WO2023040987A1 - 一种用于无人机的远程操控系统及方法 - Google Patents
一种用于无人机的远程操控系统及方法 Download PDFInfo
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- WO2023040987A1 WO2023040987A1 PCT/CN2022/119129 CN2022119129W WO2023040987A1 WO 2023040987 A1 WO2023040987 A1 WO 2023040987A1 CN 2022119129 W CN2022119129 W CN 2022119129W WO 2023040987 A1 WO2023040987 A1 WO 2023040987A1
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- remote control
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
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- Embodiments of the present invention relate to the technical field of unmanned aerial vehicles, in particular to a remote control system and method for unmanned aerial vehicles.
- UAVs are widely used in military, surveying and mapping, aerial photography and other fields due to their small size, low cost and good maneuverability.
- the way to control the flight of the UAV in the prior art is: after the UAV and the remote control handle are connected by communication, the operator controls the direction key of the remote control handle and the relevant signal acquisition key to control the UAV at the flight site of the UAV. Flight direction and image acquisition and other related operations.
- the flight control of the UAV can only be controlled by the operator on the spot.
- the control form is relatively simple, and it is not convenient for remote personnel to understand the flight situation on the spot.
- Embodiments of the present invention provide a remote control system and method for drones, which can optimize existing control schemes for drones, realize remote control of drones, and improve user experience.
- an embodiment of the present invention provides a remote control system for unmanned aerial vehicles, including: unmanned aerial vehicles, ground stations and host computers, and the upper computers are equipped with remote command systems developed for the unmanned aerial vehicles.
- application and is configured with the remote control device of the UAV, the UAV is connected in communication with the ground station, and the ground station is also connected in communication with the background server of the remote command application;
- the host computer After the remote user logs in to the remote command application, the host computer displays the flight animation of the drone in real time, so that the remote control device initiates a corresponding remote control operation based on the control operation performed by the remote user for the flight animation. Control instructions; the host computer sends the remote control instructions to the ground station through the background server of the remote command application; the ground station forwards the remote control instructions to the UAV to achieve Remote control of the drone.
- the remote control device is a remote control handle or an operation keyboard carried by the drone.
- the remote control device is configured on the host computer through a wireless network or a universal serial bus connection.
- the UAV is equipped with a first communication module that matches the background server of the remote command application, so that the UAV can directly communicate with the background server of the remote command application; wherein, the The host computer directly sends the remote control instruction to the UAV through the background server of the remote command application.
- the drone is provided with a processing module for command analysis of the remote control command directly sent by the host computer.
- an on-site control device communicatively connected with the UAV, configured to send an on-site control instruction to the UAV.
- the on-site control device is configured with a second communication module that matches the background server of the remote command application, so that the on-site control device communicates with the background server of the remote command application; wherein, the The host computer applies to the on-site control device for the remote control device to control the UAV through the background server of the remote command application.
- control priority of the on-site control device for the UAV is higher than that of the remote control device for the control of the UAV.
- an embodiment of the present invention provides a remote control method for a drone, including:
- the host computer displays the flight animation of the drone in real time
- the remote manipulation device configured on the host computer initiates a corresponding remote manipulation command
- the host computer sends the remote control instruction to the ground station through the background server of the remote command application;
- the ground station forwards the remote control instruction to the UAV, so as to realize the remote control of the UAV.
- the remote control scheme for UAVs provided by the embodiment of the present invention, the remote command application developed for UAVs is installed in the upper computer, and the remote control equipment for UAVs is configured, and the UAVs communicate with the ground station Connection, the ground station communicates with the background server of the remote command application; the host computer can display the flight animation of the drone in real time after the remote user logs in to the remote command application, so that the remote user can understand the on-site flight situation of the drone at the remote end technical effect. Further, the remote control command of the remote control device can be sent to the ground station through the background server of the remote command application, and the ground station forwards the remote control command to the UAV, which also achieves the user's observation of the UAV at the remote end.
- the real-time flight animation has the technical effect of remotely controlling the drone, which improves the user experience.
- Fig. 1 is a schematic structural diagram of a remote control system for a drone provided by an embodiment of the present invention
- Fig. 2 is a schematic structural diagram of a remote control system for unmanned aerial vehicle provided by another embodiment of the present invention.
- Fig. 3 is a schematic flowchart of a remote control method for a drone provided by an embodiment of the present invention.
- FIG. 1 is a schematic structural diagram of a remote control system for unmanned aerial vehicle provided by an embodiment of the present invention.
- the system includes: an unmanned aerial vehicle 10 , a ground station 20 and a host computer 30 .
- a remote command application 31 developed for the drone 10 is installed on the host computer 30 , and a remote control device 32 of the drone 10 is configured.
- the drone 10 communicates with the ground station 20 , and the ground station 20 also communicates with the background server 33 of the remote command application 31 .
- the upper computer 30 displays the flight animation of the UAV 10 in real time, so that the remote control device 32 initiates a corresponding remote control command based on the remote user's manipulation operation for the flight animation; the upper computer 30
- the remote control command is sent to the ground station 20 through the background server 33 of the remote command application 31; the ground station 20 forwards the remote control command to the UAV 10, so as to realize the remote control of the UAV 10.
