WO2023025204A1

WO2023025204A1 - Remote control method and device and first and second control ends

Info

Publication number: WO2023025204A1
Application number: PCT/CN2022/114570
Authority: WO
Inventors: 蒙露璐
Original assignee: 深圳市道通智能航空技术股份有限公司
Priority date: 2021-08-25
Filing date: 2022-08-24
Publication date: 2023-03-02
Also published as: CN113759945A

Abstract

A remote control method and device (10) and first and second control ends (110 and 120). The remote control method is applied to an unmanned aerial vehicle (100); the unmanned aerial vehicle (100) is communicatively connected to the first control end (110); the first control end (110) is communicatively connected to the second control end (120). The method comprises: S301: the second control end (120) sends a remote control request instruction to the first control end (110); S302: the second control end (120) receives a remote control determination instruction sent by the first control end (110), and establishes a communication connection with the unmanned aerial vehicle (100), such that the unmanned aerial vehicle (100) is in a remotely controlled state of the second control end (120); and S303: the second control end (120) enters a remote control interface, and remotely controls the unmanned aerial vehicle (100) on the basis of the remote control interface, wherein a display interface of the second control end (120) is larger than a display interface of the first control end (110). The second control end (120) enters the remote control interface to control the unmanned aerial vehicle (100), and the display interface of the second control end (120) is larger than the display interface of the first control end (110), such that the scheduling efficiency of the unmanned aerial vehicle (100) can be improved.

Description

Remote control method, device and first and second control terminals

This application claims the priority of the Chinese patent application submitted to the China Patent Office on August 25, 2021, with the application number 2021109824295 and the application name "Remote Control Method, Device, and First and Second Control Terminals", the entire content of which is passed References are incorporated in this application.

【Technical field】

The present application relates to the technical field of unmanned aerial vehicles, in particular to a remote control method, device and first and second control terminals.

【Background technique】

With the continuous development of unmanned aerial vehicle aerial photography technology, more and more consumer-grade unmanned aerial vehicles are also being produced and developed. Unmanned aerial vehicles are also gradually gaining popularity.

At present, during the flight of the UAV, the control of the UAV is mainly performed by the pilot using the remote control. The display interface of the remote control usually includes a map screen and a picture transmission screen. Limited, usually the pilot needs to switch the size of the window to control the display of the map screen and the image transmission screen, which leads to insufficient scheduling efficiency of the aircraft and affects the execution of the flight mission.

【Application content】

Embodiments of the present application provide a remote control method, device, and first and second control terminals to solve the problem of insufficient scheduling efficiency of unmanned aerial vehicles and improve the scheduling efficiency of unmanned aerial vehicles.

In order to solve the above technical problems, the embodiments of the present application provide the following technical solutions:

In the first aspect, an embodiment of the present application provides a remote control method applied to an unmanned aerial vehicle, the unmanned aerial vehicle is connected to the first control terminal by communication, and the first control terminal is connected to the second control terminal by communication. The method includes :

the second control terminal sends a remote control request instruction to the first control terminal;

The second control terminal receives the remote control confirmation instruction sent by the first control terminal, and establishes a communication connection with the unmanned aerial vehicle, so that the unmanned aerial vehicle is in the remote control state of the second control terminal;

The second control terminal enters the remote control interface, based on the remote control interface, remotely controls the UAV, wherein the display interface of the second control terminal is larger than the display interface of the first control terminal.

In some embodiments, the second control terminal includes an operation console, and the remote control of the UAV includes:

The unmanned aerial vehicle is remotely controlled based on the preset operation mode of the operating console.

In some embodiments, the console includes: a keyboard, the keyboard includes a plurality of buttons, and the preset operation mode includes: preset button operations, wherein each button corresponds to a button operation, the Based on the preset operation mode of the operating console, the remote control of the unmanned aerial vehicle includes:

Based on the preset keys, key operation commands are obtained to control the flight direction of the UAV.

In some embodiments, the acquisition of key operation commands based on preset keys to control the flight direction of the UAV includes:

According to the button operation corresponding to the preset button, a button operation command is generated, and the button operation command is sent to the UAV to control the flight direction of the UAV, wherein the preset Buttons, including: an up button, used to control the unmanned aerial vehicle to rise; a down button, used to control the unmanned aerial vehicle to descend; a left turn button, used to control the unmanned aerial vehicle to turn left; a right turn button, used to For controlling the unmanned aerial vehicle to turn right; the forward button is used to control the unmanned aerial vehicle to fly forward; the backward button is used to control the unmanned aerial vehicle to fly backward; the left button is used to control the unmanned aerial vehicle The unmanned aerial vehicle flies left; the right key is used to control the unmanned aerial vehicle to fly right.

In some embodiments, before the second control terminal sends a remote control request instruction to the first control terminal, the method further includes:

The second control terminal obtains the remote control interface instruction;

The second control terminal controls the display interface of the second control terminal to enter the remote control interface according to the remote control interface instruction.

In some embodiments, the second control terminal communicates with a plurality of unmanned aerial vehicles, and the method further includes:

In the remote control interface, generate a one-to-one live broadcast window for each unmanned aerial vehicle;

In response to the operation on the live broadcast window, the unmanned aerial vehicle corresponding to the live broadcast window is controlled to be in the remote control state of the second control terminal.

In some embodiments, the second control terminal includes a terminal device.

In the second aspect, the embodiment of the present application provides a remote control method applied to an unmanned aerial vehicle, the unmanned aerial vehicle is connected to the first control terminal by communication, and the first control terminal is connected to the second control terminal by communication. The method includes :

When the unmanned aerial vehicle is in the remote control state of the first control terminal, the first control terminal receives the remote control request instruction sent by the second control terminal;

The first control terminal receives the remote control confirmation instruction, and sends the remote control confirmation instruction to the second control terminal, so that the UAV enters the remote control state of the second control terminal.

In some embodiments, the method also includes:

receiving a remote control interruption command, controlling the unmanned aerial vehicle to switch from the second remote control state to the first remote control state, wherein the first remote control state is that the first control terminal remotely controls the unmanned aerial vehicle, The second remote control state is that the second control terminal remotely controls the UAV.

In some embodiments, the first control terminal includes a remote control device.

In the third aspect, the embodiment of the present application provides a remote control device, which is applied to an unmanned aerial vehicle, the unmanned aerial vehicle is connected to the first control terminal by communication, and the first control terminal is connected to the second control terminal by communication, and the device includes :

A remote control request instruction sending unit, configured to send a remote control request instruction to the first control terminal;

The remote control state unit is configured to receive the remote control confirmation instruction sent by the first control terminal, and establish a communication connection with the unmanned aerial vehicle, so that the unmanned aerial vehicle is in the remote control state of the second control terminal;

The remote control interface unit is used to enter the remote control interface, and remotely control the UAV based on the remote control interface, wherein the screen of the second control terminal is larger than the screen of the first control terminal.

