置和副遥控装置，进行下一步工作，无需采集数据后，人工进行数据分析，可以提高无人机作业效率。
为进一步提高无人机飞行作业的协同性。可选的，所述中枢遥控装置还包括：任务分配模块，所述任务分配模块被配置为：分配执行任务，并将任务分配结果通过所述中枢通讯模块发送至所述主遥控装置和所述副遥控装置。中枢遥控装置可存储作业任务明细和作业重点，任务分配模块可以对任务进行分析分解，把具体执行任务发送到所述主遥控装置和所述副遥控装置，提示操作员具体工作内容和工作重点。
为进一步保障无人机飞行作业的安全性。可选的，所述中枢遥控装置还包括：预警模块，所述预警模块被配置为：监测所述无人机和所述挂载设备的运行数据，如果所述运行数据超过预设预警阈值，则生成预警信号，通过所述中枢通讯模块发送至所述主遥控装置。所述主遥控装置具有无人机控制的决定权，如果挂载设备出现故障影响无人机正常飞行，预警模块监测到故障，生成预警信号。主遥控装置根据预警信号 可以主动断开出现故障的挂载设备对应的副遥控装置，以保障无人机的正常飞行，提高无人机作业的安全性。
在本申请提供的又一实施例中，无人机遥控系统包括：一个主遥控装置、三个副遥控装置和一个中枢遥控装置。
下面以无人机执行在电力杆塔巡检任务为例，介绍无人机遥控系统协同作业的具体方法。在电力杆塔无人机巡检任务中，挂载设备包括摄像机、雷达成像仪和绝缘子电场检测仪，主要任务包括：对电力杆塔全身、杆塔标牌、地线挂载点、上相挂载点、绝缘子等进行拍照，飞行任务配置一位无人机飞行员操作主遥控装置；一位摄像机操作员、一位雷达成像仪控制员和一位绝缘子电场测试员分别操作一个副遥控装置；一位中枢遥控装置操作员操作中枢遥控装置。
无人机装载挂载设备后，无人机飞行员通过操控主遥控装置使无人机飞行到指定作业空域。中枢遥控装置操作员操作中枢遥控装置对任务进行分解，分别将具体分解任务发送至对应的副遥控装置。雷达成像仪控制员对准绝缘子方向空域，对电力杆塔进行实时3D模型构建，并将数据发给主遥控装置和副遥控装置，摄像机操作员将摄像机对准绝缘子，无人机飞行员，根据摄像机图像和实时电力杆塔3D模型，通过主遥控装置将无人机的位置控制到绝缘子最佳检测空域。
绝缘子电场测试员调整绝缘子电场检测仪参数进行实时检测，无人机飞行员保持安全检测距离的情况下，调整无人机的高度和角度对绝缘子360度全方位的立体检测，摄像机操作员操控副遥控装置对绝缘子外观进行数据分析，判断外观是否有破损。雷达成像仪控制员操控副遥控装置对采集的绝缘子3D模型进行分析，判断绝缘子的结构是否完善。绝缘子电场测试员操控副遥控装置，分析数据判断绝缘子内部是否有损坏。三种技术人员和无人机飞行员同时协调工作，共同配合完成作业任务。
在执行单一特定的任务中，一位摄像机操作员、一位雷达成像仪控制员和一位绝缘子电场测试员，其中任意两位可以把副遥控装置设置为跟随模式，例如拍摄员操控相机拍照角度和其他设备都根据此拍摄角度下进行其他操作。
中枢遥控装置可以获取其他副遥控装置的数据，并对数据进行综合分析，可以提高作业任务整体数据分析的准确性。
如图6所示，图6为本申请提供的无人机遥控系统中认证连接方法的一个实施例的流程图。
可选的，所述认证连接的方法包括：
S1：所述主遥控装置向所述副遥控装置发送连接开启指令；
S2：所述副遥控装置接收所述连接开启指令，并发送连接请求信息，所述连接请求信息包括：所述副遥控装置编号和待控制挂载设备编号；
S3：所述主遥控装置接收所述连接请求信息，根据所述副遥控装置编号查找预设控制挂载设备编号；
S4：如果所述待控制挂载设备编号与所述预设控制挂载设备编号相同，则通过验证，所述主遥控装置和所述副遥控装置建立无线连接。
通过主遥控装置和副遥控装置连接时设置安全认证，防止其他非作业的副遥控装置连接进行干扰，可以进一步保障无人机的安全飞行。
由以上技术方案可知，本申请提供一种无人机遥控系统，包括：主遥控装置、至少一个副遥控装置、无人机和设置在所述无人机上的挂载设备；其中，所述主遥控装置与所述无人机和所述挂载设备无线连接，所述副遥控装置与所述主遥控装置无线认证连接；所述主遥控装置用于控制所述无人机飞行；所述副遥控装置用于生成挂载设备操控指令，并发送至所述主遥控装置；所述主遥控装置还用于根据所述挂载设备操控指令操控所述挂载设备。
本申请提供的无人机遥控系统，副遥控装置与主遥控装置认证连接后，将挂载设备操控指令发送至主遥控装置，通过主遥控装置操控挂载设备。副遥控装置不直接操控挂载设备，通过主遥控装置控制无人机的飞行和挂载设备，可以在保证挂载设备与无人机配合完成任务的同时，提高无人机飞行的安全性。