- the unmanned aerial vehicle 10 is a device that can be controlled by a remote control device or a related setting program, and is an unmanned aircraft with a payload task.
- the UAV 10 has the ability to fly according to the control instruction of the remote control device.
- the UAV 10 is communicatively connected with the ground station 20, and the ground station 20 is a platform capable of processing, receiving and sending relevant data generated during the flight of the UAV 10.
- the relevant data may be control signals of the UAV 10 , attitude data, path data, and coordinate data of the UAV 10 .
- the host computer 30 can be understood as a computer that can directly issue control instructions to the drone 10. It can be a personal computer (Personal Computer, referred to as PC), a notebook (notebook) or a smart phone, etc., which is not limited here.
- PC Personal Computer
- notebook notebook
- smart phone etc., which is not limited here.
- the remote command application 31 developed for the unmanned aerial vehicle 10 is installed on the host computer 30, and the remote command application 31 can be a related application program (application, referred to as APP) or a web page address (Uniform Resource Locator, referred to as URL), etc., remote users
- APP application program
- URL Uniform Resource Locator
- the ground station 20 communicates with the background server 33 of the remote command application 31, so that after logging in the remote command application 31 on the host computer 30, the real-time flight animation of the unmanned aerial vehicle 10 can be forwarded through the ground station 20, so that The remote user observes the on-site flight picture of the UAV 10 on the host computer 30 . Further, it is also possible to plan the flight route of the UAV 10 on the remote command application 31 .
- ground station 20 and the UAV 10 can establish a communication connection through image transmission, and the ground station 20 and the background server 33 of the remote command application 31 communicate through network cables, wireless WI-FI or 5G networks.
- the connection specifically the connection method between the ground station 20 and the UAV 10 and between the ground station 20 and the background server 33 of the remote command application 31 is not limited here.
- the remote control device 32 about the drone 10 is also configured on the host computer 30. After logging in to the remote command application 31, the remote operator can display the real-time The flight animation realizes the remote control of the UAV 10 by manipulating the remote control device 32 .
- the remote control device 32 is configured on the host computer 30 in a connection manner of a wireless network or a universal serial bus.
- the remote control device 32 is a remote control handle or an operation keyboard carried by the drone 10 .
- the remote control handle or the operating keyboard is connected to the upper computer 30, it can be connected through a wireless network WIFI or a serial bus (Universal Serial Bus, referred to as USB).
- WIFI wireless network
- USB Universal Serial Bus
- the host computer 30 sends the remote control instruction to the ground station 20 through the background server 33 of the remote command application 31, and further, the ground station 20 will remotely control the The instruction is sent to the UAV 10 to enable the user to remotely control the UAV 10 based on the real-time flight animation displayed by the host computer 30 .
- the remote control system for the UAV 10 provided by the embodiment of the present invention, by logging in the remote command application 31 on the host computer 30, the user is not limited to outdoor on-site control of the UAV 10, and can realize various scenarios.
- the effect of remote control for example, can be in the office, home or shopping malls, etc., through the communication connection between the drone 10 and the ground station 20 and the ground station 20 and the background server 33 of the remote command application 31, enabling the user to operate in various
- the venue can feel the feeling of manipulating the drone 10 in person, which improves the user experience.
- related functions such as "screen recording” and "screenshot” can be set in the remote command application 31, which can facilitate the user to obtain various pictures of the flight scene of the UAV 10 according to actual needs, and satisfy the user's personalized operation.
- the remote control device 32 is an operating keyboard
- the current operating keyboard can be a keyboard that matches the host computer 30.
- the real-time flight animation of the human-machine 10, and the matching " ⁇ " or "WASD" letter keys matched with the mouse and keyboard realize the remote control of the flight of the UAV 10.
- the method of using the keyboard to control the UAV 10 has the problem that the control angle deviation is relatively large, resulting in poor control effect, and it needs to be used in conjunction with the mouse, so the control method is relatively cumbersome.
- the remote control handle of the drone 10 can be used to realize the remote control of the drone 10.
- the corresponding The control command is converted into the agreed json protocol, and the control command is sent to the background server 33 of the remote command application 31 through the netty network protocol, and then the background server 33 sends the control command to the ground station 20, and further through the ground station 20.
- the control instruction is sent to the UAV 10, so that the UAV 10 performs corresponding flight operations according to the corresponding control instruction.
- Control the left and right joysticks on the remote control handle The range of the levers in each direction is -100 ⁇ 100.
- the maximum value of the upward and rightward levers is 100, and the maximum value of the leftward and downward levers is -100. It is more convenient for the user to send control instructions to the UAV 10 by controlling the joystick, the operation is simple, and the control sensitivity is higher.
- a remote control system for UAV 10 provided in the embodiment of the present invention, a remote command application 31 developed for UAV 10 is installed in host computer 30, and a remote control device for UAV 10 is configured 32.
- the UAV 10 communicates with the ground station 20, and the ground station 20 communicates with the background server 33 of the remote command application 31; the host computer 30 can display the status of the drone 10 in real time after the remote user logs in to the remote command application 31.