In a fourth aspect, an embodiment of the present application provides a remote control device, which is applied to an unmanned aerial vehicle, the unmanned aerial vehicle is connected to a first control terminal by communication, and the first control terminal is connected to a second control terminal by communication. The device includes :

The remote control request instruction receiving unit is used to receive the remote control request instruction sent by the second control terminal when the unmanned aerial vehicle is in the remote control state of the first control terminal;

The remote control state unit is configured to receive a remote control confirmation instruction, and send the remote control confirmation instruction to the second control terminal, so that the UAV enters the remote control state of the second control terminal.

In the fifth aspect, the embodiment of the present application provides a first control terminal, including:

at least one processor; and

A memory connected in communication with the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processing The device can be used to implement the remote control method as described in the first aspect.

In a sixth aspect, the embodiment of the present application provides a second control terminal, including:

at least one processor; and

A memory connected in communication with the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processing The device can be used to execute the remote control method as described in the second aspect.

The embodiments of the present application provide a remote control method, device, and first and second control terminals. The remote control method is applied to unmanned aerial vehicles, and the unmanned aerial vehicle communicates with the first control terminal, and the first control terminal communicates with The second control terminal, the method includes: the second control terminal sends a remote control request command to the first control terminal; the second control terminal receives the remote control confirmation command sent by the first control terminal, and establishes a communication connection with the unmanned aerial vehicle, The unmanned aerial vehicle is in the remote control state of the second control terminal; the second control terminal enters the remote control interface, and based on the remote control interface, the unmanned aerial vehicle is remotely controlled, wherein the display interface of the second control terminal is larger than the display interface of the first control terminal . The unmanned aerial vehicle is controlled by entering the remote control interface through the second control terminal, and the display interface of the second control terminal is larger than that of the first control terminal. Therefore, the application can improve the scheduling efficiency of the unmanned aerial vehicle.

【Description of drawings】

One or more embodiments are exemplified by the pictures in the corresponding drawings, and these exemplifications do not constitute a limitation to the embodiments. Elements with the same reference numerals in the drawings represent similar elements. Unless otherwise stated, the drawings in the drawings are not limited to scale.

FIG. 1 is a schematic diagram of an application scenario provided by an embodiment of the present application;

FIG. 2 is an interactive schematic diagram of a remote control method provided by an embodiment of the present application;

FIG. 3 is a schematic flowchart of a remote control method provided in an embodiment of the present application;

Fig. 4a is a schematic diagram of a first display interface of a first control terminal provided by an embodiment of the present application;

Fig. 4b is a schematic diagram of a second display interface of a second control terminal provided by an embodiment of the present application;

Fig. 5 is a schematic diagram of a second control terminal provided by an embodiment of the present application;

FIG. 6 is a schematic diagram of an interaction process between a PC end and a remote control end of a remote control method provided by an embodiment of the present application;

Fig. 7 is a schematic diagram of a remote control interface of a second control terminal provided by an embodiment of the present application;

Fig. 8 is a schematic flowchart of another remote control method provided by the embodiment of the present application;

Fig. 9 is a schematic structural diagram of a remote control device provided by an embodiment of the present application;

Fig. 10 is a schematic structural diagram of another remote control device provided by an embodiment of the present application;

Fig. 11 is a schematic structural diagram of a first control terminal provided by an embodiment of the present application;

Fig. 12 is a schematic structural diagram of a second control terminal provided by an embodiment of the present application.

【Detailed ways】

In order to facilitate the understanding of the present application, the present application will be described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is said to be "fixed" to another element, it may be directly on the other element, or there may be one or more intervening elements therebetween. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or one or more intervening elements may be present therebetween. The orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", and "bottom" used in this specification is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the The application and simplified description do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and thus should not be construed as limiting the application. In addition, the terms "first", "second", "third", etc. are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the technical field of this application. The terms used in the description of the present application are only for the purpose of describing specific embodiments, and are not used to limit the present application. The term "and/or" used in this specification includes any and all combinations of one or more of the associated listed items.

In addition, the technical features involved in different embodiments of the present application described below may be combined with each other as long as they do not constitute a conflict with each other.

The following examples illustrate the application environment of the remote control method in the embodiment of the present application.

Please refer to FIG. 1, which is a schematic diagram of an application scenario provided by an embodiment of the present application;

As shown in FIG. 1 , the application scenario includes an unmanned aerial vehicle 100, a first control terminal 200 and a second control terminal 300, wherein the unmanned aerial vehicle 100 is connected to the first control terminal 200 and the second control terminal 300 in communication, and the first control terminal Terminal 200 communicates with the second control terminal 300, for example: UAV 100 communicates with the first control terminal 200 and the second control terminal 300 through the wireless network, and the first control terminal 200 communicates with the second control terminal 300 through the wireless network. The hand or the user can operate the first control terminal 200 to operate the UAV 100 through the wireless network, or the user can operate the second control terminal 200 to control the UAV 100 through the wireless network.

In some embodiments, the UAV 100 includes: a multi-rotor UAV, a fixed-wing UAV, an unmanned helicopter, and a mixed-wing UAV. In some embodiments, the UAV 10 may also be an unmanned aerial vehicle driven by any type of power, including but not limited to a rotary-wing UAV, a fixed-wing UAV, an umbrella-wing UAV, a fluttering Wing drones and helicopter models, etc. In this embodiment, a mixed-wing unmanned aerial vehicle is used as an example to make a statement.

Furthermore, the unmanned aerial vehicle 100 may have a corresponding volume or power according to the needs of the actual situation, so as to provide a load capacity, flight speed and flight mileage that can meet the needs of use. One or more sensors may also be added to the UAV 100, so that the UAV 100 can collect corresponding data.

For example, in some embodiments, the UAV 100 is provided with at least one sensor selected from accelerometers, gyroscopes, magnetometers, GPS navigators and vision sensors.

The unmanned aerial vehicle 100 also includes a flight controller, which serves as the control core of the flight and data transmission of the unmanned aerial vehicle, and integrates one or more modules to execute corresponding logic control programs.

In the embodiment of the present application, the UAV includes a UAV control system, and the UAV control system includes a state machine, a flight controller, a UAV power system, and UAV sensors.