本申请提供的实施例之间的相似部分相互参见即可，以上提供的具体实施方式只是本申请总的构思下的几个示例，并不构成本申请保护范围的限定。对于本领域的技术人员而言，在不付出创造性劳动的前提下依据本申请方案所扩展出的任何其他实施方式都属于本申请的保护范围。

Claims (10)

  1. 一种无人机遥控系统，包括：主遥控装置、至少一个副遥控装置、无人机和设置在所述无人机上的挂载设备；
    其中，所述主遥控装置与所述无人机和所述挂载设备无线连接，所述副遥控装置与所述主遥控装置无线认证连接；
    所述主遥控装置用于控制所述无人机飞行；
    所述副遥控装置用于生成挂载设备操控指令，并发送至所述主遥控装置；
    所述主遥控装置还用于根据所述挂载设备操控指令操控所述挂载设备。
  2. 根据权利要求1所述的无人机遥控系统，所述主遥控装置包括：第一主通讯模块、第一主处理模块、第二主通讯模块和第二主处理模块；
    其中，所述第一主通讯模块被配置为：将所述主遥控装置与所述无人机、所述挂载设备建立通讯连接；
    所述第一主处理模块被配置为：生成无人机飞行指令，以及将所述飞行指令和接收到的所述挂载设备操控指令通过所述第一主通讯模块发送至所述无人机和所述挂载设备；
    所述第二主通讯模块被配置为：将所述主遥控装置与所述副遥控装置建立通讯连接；
    所述第二主处理模块被配置为：通过所述第二主通讯模块获取所述挂载设备操控指令，并将所述挂载设备操控指令发送至所述第一主处理模块。
  3. 根据权利要求2所述的无人机遥控系统，所述副遥控装置包括：第一副通讯模块和第一副处理模块；其中，所述第一副通讯模块被配置为：将所述副遥控装置与所述主遥控装置建立通讯连接；所述第一副处理模块被配置为：生成所述挂载设备操控指令，并将所述挂载设备操控指令通过所述第一副通讯模块发送至所述主遥控装置。
  4. 根据权利要求3所述的无人机遥控系统，所述副遥控装置还包括：第二副通讯模块和第二副处理模块；其中，所述第二副通讯模块被配置为：将所述副遥控装置与其它所述副遥控装置建立通讯连接；所述第二副处理模块被配置为：通过所述第二副通讯模块获取其它所述副遥控装置的数据，并发送至所述第一副处理模块。
  5. 根据权利要求4所述的无人机遥控系统，所述副遥控装置还包括：数据分析处理模块；
    其中，所述第一主处理模块还被配置为：通过所述第一主通讯模块获取所述挂载设备采集的数据，并发送至所述第二主处理模块；所述第二主处理模块还被配置为：将接收的所述挂载设备采集的数据通过所述第二主通讯模块发送至所述数据分析处理模块；所述数据分析处理模块被配置为：对接收的所述挂载设备采集的数据进行数据分析处理。
  6. 根据权利要求1所述的无人机遥控系统，所述系统还包括：中枢遥控装置，所述中枢遥控装置分别与所述主遥控装置和所述副遥控装置无线连接，所述中枢遥控装置用于综合分析处理所述主遥控装置和所述副遥控装置的数据。
  7. 根据权利要求6所述的无人机遥控系统，所述中枢遥控装置包括：中枢通讯模块、中枢处理模块和综合分析模块；
    其中，所述中枢通讯模块被配置为：将所述中枢遥控装置与所述主遥控装置、所述副遥控装置建立通讯连接；
    所述中枢处理模块被配置为：通过所述中枢通讯模块获取所述主遥控装置和所述副遥控装置的数据，并发送至所述综合分析模块；
    所述综合分析模块被配置为：综合分析处理所述主遥控装置和所述副遥控装置的数据，并将数据综合分析结果通过所述中枢通讯模块发送至所述主遥控装置和所述副遥控装置。
  8. 根据权利要求6所述的无人机遥控系统，所述中枢遥控装置还包括：任务分配模块，所述任务分配模块被配置为：分配执行任务，并将任务分配结果通过所述中枢通讯模块发送至所述主遥控装置和所述副遥控装置。
  9. 根据权利要求6所述的无人机遥控系统，所述中枢遥控装置还包括：预警模块，所述预警模块被配置为：监测所述无人机和所述挂载设备的运行数据，如果所述运行数据超过预设预警阈值，则生成预警信号，通过所述中枢通讯模块发送至所述主遥控装置。
  10. 根据权利要求1所述的无人机遥控系统，所述认证连接的方法包括：所述主遥控装置向所述副遥控装置发送连接开启指令；
    所述副遥控装置接收所述连接开启指令，并发送连接请求信息，所述连接请求信息包括：所述副遥控装置编号和待控制挂载设备编号；
    所述主遥控装置接收所述连接请求信息，根据所述副遥控装置编号查找预设控制 挂载设备编号；
    如果所述待控制挂载设备编号与所述预设控制挂载设备编号相同，则通过验证，所述主遥控装置和所述副遥控装置建立无线连接。
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