- the flight animation achieves the technical effect that the remote user understands the on-site flight situation of the UAV 10 at the remote end.
- the remote control command of the remote control device 32 can be sent to the ground station 20 through the background server 33 of the remote command application 31, and the ground station 20 forwards the remote control command to the UAV 10, which also enables the user to pass the remote control command at the remote end.
- the observed real-time flight animation of the unmanned aerial vehicle 10 remotely controls the technical effect of the unmanned aerial vehicle 10, improving user experience.
- FIG. 2 A schematic structural diagram of a remote control system for a UAV 10 provided by another embodiment of the present invention.
- a first communication module 11 is configured on the UAV 10 , so that the background server 33 communicates directly with the UAV 10 .
- the first communication module 11 matched with the background service end 33 of the remote command application 31 is configured on the UAV 10, and the UAV 10 is directly communicated with the background service end 33 of the remote command application 31 through the first communication module 11.
- the host computer 30 sends the remote control instruction directly to the UAV 10 through the background server 33 of the remote command application 31 .
- the advantage of this setting is that the host computer 30 directly sends remote control instructions to the UAV 10 through the background server 33 of the remote command application 31, without forwarding through the ground station 20, which simplifies the system.
- a processing module 12 is also provided on the UAV 10 for command analysis of the remote control commands directly sent by the host computer 30 .
- the UAV 10 has the relevant functions of communicating with the background server 33 of the ground station 20 and the remote command application 31, Make the host computer 30 directly send the remote control command to the UAV 10 through the background server 33 of the remote command application 31 .
- the way to realize the remote control of the drone 10 through the remote control handle carried by the drone 10 can be, by operating the camera or video button on the remote control handle, or by manually controlling
- the joystick set on the remote control handle converts the corresponding control commands into the agreed json protocol, and sends the control commands to the drone 10 through the netty network protocol, so that the drone 10 executes according to the corresponding control commands corresponding flight operations.
- the on-site control device 40 communicated with the UAV 10 is configured to send an on-site control instruction to the UAV 10 .
- the on-site control device 40 may be a remote controller or a remote control handle capable of controlling the UAV 10 on the spot, and the on-site control device 40 is communicatively connected with the UAV 10 .
- the purpose of setting up the on-site control device 40 is, before the remote control of the UAV 10, the on-site personnel need to inspect the relevant flight environment of the UAV 10, so that the remote control personnel can control the UAV 10 only after the initial take-off of the UAV 10.
- the drone 10 is controlled remotely.
- the on-site control device 40 is configured with a second communication module 41 that matches the background server 33 of the remote command application 31 , so that the on-site control device 40 communicates with the background server 33 of the remote command application 31 .
- the second communication module 41 realizes that the on-site control device 40 communicates with the background server 33 of the remote command application 31, so that the host computer 30 applies to the field control device 40 for the remote control device 32 through the background server 33 of the remote command application 31.
- Control authority of HMI 10
- On-site operators can judge whether it is suitable for remote control according to the actual situation on site, so as to process the remote control request for the UAV 10 sent from the remote control device 32 .
- the functions of the remote controller or the remote control handle of the on-site control device 40 can be based on the functions of the remote control device 32. Equipped with an electronic display to display the remote control request sent by the remote operator through the background server 33 after logging into the remote command application 31 . If the on-site operator thinks that the current flying condition of the unmanned aerial vehicle 10 is good, he can agree to the request of the remote operator.
- the remote operator can realize the remote control of the unmanned aerial vehicle 10 by manipulating the remote control device 32 at the remote end; if The on-site operator judges that the current flying condition of the UAV 10 or the surrounding environment is not suitable for the remote operator to perform remote control, and may reject the operator's request.
- the way for the on-site operator to agree or reject the request of the remote operator is that the electronic display screen of the on-site control device 40 can have a touch screen function, and the remote control request of the remote operator can be processed by manually clicking on the screen;
- the remote control request of the remote control personnel is processed by setting relevant "confirm” and “deny” cases on the remote control device 32, and the specific method of processing the remote control request of the remote control personnel is not limited here.
- the remote operator sends a remote control request to the on-site control device 40 through the background server 33 of the remote command application 31, if the flight environment of the on-site drone 10 is not ready, for example, the drone 10 is in the machine slot If the battery is in the charging state, or the lid of the machine slot for storing the UAV 10 is in an unchecked state, it indicates that the UAV 10 cannot fly normally. Feedback Deny remote control request.
- control priority of the on-site control device 40 for the UAV 10 is higher than that of the remote control device 32 for the control of the UAV 10 .
- the on-site control personnel can check the flight situation and flight environment of the drone 10 on the spot, deal with relevant emergencies urgently, or recover and sort out the drone 10 at the end of the flight.
- the on-site control device 40 can terminate the remote operation of the remote personnel , so as to make the control mode of the UAV 10 more flexible.
- Figure 3 is a schematic flow chart of a remote control method for unmanned aerial vehicles provided by an embodiment of the present invention. This method is applicable to the situation of remote control of unmanned aerial vehicles.