The UAV control system includes: a state machine, a flight controller, and a UAV power system. Specifically, the state machine connects the flight controller and the UAV power system. The input of the state machine is navigation data and user interaction commands, and the output In order to control commands and corresponding flags, the main function of the state machine is to process user interaction commands and use navigation data to realize various functions of the UAV, such as flight mode switching, status monitoring, waypoint flight, return and other upper-level functions. Wherein, the user interaction command is an interaction command issued by a ground user, for example: remote control stick measurement data, key control commands and other commands. It can be understood that the present application is mainly implemented in a state machine. Specifically, the control commands and corresponding flags output by the state machine include position commands, speed commands, acceleration commands, altitude commands, climb rate commands, climb acceleration commands, attitude angle commands, heading angle rate commands, and attitude mode flag bits. and positional mode flags.

Specifically, the flight controller is connected to the state machine and the flight controller, and is used to receive the control commands and corresponding flag bits sent by the state machine, and receive the navigation data sent by the power system of the UAV, and output the motor speed control command, wherein, The flight controller includes two flight modes, namely position mode and attitude mode. The main function of the flight controller is to use control commands and navigation data to calculate the motor speed command through a certain algorithm, so that the aircraft can realize position and attitude control. , that is, to make the position and attitude of the aircraft reach the desired state. Specifically, the battery speed control command takes a common rotorcraft as an example, and the data is pulse width modulation (Pulse Width Modulation, PWM) of the control motor.

Specifically, the unmanned aerial vehicle power system is connected to the flight controller, and the unmanned aerial vehicle power system includes the execution system and the state monitoring system of the unmanned aerial vehicle, which are used to receive the motor speed control sent by the flight controller. commands to realize the corresponding rotational speed, thereby realizing the corresponding attitude angle and position, processing the sensor data, and calculating the navigation data indirectly or directly. Specifically, the UAV power system processes the UAV sensor data by using a fusion algorithm to obtain navigation data. For example, the power system of the UAV includes GPS, gyroscope, accelerometer, and magnetometer, and the position, speed, and acceleration data of the UAV can be calculated through GPS, gyroscope, accelerometer, and magnetometer. The drone's position, velocity, and acceleration data can be calculated through binocular vision, gyroscope, accelerometer, and magnetometer. The attitude angle and attitude angle rate of the UAV can be calculated through the gyroscope, accelerometer and magnetometer.

In some embodiments, the first control terminal 200 includes a smart terminal, where the smart terminal can be any type of smart device used to establish a communication connection with the UAV 100, such as a mobile phone, a tablet computer or a smart remote control and other mobile terminals . The first control terminal 200 may be equipped with one or more different user interaction devices for collecting user instructions or displaying and feeding back information to the user.

User interaction devices include, but are not limited to: devices such as buttons, display screens, touch screens, speakers, and remote control joysticks. For example, the first control terminal 200 may be equipped with a touch display screen, through which the user's remote control command to the unmanned aerial vehicle 100 is received and displayed map information to the user through the touch display screen, that is, a map screen, and to the user Display the image information obtained by aerial photography, that is, the image transmission screen, and the user can also switch the image information currently displayed on the display screen through the remote control touch screen.

In some embodiments, the existing image and vision processing technology can also be integrated between the unmanned aerial vehicle 100 and the first control terminal 200 to further provide more intelligent services. For example, the UAV 100 can collect images through a dual-light camera, and the first control terminal 200 can analyze the images, so as to realize the user's gesture control on the UAV 100 .

In some embodiments, the second control terminal 300 includes a terminal device, wherein the terminal device includes a computer device, a PC terminal, etc. to establish a communication connection with the UAV 100, and the second control terminal 300 can be equipped with one or more Different user interaction devices are used to collect user instructions or display and feedback information to users.

User interaction devices include, but are not limited to: display screens, touch screens, speakers, mice, keyboards and other devices. For example, the first control terminal 200 may be equipped with a touch display screen, through which the user's remote control command to the unmanned aerial vehicle 100 is received and displayed map information to the user through the touch display screen, that is, a map screen, and to the user Display the image information obtained by aerial photography, that is, the image transmission screen. The user can also control the movement of the UAV through the operation of the mouse or the key operation of the keyboard, or control the direction of the gimbal of the UAV, and the gimbal of the UAV camera focal length etc.

In some embodiments, the first control terminal 200 is a mobile terminal, and the difference from the first control terminal 200 is that the second control terminal 300 is a fixed terminal, and the display screen of the second control terminal 300 is larger than that of the first control terminal 200 screen, so that the second control terminal 300 can provide the user with a global perspective.

In some embodiments, the wireless network can be a wireless communication network based on any type of data transmission principle for establishing a data transmission channel between two nodes, such as a Bluetooth network, a WiFi network, a wireless cellular network located in different signal frequency bands or a combination thereof.

The technical scheme of the present application will be described below in conjunction with the accompanying drawings:

Please refer to FIG. 2, which is an interactive schematic diagram of a remote control method provided by an embodiment of the present application;

As shown in Figure 2, the interaction of the remote control method includes:

Step S201: the second control terminal sends a remote control request command;

Specifically, the second control terminal sends a remote control request instruction to the first control terminal, wherein the remote control request instruction is generated by the user inputting an instruction to the second control terminal, for example: the user clicks on the connection on the display screen of the second control terminal The first control terminal enables the second control terminal to generate a remote control request instruction and send the remote control request instruction to the first control terminal.

In the embodiment of the present application, before the first control terminal receives the remote control request instruction sent by the second control terminal, the first control terminal establishes a communication connection with the unmanned aerial vehicle, for example: establishes the first control terminal and the unmanned aerial vehicle. A communication channel, wherein the first communication channel is used for message exchange or command exchange or data exchange between the first control terminal and the UAV.

Step S202: the first control terminal receives a remote control request command, and generates a remote control confirmation command;

Specifically, the first control terminal receives the remote control request instruction sent by the second control terminal, and after receiving the remote control request instruction, presents a corresponding message on the display interface of the first control terminal, and the user Click the corresponding confirmation button on the display interface of the terminal to generate a remote control confirmation command.

Step S203: the first control terminal sends a remote control confirmation command;

Specifically, the first control terminal sends a remote control confirmation instruction to the second control terminal, wherein the remote control confirmation instruction is used to confirm that the control right of the unmanned aerial vehicle is transferred to the second control terminal, that is, the second control terminal The unmanned aerial vehicle takes control.

