WO2023025204A1 - Procédé et dispositif de commande à distance et première et deuxième extrémités de commande - Google Patents

Procédé et dispositif de commande à distance et première et deuxième extrémités de commande Download PDF

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Publication number
WO2023025204A1
WO2023025204A1 PCT/CN2022/114570 CN2022114570W WO2023025204A1 WO 2023025204 A1 WO2023025204 A1 WO 2023025204A1 CN 2022114570 W CN2022114570 W CN 2022114570W WO 2023025204 A1 WO2023025204 A1 WO 2023025204A1
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WIPO (PCT)
Prior art keywords
control terminal
remote control
control
unmanned aerial
aerial vehicle
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Application number
PCT/CN2022/114570
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English (en)
Chinese (zh)
Inventor
蒙露璐
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深圳市道通智能航空技术股份有限公司
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Publication of WO2023025204A1 publication Critical patent/WO2023025204A1/fr

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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
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • 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
    • G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones

Definitions

  • 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.
  • Unmanned aerial vehicles are also gradually gaining popularity.
  • 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.
  • 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.
  • 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.
  • the second control terminal includes an operation console
  • the remote control of the UAV includes:
  • the unmanned aerial vehicle is remotely controlled based on the preset operation mode of the operating console.
  • 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:
  • key operation commands are obtained to control the flight direction of the UAV.
  • the acquisition of key operation commands based on preset keys to control the flight direction of the UAV includes:
  • 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 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.
  • the second control terminal communicates with a plurality of unmanned aerial vehicles, and the method further includes:
  • 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 second control terminal includes a terminal device.
  • 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 :
  • the first control terminal 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 also includes:
  • the first control terminal includes a remote control device.
  • 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.
  • 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.
  • the embodiment of the present application provides a first control terminal, including:
  • 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.
  • the embodiment of the present application provides a second control terminal, including:
  • 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.
  • 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.
  • 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.
  • the terms “first”, “second”, “third”, etc. are used for descriptive purposes only and should not be construed as indicating or implying relative importance.
  • FIG. 1 is a schematic diagram of an application scenario provided by an embodiment of the present application.
  • 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.
  • the UAV 100 includes: a multi-rotor UAV, a fixed-wing UAV, an unmanned helicopter, and a mixed-wing UAV.
  • 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.
  • a mixed-wing unmanned aerial vehicle is used as an example to make a statement.
  • 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.
  • 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.
  • 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.
  • the UAV includes a UAV control system
  • 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.
  • 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
  • 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.
  • 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.
  • the present application is mainly implemented in a state machine.
  • 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.
  • 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.
  • 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.
  • PWM pulse width modulation
  • 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.
  • the UAV power system processes the UAV sensor data by using a fusion algorithm to obtain navigation data.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 2 is an interactive schematic diagram of a remote control method provided by an embodiment of the present application.
  • the interaction of the remote control method includes:
  • Step S201 the second control terminal sends a remote control request command
  • 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.
  • the first control terminal 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
  • 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
  • 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
  • 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
  • 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.
  • 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.
  • 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
  • the second control terminal 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
  • 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.
  • FIG. 3 is a schematic flowchart of a remote control method provided by an embodiment of the present application.
  • the execution body of the remote control method is the second control terminal.
  • 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.
  • the execution subject of the remote control method is one or more processors of the first control terminal.
  • the remote control method includes:
  • Step S301 the second control terminal sends a remote control request command to the first control terminal
  • 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.
  • the first control terminal 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;
  • the first control terminal 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.
  • 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.
  • the UAV is still in the remote control terminal of the first control terminal. control status.
  • the UAV 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.
  • Figure 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.
  • the first control terminal is the remote control terminal
  • the second control terminal is the PC terminal.
  • 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
  • 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.
  • 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.
  • the second control end includes an operation console, which is used to control the flight direction of the UAV.
  • FIG. 5 is a schematic diagram of a second control terminal provided by an embodiment of the present application.
  • 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.
  • 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 console includes: a keyboard
  • 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:
  • key operation commands are obtained to control the flight direction of the UAV.
  • the said key operation command is obtained based on the preset key, and the flight direction of the unmanned aerial vehicle is controlled, including:
  • 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 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.
  • the second control terminal 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.
  • the method 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.
  • 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;
  • 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
  • the PC end 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.
  • 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
  • the unmanned aerial vehicle 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
  • the flight direction of the UAV is controlled through the keyboard on the PC side.
  • Step S604 receiving a remote control exit instruction
  • 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
  • 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?
  • 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
  • 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
  • the PC end exits the remote control, and the UAV is remotely controlled by the remote control end.
  • the second control terminal communicates with a plurality of unmanned aerial vehicles, and the method also includes:
  • the unmanned aerial vehicle corresponding to the live broadcast window is controlled to be in the remote control state of the second control terminal.
  • FIG. 7 is a schematic diagram of a remote control interface of a second control terminal provided by an embodiment of the present application.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 8 is a schematic flowchart of another remote control method provided by the embodiment of the present application.
  • 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.
  • the execution subject of the remote control method is one or more processors of the first control terminal.
  • 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;
  • the first control terminal 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.
  • the unmanned aerial vehicle is in the remote control state of the first control terminal.
  • the second 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;
  • 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.
  • the method further includes:
  • 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.
  • 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.
  • the UAV enters the remote control state of the second control terminal, and the application can improve the scheduling efficiency of the UAV.
  • FIG. 9 is a schematic structural diagram of a remote control device provided by an embodiment of the present application.
  • 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.
  • 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.
  • 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.
  • 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.
  • the remote control method provided in the 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the remote control method provided in the 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • LCD Liquid Crystal Display
  • OLED Organic Light-Emitting Diode
  • 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.
  • 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.
  • 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.
  • the touch panel 1171 can be implemented in various types such as resistive, capacitive, infrared, and surface acoustic wave.
  • the user input unit 117 may also include other input devices 1172 .
  • 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.
  • 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 .
  • 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 .
  • 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.
  • 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.
  • a power supply 1111 (such as a battery) for supplying power to various components.
  • 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.
  • 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.
  • 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.
  • FIG. 12 is a schematic structural diagram of a second control terminal provided by an embodiment of the present application.
  • the second control terminal 120 includes: a processor 121 , a memory 122 and a communication module 123 .
  • 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.
  • 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.
  • 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.
  • 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.
  • each embodiment can be implemented by means of software plus a general hardware platform, and of course also by hardware.
  • the computer program can be stored in a non-transitory computer.
  • 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.
  • 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.
  • the drone protection method provided in the embodiment of this application.