- a remote control system for unmanned aerial vehicles is provided, and a remote control method for unmanned aerial vehicles provided in this embodiment includes the following steps:
- the remote command application may be a related application program (application, APP for short) or a web page address (Uniform Resource Locator, URL for short).
- application application, APP for short
- web page address Uniform Resource Locator, URL for short
- the flight animation of the drone can be displayed in real time on the host computer.
- the user can remotely watch the drone in the host computer in the following ways.
- one account information can be bound to one drone device.
- the user can Click on the relevant remote screen on the remote command application interface to remotely watch the real-time flight animation of the drone; or, after the user logs in to the remote command application, enter the identity corresponding to the drone on the relevant interface of the remote command application ((Identity, referred to as ID) and other methods to realize the real-time display of the flight animation of the drone in the host computer.
- ID Identity
- the remote control device configured on the host computer initiates a corresponding remote control command.
- the remote operator can control the remote control device according to the real-time flight animation of the on-site drone displayed on the visual interface of the host computer, so as to realize the control of the drone through the remote control command issued by the remote control device. remote control.
- the remote control device can be configured on the host computer by means of a wireless network or a universal serial bus connection.
- the remote control device can be a remote control handle or an operation keyboard carried by the drone.
- the remote control handle or the operation keyboard When the remote control handle or the operation keyboard is connected to the upper computer, it can be connected through a wireless network WIFI or a serial bus (Universal Serial Bus, referred to as USB).
- USB Universal Serial Bus
- the specific type of remote control device is based on the connection between the remote control device and the drone. way, without limitation.
- the host computer sends the remote control instruction to the ground station through the background server of the remote command application.
- the ground station is a platform capable of processing, receiving and sending relevant data generated during the flight of the UAV.
- the ground station communicates with the background server of the remote command application, and the communication connection can be established through a network cable, wireless WI-FI or 5G network.
- the remote control command issued by the remote control device can be sent to the ground station, and the ground station can directly forward the remote control command to the drone.
- the ground station forwards the remote control instruction to the drone, so as to realize the remote control of the drone.
- the ground station and the UAV can establish a communication connection through image transmission to send the remote control command initiated from the remote control device to the background server of the remote command application, and the background server of the remote command application sends the remote control command to The ground station, the ground station forwards the remote control command to the UAV, and finally realizes the remote control of the UAV.
- the remote control method for unmanned aerial vehicle also includes: the host computer sends an application for remote control equipment to the on-site control device to control the unmanned aerial vehicle through the background server of the remote command application, so as to configure The control authority of the remote control device for the drone.
- the on-site control equipment communicates with the UAV.
- the purpose of setting up the on-site control equipment is that before the remote control of the UAV, the on-site personnel need to set up the relevant flight environment of the UAV so that the UAV can take off after the initial take-off. , so that the remote operator can remotely control the drone.
- the on-site control device is equipped with a communication module capable of communicating with the background server of the remote command application, so that the host computer applies to the on-site control device for the control authority of the remote control device for the UAV through the background server of the remote command application.
- On-site operators can judge whether it is suitable for remote control according to the actual situation on site, so as to process the remote control request for the UAV sent from the remote control device.
- the functions of the remote control or remote control handle of the on-site control device can be equipped with effective functions based on the functions of the remote control device.
- the electronic display screen is used to display the remote control request sent by the remote operator through the background server after logging into the remote command application. If the on-site operator thinks that the current flying condition of the drone is good, he can agree to the request of the remote operator. After agreeing, the remote operator can remotely control the drone by manipulating the remote control device at the remote end; if the on-site operator If it is judged that the current drone flight situation or the surrounding environment is poor and not suitable for remote control by the remote operator, the request of the operator can be rejected.
- a remote command application developed for UAVs is installed in the upper computer, and a remote control device for UAVs is configured, and the UAVs communicate with the ground station Connection, the ground station communicates with the background server of the remote command application; the host computer can display the flight animation of the drone in real time after the remote user logs in to the remote command application, so that the remote user can understand the on-site flight situation of the drone at the remote end technical effect.
- the remote control command of the remote control device can be sent to the ground station through the background server of the remote command application, and the ground station forwards the remote control command to the UAV, which also achieves the user's observation of the UAV at the remote end.
- the real-time flight animation has the technical effect of remotely controlling the drone, which improves the user experience.
- the remote control method for unmanned aerial vehicles provided by the embodiment of the present invention is equivalent to the remote control system for unmanned aerial vehicles provided in the first embodiment of the present application.
- the remote control method of the machine has the corresponding functions and beneficial effects of executing the system.