Step S204: the second control terminal receives the remote control confirmation instruction;

Specifically, the second control terminal receives the remote control confirmation command sent by the first control terminal, and the remote control confirmation command is used for the second control terminal to establish a communication connection with the unmanned aerial vehicle, and the unmanned aerial vehicle opens its control, and suspend the control of the first control terminal until the first control terminal regains the control of the unmanned aerial vehicle.

Step S205: enter the remote control state of the second control terminal;

Specifically, after the second control terminal receives the remote control confirmation instruction, the first control terminal transfers the control right of the unmanned aerial vehicle to the second control terminal, that is, enters the remote control state of the second control terminal, and is controlled by the second control terminal. unmanned aerial vehicle.

It can be understood that, before receiving the remote control confirmation instruction, a communication connection has been established between the second control terminal and the unmanned aerial vehicle, for example: establishing a second communication channel between the second control terminal and the unmanned aerial vehicle, wherein the first The second communication channel is used for message exchange, command exchange or data exchange between the second control terminal and the UAV.

In this embodiment of the application, the first communication channel and the second communication channel may be based on the same communication protocol, or may be based on different communication protocols, for example: the first communication channel is based on the TCP network protocol, and the second communication channel is based on the Netty network protocol .

Step S206: the second control terminal enters the remote control interface;

Specifically, after the second control terminal establishes a communication connection with the UAV and obtains the control right of the UAV, the second control terminal enters the remote control interface.

Step S207: The second control terminal remotely controls the UAV based on the remote control interface;

Specifically, the remote control interface is used to control the unmanned aerial vehicle, for example: control the flight direction of the unmanned aerial vehicle, control the direction of the gimbal of the unmanned aerial vehicle, control the focal length of the gimbal camera of the unmanned aerial vehicle, etc., wherein, A specific control command is generated by the user by manipulating the second control terminal, and sent to the UAV, so that the UAV executes the control command.

The following takes the first control terminal as a remote control and the second control terminal as a PC as an example for illustration.

Please refer to FIG. 3 again. FIG. 3 is a schematic flowchart of a remote control method provided by an embodiment of the present application;

Wherein, the execution body of the remote control method is the second control terminal. In the embodiment of the present application, the second control terminal includes terminal equipment, such as computer equipment, PC terminal and other electronic equipment that establishes a communication connection with the unmanned aerial vehicle. . Specifically, the execution subject of the remote control method is one or more processors of the first control terminal.

As shown in Figure 3, the remote control method includes:

Step S301: the second control terminal sends a remote control request command to the first control terminal;

In the embodiment of the present application, before the first control terminal receives the remote control request instruction sent by the second control terminal, the first control terminal establishes a communication connection with the unmanned aerial vehicle, for example: establishes the first control terminal and the unmanned aerial vehicle. A communication pipeline, wherein the first communication pipeline is used for message interaction, command interaction or data interaction between the first control terminal and the UAV.

Step S302: the second control terminal receives the remote control confirmation instruction sent by the first control terminal, and establishes a communication connection with the UAV, so that the UAV is in the remote control state of the second control terminal;

Specifically, after receiving the remote control request command sent by the second control terminal, the first control terminal presents a selection window on the display interface of the first control terminal, and the selection window provides a confirmation button and a cancel button. When the user clicks on the selection window After the confirmation button in the button, a remote control confirmation command will be generated, and the remote control confirmation command will be sent to the second control terminal, so that the second control terminal establishes a communication connection with the unmanned aerial vehicle, so that the unmanned aerial vehicle is in the second The remote control status of the control terminal; when the user clicks the cancel button in the selection window, a remote control cancel command will be generated and sent to the second control terminal. At this time, the UAV is still in the remote control terminal of the first control terminal. control status.

In some embodiments, after the UAV is started, a communication connection with the first control terminal and the second control terminal is established, and, after the first control terminal is started, the UAV is in the remote control state of the first control terminal by default.

Step S303: the second control terminal enters the remote control interface, and remotely controls the UAV based on the remote control interface, wherein the display interface of the second control terminal is larger than the display interface of the first control terminal.

Please refer to Figure 4a and Figure 4b together, wherein Figure 4a is a schematic diagram of a first display interface of a first control terminal provided by an embodiment of the present application;

For example: the first control terminal is the remote control terminal, and the second control terminal is the PC terminal. Obviously, the display screen of the PC terminal is larger than the display screen of the remote control terminal, and, as shown in Figure 4a, in the first display interface of the usual remote control terminal There will be a map interface and an image transmission interface. However, due to the limited size of the display screen on the remote control, usually the pilot needs to switch between the map interface and the image transmission interface to obtain the required viewing angle more clearly. The difference is that the display screen on the PC end Therefore, the PC end can obtain the required viewing angle by visually presenting the map interface and the image transmission interface. Obviously, the PC end can provide a global viewing angle. Therefore, the second display interface is larger than the first display interface, making the unmanned aerial vehicle Controls are more intuitive.

Further, the second control end includes an operation console, which is used to control the flight direction of the UAV.

Please refer to FIG. 5 again. FIG. 5 is a schematic diagram of a second control terminal provided by an embodiment of the present application;

As shown in FIG. 5 , the second control terminal 300 includes: an operation console 310, wherein the operation console includes a plurality of buttons 311, for example: the operation console 310 is a keyboard, and the keyboard includes a plurality of buttons 311, wherein each Keys are assigned specific operating functions.

Specifically, the remote control of the unmanned aerial vehicle includes:

In the embodiment of the present application, the console includes: a keyboard, and the preset operation mode includes: preset button operations, wherein each button corresponds to a button operation, and the preset operation method based on the console The mode of operation is to remotely control the unmanned aerial vehicle, including:

Specifically, the said key operation command is obtained based on the preset key, and the flight direction of the unmanned aerial vehicle is controlled, including:

For example: the keyboard includes W key, A key, S key and D key, and also includes ↑, ↓, ←, → four keys, wherein, the W key is the ascending key, the A key is the descending key, and the S key is the left turn key. The D key is the right turn key, the ↑ key is the forward key, the ↓ key is the backward key, the ← is the left key, and the → is the right key. When the user clicks any of the above keys, the second control terminal will generate the corresponding key operation command, and send the key operation command to the unmanned aerial vehicle to control the flight direction of the unmanned aerial vehicle, for example: when the user clicks the W key, the second control terminal generates an ascending operation command, and sends the ascending operation command Go to the unmanned aerial vehicle and control the unmanned aerial vehicle to ascend.