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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)
  • Selective Calling Equipment (AREA)

Abstract

L'invention concerne un procédé et un dispositif de commande à distance (10) et des première et deuxième extrémités de commande (110 et 120). Le procédé de commande à distance est appliqué à un véhicule aérien sans pilote (100) ; le véhicule aérien sans pilote (100) est relié en communication à la première extrémité de commande (110) ; la première extrémité de commande (110) est reliée en communication à la deuxième extrémité de commande (120). Le procédé comprend les étapes suivantes : (S301) la deuxième extrémité de commande (120) envoie une instruction de demande de commande à distance à la première extrémité de commande (110) ; (S302) la deuxième extrémité de commande (120) reçoit une instruction de détermination de commande à distance envoyée par la première extrémité de commande (110), et établit une connexion de communication avec le véhicule aérien sans pilote (100), de telle sorte que le véhicule aérien sans pilote (100) se trouve dans un état commandé à distance de la deuxième extrémité de commande (120) ; et (S303) la deuxième extrémité de commande (120) entre dans une interface de commande à distance, et commande à distance le véhicule aérien sans pilote (100) sur la base de l'interface de commande à distance, une interface d'affichage de la deuxième extrémité de commande (120) étant plus grande qu'une interface d'affichage de la première extrémité de commande (110). La deuxième extrémité de commande (120) entre dans l'interface de commande à distance pour commander le véhicule aérien sans pilote (100), et l'interface d'affichage de la deuxième extrémité de commande (120) est plus grande que l'interface d'affichage de la première extrémité de commande (110), de telle sorte que l'efficacité de planification du véhicule aérien sans pilote (100) peut être améliorée.
PCT/CN2022/114570 2021-08-25 2022-08-24 Procédé et dispositif de commande à distance et première et deuxième extrémités de commande WO2023025204A1 (fr)

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