Abstract
一种用于无人机的远程操控系统及方法，系统包括：无人机（10）、地面站（20）和上位机（30）；在上位机（30）中安装有为无人机（10）开发的远程指挥应用（31），并配置有无人机（10）的远程操控设备（32），无人机（10）与地面站（20）通信连接，地面站（20）与远程指挥应用（31）的后台服务端（33）通信连接；上位机（30）在远程用户登录远程指挥应用（31）后，可以实时展示无人机（10）的飞行动画，达到远程用户在远程端了解无人机（10）现场飞行情况的技术效果。进一步可将远程操控设备（32）的远程操控指令通过远程指挥应用（31）的后台服务端（33）发送至地面站（20），地面站（20）再将远程操控指令转发给无人机（10），还达到了用户在远程端通过观测到的无人机（10）的实时飞行动画远程操控无人机（10）的技术效果，提高用户体验。
Description
本申请要求于2021年9月15日提交中国专利局、申请号为202111081185X、申请名称为“一种用于无人机的远程操控系统及方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
本发明实施例涉及无人机技术领域，尤其涉及一种用于无人机的远程操控系统及方法。
随着社会的发展，无人机因具有体积小、成本低以及机动性能好等特点广泛应用于军事、测绘以及航拍等多种领域。
现有技术中控制无人机飞行的方式为：无人机与遥控手柄实现通信连接后，操控人员在无人机飞行现场通过操控遥控手柄的方向键以及相关信号采集键以控制无人机的飞行方向以及图像采集等相关操作。
使用现有技术控制无人机飞行时，只能通过操控人员在现场对无人机进行飞行控制，控制形式较为单一，不便于远程人员了解现场的飞行情况。
发明内容
本发明实施例提供了一种用于无人机的远程操控系统及方法，可以优化现有的无人机的操控方案，实现远程操控无人机，提高用户体验。
第一方面，本发明实施例提供了一种用于无人机的远程操控系统，包括： 无人机、地面站和上位机，所述上位机安装有为所述无人机开发的远程指挥应用，且配置有所述无人机的远程操控设备，所述无人机与所述地面站通信连接，且所述地面站还与所述远程指挥应用的后台服务端通信连接；其中：
所述上位机在远程用户登录所述远程指挥应用后，实时展示所述无人机的飞行动画，使所述远程操控设备基于所述远程用户面向所述飞行动画执行的操控操作发起对应的远程操控指令；所述上位机通过所述远程指挥应用的后台服务端将所述远程操控指令发送给所述地面站；所述地面站将所述远程操控指令转发给所述无人机，以实现所述无人机的远程操控。
进一步地，所述远程操控设备为所述无人机搭载的遥控手柄或操作键盘。
进一步地，所述远程操控设备采用无线网络或者通用串行总线的连接方式配置于所述上位机上。
进一步地，所述无人机上配置有与所述远程指挥应用的后台服务端匹配的第一通信模块，使所述无人机直接与所述远程指挥应用的后台服务端通信连接；其中，所述上位机通过所述远程指挥应用的后台服务端将所述远程操控指令直接发送给所述无人机。
进一步地，所述无人机上设置有处理模块，用于对所述上位机直接发送的远程操控指令进行指令分析。
进一步地，还包括：与所述无人机通信连接的现场操控设备，用于向所述无人机发送现场操控指令。
进一步地，所述现场操控设备上配置有与所述远程指挥应用的后台服务端匹配的第二通信模块，使所述现场操控设备与所述远程指挥应用的后台服务端通信连接；其中，所述上位机通过所述远程指挥应用的后台服务端向所述现场操控设备申请所述远程操控设备对于所述无人机的操控权限。
进一步地，所述现场操控设备对所述无人机的操控优先级高于所述远程操控设备对所述无人机的操控优先级。
第二方面，本发明实施例提供了一种用于无人机的远程操控方法，包括：
在远程用户通过上位机登录为无人机开发的远程指挥应用后，所述上位机实时展示所述无人机的飞行动画；
基于所述远程用户面向所述飞行动画执行的操控操作，所述上位机上配置的远程操控设备发起对应的远程操控指令；
所述上位机通过所述远程指挥应用的后台服务端将所述远程操控指令发送给地面站；
所述地面站将所述远程操控指令转发给所述无人机，以实现所述无人机的远程操控。
本发明实施例提供的用于无人机的远程操控方案，在上位机中安装有为无人机开发的远程指挥应用，并配置有无人机的远程操控设备，无人机与地面站通信连接，地面站与远程指挥应用的后台服务端通信连接；上位机在远程用户登录远程指挥应用后，可以实时展示无人机的飞行动画，达到远程用户在远程端了解无人机现场飞行情况的技术效果。进一步可将远程操控设备的远程操控指令通过远程指挥应用的后台服务端发送至地面站，地面站再将远程操控指令转发给无人机，还达到了用户在远程端通过观测到的无人机的实时飞行动画远程操控无人机的技术效果，提高用户体验。
图1为本发明实施例提供的一种用于无人机的远程操控系统的结构示意图；
图2为本发明另一实施例提供的一种用于无人机的远程操控系统的结构示 意图；
图3为本发明实施例提供的一种用于无人机的远程操控方法的流程示意图。