In the embodiment of the present application, before the second control terminal sends a remote control request instruction to the first control terminal, the method further includes:

The second control terminal obtains the remote control interface instruction;

Specifically, please refer to FIG. 6 again. FIG. 6 is a schematic diagram of an interaction process between the PC end and the remote control end of a remote control method provided by an embodiment of the present application;

As shown in Figure 6, the interaction process between the PC end and the remote control end of the remote control method includes:

Step S601: Acquiring remote control interface instructions;

Specifically, after the PC end starts, it will enter the live broadcast screen, wherein the live broadcast screen presents the image transmission screens of all unmanned aerial vehicles. In the live broadcast screen, after the remote control interface command is obtained, the remote control screen will be entered, wherein the remote control interface command is triggered by the user clicking on the first screen position corresponding to an unmanned aerial vehicle, and the first screen position corresponding to the unmanned aerial vehicle is triggered. A screen position is in the live screen.

Step S602: enter the remote control interface;

Specifically, after entering the remote control interface of a certain unmanned aerial vehicle, it means that the unmanned aerial vehicle enters the remote control state of the PC terminal, and at this time, the unmanned aerial vehicle can be controlled through the PC terminal.

Step S603: Control the flight direction through the keyboard;

Specifically, the flight direction of the UAV is controlled through the keyboard on the PC side.

Step S604: receiving a remote control exit instruction;

Specifically, if the PC end receives a remote control exit command of an unmanned aerial vehicle, then exit the remote control interface of the unmanned aerial vehicle, wherein the remote control exit instruction is clicked by the user on the second screen corresponding to a certain unmanned aerial vehicle Position triggering, wherein the position of the second screen corresponding to the unmanned aerial vehicle is located in the remote control interface.

Step S605: exit the remote control interface;

Step S606: receiving remote control prompt information;

Specifically, after the PC sends a remote control request instruction to the remote controller, the remote controller receives the remote control request instruction, and presents a remote control prompt message on the display interface of the remote controller, which is used to prompt the pilot whether to accept the remote control.

Step S607: Accept remote control?

Specifically, it is judged whether the remote control end accepts remote control, and if so, the PC end enters the remote control interface; if not, the remote control end sends a rejection command to the PC end; If the pilot chooses to confirm the command, it is confirmed that the remote control terminal accepts the remote control; if the pilot chooses to cancel the command, it is determined that the remote control terminal rejects the remote control.

Step S608: being remotely controlled by the PC;

Specifically, when the UAV is in the remote control state at the PC end, the pilot can click the exit button to make the UAV exit the remote control state at the PC end and return to the remote control state at the remote control end.

Step S609: exit the remote control;

Specifically, the PC end exits the remote control, and the UAV is remotely controlled by the remote control end.

In the embodiment of the present application, the second control terminal communicates with a plurality of unmanned aerial vehicles, and the method also includes:

Specifically, please refer to FIG. 7, which is a schematic diagram of a remote control interface of a second control terminal provided by an embodiment of the present application;

As shown in Figure 7, the remote control interface includes a map interface and an image transmission interface. After each unmanned aerial vehicle establishes a communication connection with the second control terminal, the remote control interface of the second control terminal presents the live broadcast corresponding to the unmanned aerial vehicle. Window, for example: the first UAV, the second UAV, the third UAV, the fourth UAV, the fifth UAV, the sixth UAV, ..., the live broadcast of the Nth UAV window.

Wherein, when an unmanned aerial vehicle is in the remote control state of the second control terminal, the live broadcast window corresponding to the unmanned aerial vehicle is converted into a control window, for example: controlling the remote control interface of the second control terminal to present the image transmission of the unmanned aerial vehicle Interface, for example: when the first unmanned aerial vehicle is in the remote control state of the second control terminal, the remote control interface controlling the second control terminal presents the image transmission interface of the first unmanned aerial vehicle.

Further, when it is necessary to switch the image transmission interface of a certain unmanned aerial vehicle, the user clicks the live window corresponding to the unmanned aerial vehicle, and the second control terminal sends a remote control request to the first control terminal in response to the click operation on the live window Instruction, after receiving the remote control confirmation instruction sent by the first control terminal, control the unmanned aerial vehicle corresponding to the live broadcast window to be in the remote control state of the second control terminal, and convert the live broadcast window into a control window, for example: Switch the image transmission interface in the remote control interface to the image transmission interface of the UAV, for example: switch the image transmission interface of the first UAV to the image transmission interface of the second UAV.

In the embodiment of the present application, by providing a remote control method, the remote control method is applied to an unmanned aerial vehicle, the unmanned aerial vehicle communicates with the first control terminal, and the first control terminal communicates with the second control terminal, the method includes : the second control terminal sends a remote control request command to the first control terminal; the second control terminal receives the remote control confirmation command sent by the first control terminal, and establishes a communication connection with the unmanned aerial vehicle, so that the unmanned aerial vehicle is in the second control The remote control state of the terminal; the second control terminal enters the remote control interface, and based on the remote control interface, remotely controls the unmanned aerial vehicle, wherein the display interface of the second control terminal is larger than the display interface of the first control terminal. The unmanned aerial vehicle is controlled by entering the remote control interface through the second control terminal, and the display interface of the second control terminal is larger than that of the first control terminal. Therefore, the application can improve the scheduling efficiency of the unmanned aerial vehicle.

Please refer to FIG. 8 again. FIG. 8 is a schematic flowchart of another remote control method provided by the embodiment of the present application;

Wherein, the execution subject of the remote control method is the first control terminal, and the first control terminal includes a remote control device, and the remote control device includes a smart terminal, such as a mobile terminal such as a mobile phone, a tablet computer, or a smart remote control. Specifically, the execution subject of the remote control method is one or more processors of the first control terminal.

As shown in Figure 8, the remote control method includes:

Step S801: When the UAV is in the remote control state of the first control terminal, the first control terminal receives the remote control request command sent by the second control terminal;

Specifically, after the first control terminal is turned on, it will automatically communicate with the matching unmanned aerial vehicle, so that the unmanned aerial vehicle is in the remote control state of the first control terminal. When the unmanned aerial vehicle is in the remote control state of the first control terminal, If the second control terminal needs to request the control right of the UAV, the second control terminal sends a remote control request command to the first control terminal, and the first control terminal receives the remote control request command sent by the second control terminal.

Step S802: the first control terminal receives the remote control confirmation instruction, and sends the remote control confirmation instruction to the second control terminal, so that the UAV enters the remote control state of the second control terminal;

Specifically, after the first control terminal receives the remote control request instruction sent by the second control terminal, it generates a remote control confirmation instruction in response to the operation of the display interface of the first control terminal, and the processor receives the remote control confirmation instruction, wherein , the display interface of the first control terminal presents remote control prompt information, which is used to prompt the pilot whether to accept the remote control. If the pilot chooses to confirm the command, it is determined to generate a remote control confirmation command, and the remote control confirmation command is sent to all The second control terminal is used to obtain the control right of the unmanned aerial vehicle, so that the unmanned aerial vehicle enters the remote control state of the second control terminal.