下面结合附图并通过具体实施方式来进一步说明本发明的技术方案。可以理解的是，此处所描述的具体实施例仅仅用于解释本发明，而非对本发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本发明相关的部分而非全部结构。
在更加详细地讨论示例性实施例之前应当提到的是，一些示例性实施例被描述成作为流程图描绘的处理或方法。虽然流程图将各步骤描述成顺序的处理，但是其中的许多步骤可以被并行地、并发地或者同时实施。此外，各步骤的顺序可以被重新安排。当其操作完成时所述处理可以被终止，但是还可以具有未包括在附图中的附加步骤。所述处理可以对应于方法、函数、规程、子例程、子程序等等。此外，在不冲突的情况下，本发明中的实施例及实施例中的特征可以相互组合。
图1为本发明实施例提供的一种用于无人机的远程操控系统的结构示意图，如图1所示，该系统包括：无人机10、地面站20和上位机30。在上位机30安装有为无人机10开发的远程指挥应用31，且配置有无人机10的远程操控设备32。无人机10与地面站20通信连接，且地面站20还与远程指挥应用31的后台服务端33通信连接。
其中，上位机30在远程用户登录远程指挥应用31后，实时展示无人机10的飞行动画，使远程操控设备32基于远程用户面向飞行动画执行的操控操作发 起对应的远程操控指令；上位机30通过远程指挥应用31的后台服务端33将远程操控指令发送给地面站20；地面站20将远程操控指令转发给无人机10，以实现无人机10的远程操控。
无人机10为能够由遥控设备或相关设定程序进行控制的装置，为带载荷任务的不载人飞行器。在操控人员根据遥控设备控制无人机10飞行时，无人机10具备能根据遥控设备的控制指令进行飞行的能力。
无人机10与地面站20通信连接，地面站20为能够对无人机10飞行时产生的相关数据的处理、接收以发送的平台。所述相关数据可以为无人机10的控制信号、无人机10的姿态数据、路径数据以及坐标数据等。
上位机30(master computer)可以理解为能够对无人机10直接发出操控指令的计算机可以为个人计算机(Personal Computer，简称PC)，笔记本(notebook)或智能手机等，在此不作限制。
在上位机30上安装有为无人机10开发的远程指挥应用31，该远程指挥应用31可以为相关应用程序(application，简称APP)或者网页地址(Uniform Resource Locator，简称URL)等，远程用户可通过登录相关的账号信息，例如：用户名和用户密码的方式，以实现用户登录远程指挥应用31。
进一步地，地面站20与远程指挥应用31的后台服务端33通信连接，以在上位机30上登录远程指挥应用31后，能够通过地面站20将无人机10的实时飞行动画进行转发，使得远程用户在上位机30上观察到无人机10的现场飞行画面。进一步地，也可以通过在远程指挥应用31上规划无人机10飞行航线等。
需要说明的是，地面站20与无人机10可通过图传的方式建立通信连接，地面站20与远程指挥应用31的后台服务端33通过网线、无线WI-FI或者5G网络的方式进行通信连接，具体地面站20与无人机10以及地面站20与远程指 挥应用31的后台服务端33的连接方式在此不作限制。
更进一步地，在上位机30上还配置有关于无人机10的远程操控设备32，在登录远程指挥应用31之后，远程操控人员可以根据上位机30可视化界面展示的现场无人机10的实时飞行动画，通过操控远程操控设备32实现对无人机10的远程控制。
可选地，远程操控设备32采用无线网络或者通用串行总线的连接方式配置于上位机30上。
进一步地，远程操控设备32为无人机10搭载的遥控手柄或操作键盘。当遥控手柄或操作键盘与上位机30连接时，可以为通过无线网络WIFI连接或串行总线(Universal Serial Bus，简称USB)连接等。
当用户通过远程操控设备32基于飞行动画发起对应的远程操控指令时，上位机30通过远程指挥应用31的后台服务端33将远程操控指令发送给地面站20，进一步地，地面站20将远程操控指令发送给无人机10，以实现用户基于上位机30展示的实时飞行动画对无人机10进行远程操控。
本发明实施例提供的用于无人机10的远程操控系统，通过在上位机30上登录远程指挥应用31，使得用户不局限于在户外进行现场控制无人机10，可以实现多种场合下远程控制的效果，例如，可以在办公场所、家中或者商场等，通过无人机10与地面站20以及地面站20与远程指挥应用31的后台服务端33进行通信连接，能够使得用户在多种场所感受到身临其境操控无人机10的感觉，提升用户体验。进一步地，可在远程指挥应用31中设置“录屏”以及“截图”等相关功能，可方便用户根据实际需求获取无人机10飞行现场的多样画面，满足用户的个性化操作。
需要说明的是，当远程操控设备32为操作键盘时，当前操作键盘可以为与 上位机30相匹配的键盘，当通过键盘实现对无人机10的远程操控时，根据可视化界面上展示的无人机10实时飞行动画，配合鼠标以及键盘匹配的“↑↓←→”或者“WASD”字母键实现对无人机10飞行的远程控制。但是，使用操控键盘控制无人机10的方式存在控制角度偏差较大，导致控制效果欠佳，且需与鼠标配合使用，控制方式较为繁琐的问题。
优选地，可采用与无人机10搭载的遥控手柄实现对无人机10的远程控制，通过操作遥控器手柄上的拍照或录像按钮，或者手动控制遥控手柄上设置的遥杆，将相应的控制指令转成约定的json协议，并通过netty网络协议将控制指令发送到远程指挥应用31的后台服务端33，再由后台服务端33将控制指令发送到地面站20，进一步通过地面站20将控制指令发送至无人机10，以使得无人机10根据相应地控制指令去执行对应的飞行操作。
控制遥控手柄上的的左右遥杆，在每个方向的打杆的杆量范围为-100～100，向上和向右杆量的最大值为100，向左和向下的杆量最大值为-100。用户通过控制遥杆向无人机10发送控制指令更加方便，操作简单，且控制灵敏度更高。
本发明实施例中提供的一种用于无人机10的远程操控系统，在上位机30中安装有为无人机10开发的远程指挥应用31，并配置有无人机10的远程操控设备32，无人机10与地面站20通信连接，地面站20与远程指挥应用31的后台服务端33通信连接；上位机30在远程用户登录远程指挥应用31后，可以实时展示无人机10的飞行动画，达到远程用户在远程端了解无人机10现场飞行情况的技术效果。进一步可将远程操控设备32的远程操控指令通过远程指挥应用31的后台服务端33发送至地面站20，地面站20再将远程操控指令转发给无人机10，还达到了用户在远程端通过观测到的无人机10的实时飞行动画远程操控无人机10的技术效果，提高用户体验。
上述实施例适用于上位机30上安装的无人机10开发的远程指挥应用31的后台服务器不能与无人机10进行直接通信的情况，则需要通过地面站20将远程操控设备32的控制指令进行相应转发操作，以实现对无人机10的远程操控。因此，在上述实施例的基础上，本发明实施例还提供一种可选实施例，当前可选实施例在上述实施例的基础上进行了进一步优化，具体地，请参照图2，图2为本发明另一实施例提供的一种用于无人机10的远程操控系统的结构示意图。
在上述实施例的基础上，本可选实施例在无人机10上配置有第一通信模块11，以使得后台服务端33直接与无人机10进行通信连接。在无人机10上配置有与远程指挥应用31的后台服务端33匹配的第一通信模块11，通过第一通信模块11使无人机10直接与远程指挥应用31的后台服务端33通信连接；其中，上位机30通过远程指挥应用31的后台服务端33将远程操控指令直接发送给无人机10。这样设置的好处在于，上位机30通过远程指挥应用31的后台服务端33将远程操控指令直接给无人机10，无需通过地面站20进行转发，简化系统。
进一步地，在无人机10上还设置有处理模块12，用于对上位机30直接发送的远程操控指令进行指令分析。
请继续参照图2，通过在无人机10上设置有第一通信模块11和处理模块12，使得无人机10具备地面站20与远程指挥应用31的后台服务端33进行通信的相关功能，使得上位机30通过远程指挥应用31的后台服务端33将远程操控指令直接发送给无人机10。
优选地，在本可选实施例中，通过与无人机10搭载的遥控手柄实现对无人机10的远程控制的方式可以为，通过操作遥控器手柄上的拍照或录像按钮，或者手动控制遥控手柄上设置的遥杆，将相应的控制指令转成约定的json协议，并通过netty网络协议将控制指令发送到发送至无人机10，以使得无人机10根 据相应地控制指令去执行对应的飞行操作。
可选地，与无人机10通信连接的现场操控设备40，用于向无人机10发送现场操控指令。
所述现场操控设备40可以为能够在现场控制无人机10的遥控器或遥控手柄，该现场操控设备40与无人机10通信连接。
设置现场操控设备40的目的为，在对无人机10进行远程操控之前，需现场人员考察好无人机10的相关飞行环境，使得无人机10进行初步起飞之后，才能使得远程操控人员对无人机10进行远程控制。
进一步可选地，现场操控设备40上配置有与远程指挥应用31的后台服务端33匹配的第二通信模块41，使现场操控设备40与远程指挥应用31的后台服务端33通信连接。
通过第二通信模块41实现现场操控设备40与远程指挥应用31的后台服务端33通信连接，使得上位机30通过远程指挥应用31的后台服务端33向现场操控设备40申请远程操控设备32对于无人机10的操控权限。
现场操控人员可通过现场实际情况，判断当前是否适宜进行远程操控，从而处理从远程操控设备32发出的对于无人机10的远程操控请求。
进一步地，当现场操控人员通过现场实际情况处理对于无人机10的远程操控请求时，现场操控设备40的遥控器或遥控手柄所具备的功能在远程操控设备32所具备功能的基础上，可具备有电子显示屏，以显示远程操控人员在登录远程指挥应用31后，通过后台服务端33发送的远程控制请求。若现场操控人员认为当前无人机10飞行情况良好，则可同意远程操控人员的请求，在同意之后，远程人员可在远程端通过操控远程操控设备32实现对无人机10的远程控制；若现场操控人员判断当前无人机10飞行情况或周边环境较差，不适于远程操控 人员进行远程控制，则可拒绝操控人员的请求。