In the embodiment of the present application, the method further includes:

Specifically, when the UAV is in the remote control state of the first control terminal, it is determined that the UAV is in the first remote control state; when the UAV is in the remote control state of the second control terminal, it is determined that the UAV is in the first remote control state. Two remote control status;

When the unmanned aerial vehicle is in the second remote control state, a remote control interruption instruction is received, wherein the remote control interruption instruction is triggered by the display interface of the first control terminal, for example: the pilot clicks the interruption button of the display interface of the first control terminal , so that the unmanned aerial vehicle is switched from the second remote control state to the first remote control state, which is equivalent to switching the control right of the unmanned aerial vehicle from the second control terminal back to the first control terminal, wherein the display interface of the first control terminal Smaller than the display interface of the second console.

In the embodiment of the present application, by providing a remote control method applied to an unmanned aerial vehicle, the unmanned aerial vehicle is connected to the first control terminal by communication, and the first control terminal is connected to the second control terminal by communication, the method includes : When the unmanned aerial vehicle is in the remote control state of the first control terminal, the first control terminal receives the remote control request command sent by the second control terminal; the first control terminal receives the remote control confirmation command, and sends the remote control confirmation command to the second control terminal, so that the unmanned aerial vehicle enters the remote control state of the second control terminal. By receiving the remote control request command sent by the second control terminal, and sending the remote control confirmation command to the second control terminal, the UAV enters the remote control state of the second control terminal, and the application can improve the scheduling efficiency of the UAV.

It should be noted that, in each of the above-mentioned embodiments, there is not necessarily a certain sequence between the above-mentioned steps. Those of ordinary skill in the art can understand from the description of the embodiments of the present application that in different embodiments, the above-mentioned steps There can be different execution orders, that is, they can be executed in parallel, they can be executed interchangeably, and so on.

Please refer to FIG. 9 again. FIG. 9 is a schematic structural diagram of a remote control device provided by an embodiment of the present application;

Wherein, the remote control device is applied to an unmanned aerial vehicle, and the unmanned aerial vehicle is connected to a first control terminal by communication, and the first control terminal is connected to a second control terminal by communication.

As shown in Figure 9, the remote control device 90 includes:

A remote control request instruction sending unit 901, configured to send a remote control request instruction to the first control terminal;

The remote control state unit 902 is configured to receive the remote control confirmation instruction sent by the first control terminal, and establish a communication connection with the unmanned aerial vehicle, so that the unmanned aerial vehicle is in the remote control state of the second control terminal;

The remote control interface unit 903 is configured to enter a remote control interface, and remotely control the UAV based on the remote control interface, wherein the screen of the second control terminal is larger than the screen of the first control terminal.

In the embodiment of the present application, the UAV is controlled by entering the remote control interface through the second control terminal, and the display interface of the second control terminal is larger than that of the first control terminal. Therefore, the application can improve the scheduling efficiency of the UAV.

It should be noted that the above-mentioned remote control device can execute the remote control method provided in the embodiment of the present application, and has corresponding functional modules and beneficial effects for executing the method. For technical details not described in detail in the embodiment of the remote control device, refer to the remote control method provided in the embodiment of the present application.

Please refer to FIG. 10 again. FIG. 10 is a schematic structural diagram of another remote control device provided by an embodiment of the present application;

As shown in Figure 10, the remote control device 10 includes:

The remote control request instruction receiving unit 101 is used to receive the remote control request instruction sent by the second control terminal when the unmanned aerial vehicle is in the remote control state of the first control terminal;

The remote control state unit 102 is configured to receive a remote control confirmation instruction, and send the remote control confirmation instruction to the second control terminal, so that the UAV enters the remote control state of the second control terminal.

In the embodiment of the present application, by receiving the remote control request command sent by the second control terminal, and sending the remote control confirmation command to the second control terminal, so that the unmanned aerial vehicle enters the remote control state of the second control terminal, the present application can improve Scheduling Efficiency for Unmanned Aerial Vehicles.

Please refer to FIG. 11, which is a schematic structural diagram of a first control terminal provided by an embodiment of the present application;

As shown in Figure 11, the first control terminal 110 includes, but is not limited to: a radio frequency unit 111, a network module 112, an audio output unit 113, an input unit 114, a sensor 115, a display unit 116, a user input unit 117, an interface unit 118, Memory 119, processor 1110, power supply 1111 and other components, the first control terminal 110 also includes a camera. Those skilled in the art can understand that the structure of the first control terminal shown in Figure 11 does not constitute a limitation on the first control terminal, and the first control terminal may include more or less components than shown in the figure, or combine some components , or different component arrangements. In the embodiment of the present application, the first control terminal includes, but is not limited to, mobile terminals such as mobile phones, tablet computers, or smart remote controls.

The processor 1110 is used for the second control terminal to send a remote control request command to the first control terminal; the second control terminal receives the remote control confirmation command sent by the first control terminal, and establishes a communication connection with the unmanned aerial vehicle, so that the unmanned aerial vehicle The aircraft is in the remote control state of the second control terminal; the second control terminal enters the remote control interface to remotely control the UAV based on the remote control interface, wherein the display interface of the second control terminal is larger than that of the first control terminal.

It should be understood that, in the embodiment of the present application, the radio frequency unit 111 can be used for receiving and sending signals during sending and receiving information or during a call. Specifically, the downlink data from the base station is received and processed by the processor 1110; Uplink data is sent to the base station. Generally, the radio frequency unit 111 includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, and the like. In addition, the radio frequency unit 111 can also communicate with the network and other devices through a wireless communication system.

The first control terminal 110 provides users with wireless broadband Internet access through the network module 112 , such as helping users send and receive emails, browse web pages, and access streaming media.

The audio output unit 113 may convert audio data received by the radio frequency unit 111 or the network module 112 or stored in the memory 119 into an audio signal and output as sound. Moreover, the audio output unit 113 may also provide audio output related to a specific function performed by the first control terminal 110 (for example, call signal reception sound, message reception sound, etc.). The audio output unit 113 includes a speaker, a buzzer, a receiver, and the like.

The input unit 114 is used to receive audio or video signals. The input unit 114 can include a graphics processor (Graphics Processing Unit, GPU) 1141 and a microphone 1142, and the graphics processor 1141 can target still pictures or videos obtained by an image capture device (such as a camera) in a video capture mode or an image capture mode. The image is processed. The processed image frames may be displayed on the display unit 116 . The image frames processed by the graphics processor 1141 may be stored in the memory 119 (or other storage media) or sent via the radio frequency unit 111 or the network module 112 . The microphone 1142 can receive sound and can process such sound into audio data. The processed audio data may be converted into a format transmittable to a mobile communication base station via the radio frequency unit 111 for output in case of a phone call mode.

The first control terminal 110 also includes at least one sensor 115, such as a light sensor, a motion sensor and other sensors. Specifically, the light sensor includes an ambient light sensor and a proximity sensor, wherein the ambient light sensor can adjust the brightness of the display panel 1161 according to the brightness of the ambient light, and the proximity sensor can turn off the display panel when the first control terminal 110 moves to the ear. 1161 and/or backlight. As a kind of motion sensor, the accelerometer sensor can detect the magnitude of acceleration in various directions (generally three axes), and can detect the magnitude and direction of gravity when stationary, and can be used to identify the attitude of the first control terminal (such as horizontal and vertical screen switching, Related games, magnetometer posture calibration), vibration recognition related functions (such as pedometer, knocking), etc.; sensor 115 can also include fingerprint sensor, pressure sensor, iris sensor, molecular sensor, gyroscope, barometer, hygrometer, Thermometers, infrared sensors, etc., will not be repeated here.

The display unit 116 is used to display information input by the user or information provided to the user. The display unit 116 may include a display panel 1161, and the display panel 1161 may be configured in the form of a liquid crystal display (Liquid Crystal Display, LCD), an organic light-emitting diode (Organic Light-Emitting Diode, OLED), or the like.

The user input unit 117 can be used to receive input numbers or character information, and generate key signal input related to user settings and function control of the first control terminal. Specifically, the user input unit 117 includes a touch panel 1171 and other input devices 1172 . The touch panel 1171, also referred to as a touch screen, can collect touch operations of the user on or near it (for example, the user uses any suitable object or accessory such as a finger or a stylus on the touch panel 1171 or near the touch panel 1171). operate). The touch panel 1171 may include two parts, a touch detection device and a touch controller. Among them, the touch detection device detects the user's touch orientation, and detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into contact coordinates, and sends it to the For the processor 1110, receive the command sent by the processor 1110 and execute it. In addition, the touch panel 1171 can be implemented in various types such as resistive, capacitive, infrared, and surface acoustic wave. In addition to the touch panel 1171 , the user input unit 117 may also include other input devices 1172 . Specifically, other input devices 1172 may include, but are not limited to, physical keyboards, function keys (such as volume control keys, switch keys, etc.), trackballs, mice, and joysticks, which will not be repeated here.

Furthermore, the touch panel 1171 can be covered on the display panel 1161, and when the touch panel 1171 detects a touch operation on or near it, it will be sent to the processor 1110 to determine the type of the touch event, and then the processor 1110 will The type of event provides a corresponding visual output on the display panel 1161 . Although in FIG. 11 , the touch panel 1171 and the display panel 1161 are used as two independent components to realize the input and output functions of the first control terminal, in some embodiments, the touch panel 1171 and the display panel 1161 can be combined The input and output functions of the first control terminal are realized through integration, which is not specifically limited here.

The interface unit 118 is an interface for connecting an external device to the first control terminal 110 . For example, an external device may include a wired or wireless headset port, an external power (or battery charger) port, a wired or wireless data port, a memory card port, a port for connecting a device with an identification module, audio input/output (I/O) ports, video I/O ports, headphone ports, and more. The interface unit 118 may be used to receive input from an external device (for example, data information, power, etc.) and transmit the received input to one or more elements in the first control terminal 110 or may be used to Data is transferred between the terminal 110 and an external device.

The memory 119 can be used to store software programs as well as various data. Storer 119 can mainly comprise storage program area and storage data area, wherein, storage program area can store the required application program 1191 (such as sound playback function, image playback function etc.) and operating system 1192 etc. of at least one function; Store data (such as audio data, phone book, etc.) created according to the use of the mobile phone. In addition, the memory 119 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage devices.

The processor 1110 is the control center of the first control terminal, which uses various interfaces and lines to connect various parts of the entire first control terminal, and runs or executes the software programs and/or modules stored in the memory 119, and calls the software programs stored in the memory 119. data, execute various functions of the first control terminal and process data, so as to monitor the first control terminal as a whole. The processor 1110 may include one or more processing units; in the embodiment of the present application, the processor 1110 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface and application programs, etc. , the modem processor mainly handles wireless communications. It can be understood that the foregoing modem processor may not be integrated into the processor 1110 .

The first control terminal 110 can also include a power supply 1111 (such as a battery) for supplying power to various components. In the embodiment of the present application, the power supply 1111 can be logically connected to the processor 1110 through the power management system, so as to realize management charging, Discharge, and power management functions.

In addition, the first control terminal 110 includes some functional modules not shown, which will not be repeated here.

The embodiment of the present application also provides a first control terminal, including a processor 1110, a memory 119, and a computer program stored in the memory 119 and operable on the processor 1110, and the computer program is implemented when executed by the processor 1110. The various processes of the above remote control method embodiment can achieve the same technical effect, so in order to avoid repetition, details are not repeated here.

Please refer to FIG. 12, which is a schematic structural diagram of a second control terminal provided by an embodiment of the present application;

As shown in FIG. 12 , the second control terminal 120 includes: a processor 121 , a memory 122 and a communication module 123 . Wherein, the processor 121 , the memory 122 and the communication module 123 establish any communication connection between them through a bus.

The processor 121 can be any type of processor with one or more processing cores. It can perform single-threaded or multi-threaded operations, and is used to parse instructions to perform operations such as obtaining data, performing logical operation functions, and delivering operation processing results.

The memory 122, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs and modules, such as program instructions/modules corresponding to the remote control method in the embodiment of the present application . The processor 121 executes the non-transitory software programs, instructions and modules stored in the memory 122 to implement the remote control method in the above method embodiments.

The memory 122 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created according to the use of the remote control device, and the like. In addition, the memory 122 may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory 122 may optionally include memory located remotely from the processor 121, and these remote memories may be connected to the UAV via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The memory 122 stores instructions executable by the at least one processor 121; the at least one processor 121 is configured to execute the instructions, so as to implement the remote control method in any of the above method embodiments.

The communication module 123 is a functional module for establishing a communication connection and providing a physical channel. The communication module 123 may be any type of wireless or wired communication module, including but not limited to a WiFi module or a Bluetooth module.

Further, the embodiment of the present application also provides a non-transitory computer-readable storage medium, the non-transitory computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors 121, which may cause the above-mentioned one or more processors 121 to execute the remote control method in any of the above-mentioned method embodiments.

The device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Some or all of the modules are selected according to actual needs to realize the purpose of the solution of this embodiment.

Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform, and of course also by hardware. Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing related hardware through the computer program in the computer program product, and the computer program can be stored in a non-transitory computer. In the read storage medium, the computer program includes program instructions, and when the program instructions are executed by the relevant equipment, the relevant equipment can be made to execute the processes of the embodiments of the above-mentioned methods. Wherein, the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM) or a random access memory (Random Access Memory, RAM), etc.

The above-mentioned product can execute the UAV protection method provided in the embodiment of the present application, and has corresponding functional modules and beneficial effects for executing the UAV protection method. For technical details that are not described in detail in this embodiment, please refer to the drone protection method provided in the embodiment of this application.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; under the thinking of the present application, the above embodiments or technical features in different embodiments can also be combined, The steps can be performed in any order, and there are many other variations of the different aspects of the application as described above, which have not been presented in detail for the sake of brevity; although the application has been described in detail with reference to the preceding examples, those of ordinary skill in the art The skilled person should understand that: it is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the implementation of the present application. The scope of technical solutions.

Claims

A remote control method, characterized in that it is applied to an unmanned aerial vehicle, the unmanned aerial vehicle is connected to a first control terminal by communication, and the first control terminal is connected to a second control terminal by communication. The method includes:

the second control terminal sends a remote control request instruction to the first control terminal;

The second control terminal receives the remote control confirmation instruction sent by the first control terminal, and establishes a communication connection with the unmanned aerial vehicle, so that the unmanned aerial vehicle is in the remote control state of the second control terminal;

The second control terminal enters the remote control interface, based on the remote control interface, remotely controls the UAV, wherein the display interface of the second control terminal is larger than the display interface of the first control terminal.
The method according to claim 1, wherein the second control terminal includes an operating console, and the remote control of the unmanned aerial vehicle includes:

The unmanned aerial vehicle is remotely controlled based on the preset operation mode of the operating console.
The method according to claim 2, wherein the console comprises: a keyboard, the keyboard includes a plurality of keys, and the preset operation mode includes: preset key operations, wherein each key Corresponding to a button operation, the remote control of the unmanned aerial vehicle based on the preset operation mode of the console includes:

Based on the preset keys, key operation commands are obtained to control the flight direction of the UAV.
The method according to claim 3, wherein the obtaining of key operation commands based on preset keys to control the flight direction of the unmanned aerial vehicle includes:

According to the button operation corresponding to the preset button, a button operation command is generated, and the button operation command is sent to the UAV to control the flight direction of the UAV, wherein the preset Buttons, including: an up button, used to control the unmanned aerial vehicle to rise; a down button, used to control the unmanned aerial vehicle to descend; a left turn button, used to control the unmanned aerial vehicle to turn left; a right turn button, used to For controlling the unmanned aerial vehicle to turn right; the forward button is used to control the unmanned aerial vehicle to fly forward; the backward button is used to control the unmanned aerial vehicle to fly backward; the left button is used to control the unmanned aerial vehicle The unmanned aerial vehicle flies left; the right key is used to control the unmanned aerial vehicle to fly right.
The method according to claim 1, wherein before the second control terminal sends a remote control request instruction to the first control terminal, the method further comprises:

The second control terminal obtains the remote control interface instruction;

The second control terminal controls the display interface of the second control terminal to enter the remote control interface according to the remote control interface instruction.
The method according to claim 1, wherein the second control terminal communicates with a plurality of unmanned aerial vehicles, and the method also includes:

In the remote control interface, generate a one-to-one live broadcast window for each unmanned aerial vehicle;

In response to the operation on the live broadcast window, the unmanned aerial vehicle corresponding to the live broadcast window is controlled to be in the remote control state of the second control terminal.
The method according to any one of claims 1-6, wherein the second control terminal includes a terminal device.
A remote control method, characterized in that it is applied to an unmanned aerial vehicle, the unmanned aerial vehicle is connected to a first control terminal by communication, and the first control terminal is connected to a second control terminal by communication. The method includes:

When the unmanned aerial vehicle is in the remote control state of the first control terminal, the first control terminal receives the remote control request instruction sent by the second control terminal;

The first control terminal receives the remote control confirmation instruction, and sends the remote control confirmation instruction to the second control terminal, so that the UAV enters the remote control state of the second control terminal.
The method according to claim 8, characterized in that the method further comprises:

receiving a remote control interruption command, controlling the unmanned aerial vehicle to switch from the second remote control state to the first remote control state, wherein the first remote control state is that the first control terminal remotely controls the unmanned aerial vehicle, The second remote control state is that the second control terminal remotely controls the UAV.
The method according to any one of claims 8-9, wherein the first control terminal includes a remote control device.
A remote control device, characterized in that it is applied to an unmanned aerial vehicle, the unmanned aerial vehicle is connected to a first control terminal by communication, and the first control terminal is connected to a second control terminal by communication, and the device includes:

a remote control request instruction sending unit, configured to send a remote control request instruction to the first control terminal;

The remote control state unit is configured to receive the remote control confirmation instruction sent by the first control terminal, and establish a communication connection with the unmanned aerial vehicle, so that the unmanned aerial vehicle is in the remote control state of the second control terminal;

The remote control interface unit is used to enter the remote control interface, and remotely control the UAV based on the remote control interface, wherein the screen of the second control terminal is larger than the screen of the first control terminal.
A remote control device, characterized in that it is applied to an unmanned aerial vehicle, the unmanned aerial vehicle communicates with a first control terminal, and the first control terminal communicates with a second control terminal, and the device includes:

The remote control request instruction receiving unit is used to receive the remote control request instruction sent by the second control terminal when the unmanned aerial vehicle is in the remote control state of the first control terminal;

The remote control state unit is configured to receive a remote control confirmation instruction, and send the remote control confirmation instruction to the second control terminal, so that the UAV enters the remote control state of the second control terminal.
A first control terminal, characterized by comprising:

at least one processor; and

A memory connected in communication with the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processing The device can be used to execute the remote control method according to any one of claims 1-7.
A second control terminal, characterized by comprising:

at least one processor; and

A memory connected in communication with the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processing The device can be used to execute the remote control method according to any one of claims 8-10.