更进一步地，现场操控人员同意或拒绝远程操控人员请求的方式为，现场操控设备40的电子显示屏可具备触屏功能，通过手动点击屏幕的方式处理远程操控人员的远程控制请求；还可通过在远程操控设备32上设置相关“确定”和“拒绝”案件的方式处理远程操控人员的远程控制请求，具体处理远程操控人员的远程控制请求的方式，在此不作限制。
可选地，当远程操控人员通过远程指挥应用31的后台服务端33向现场操控设备40发送远程控制请求时，若现场无人机10飞行环境还没有准备好，例如无人机10在机槽内处于充电状态，或者存放无人机10机槽的盖子处于未打卡状态，则表明无人机10均不能正常飞行，此时，现场操控设备40可直接向远程指挥应用31的后台服务端33反馈拒绝远程控制请求。
可选地，现场操控设备40对无人机10的操控优先级高于远程操控设备32对无人机10的操控优先级。
现场操控人员可现场无人机10的飞行情况以及飞行环境，紧急处理相关突发状况，或者无人机10飞行结束时的收回整理操作，此时，现场操控设备40可终止远程人员的远程操作，以使得无人机10的控制方式更加灵活。
如图3所示，图3为本发明实施例提供的一种用于无人机的远程操控方法的流程示意图，该方法适用于远程操控无人机的情况，该方法具体可以由上述实施例提供的一种用于无人机的远程操控系统实现，本实施例中所提供的一种用于无人机的远程操控方法，包括如下步骤：
S310、在远程用户通过上位机登录为无人机开发的远程指挥应用后，上位机实时展示无人机的飞行动画。
所述远程指挥应用可以为相关应用程序(application，简称APP)或者网页地址(Uniform Resource Locator，简称URL)等。
当远程用户通过账号信息登录远程指挥应用后，若成功登录可在上位机上实时展示无人机的飞行动画。
在远程指挥应用登录账号信息后，可通过以下方式使得用户在上位机中对无人机实现远程观看，示例性的，可用一个账号信息绑定一个无人机设备的方式，在登录成功后可在远程指挥应用界面上点击相关远程画面，即可实现远程观看无人机的实时飞行动画；或者，用户登录远程指挥应用后，在远程指挥应用的相关界面输入与无人机相对应的身份标识((Identity，简称ID)等方式，以实现在上位机中实时展示无人机的飞行动画。
S320、基于远程用户面向飞行动画执行的操控操作，上位机上配置的远程操控设备发起对应的远程操控指令。
在登录远程指挥应用之后，远程操控人员可以根据上位机可视化界面上展示的现场无人机的实时飞行动画，操控远程操控设备，以通过远程操控设备发出的额远程操控指令实现对无人机的远程控制。
可选地，远程操控设备可采用无线网络或者通用串行总线的连接方式配置于上位机上。进一步地，远程操控设备可以为无人机搭载的遥控手柄或操作键盘。当遥控手柄或操作键盘与上位机连接时，可以为通过无线网络WIFI连接或串行总线(Universal Serial Bus，简称USB)连接等，具体远程操控设备的类型以远程操控设备与无人机的连接方式，在此不作限制。
S330、上位机通过远程指挥应用的后台服务端将远程操控指令发送给地面站。
地面站为能够对无人机飞行时产生的相关数据的处理、接收以发送的平台。 地面站与远程指挥应用的后台服务端通信连接，可以为通过网线、无线WI-FI或者5G网络等方式建立通信连接。
在上位机上登录远程指挥应用后，能够将远程操控设备发出的远程操控指令发送给地面站，地面站可将远程操控指令直接转发至无人机。
S340、地面站将远程操控指令转发给无人机，以实现无人机的远程操控。
地面站与无人机可通过图传的方式建立通信连接，以将从远程操控设备发起的远程操控指令发送至远程指挥应用的后台服务端，远程指挥应用的后台服务端将远程操控指令发送至地面站，地面站将远程操控指令转发给无人机，最终实现无人机的远程操控。
进一步地，本发明实施例提供的用于无人机的远程操控方法，还包括：上位机通过远程指挥应用的后台服务端向现场操控设备发送远程操控设备对无人机的操控申请，以配置远程操控设备对于无人机的操控权限。
现场操控设备与无人机通信连接，设置现场操控设备的目的为，在对无人机进行远程操控之前，需现场人员在设置好无人机的相关飞行环境，使得无人机进行初步起飞之后，才能使得远程操控人员对无人机进行远程控制。
在现场操控设备中配置有能够与远程指挥应用的后台服务端进行通信的通信模块，使得上位机通过远程指挥应用的后台服务端向现场操控设备申请远程操控设备对于无人机的操控权限。
现场操控人员可通过现场实际情况，判断当前是否适宜进行远程操控，从而处理从远程操控设备发出的对于无人机的远程操控请求。
进一步地，当现场操控人员可通过现场实际情况处理对于无人机的远程操控请求时，现场操控设备的遥控器或遥控手柄所具备的功能在远程操控设备所具备功能的基础上，可具备有电子显示屏，以显示远程操控人员通过登录远程 指挥应用后，通过后台服务端发送的远程控制请求。若现场操控人员认为当前无人机飞行情况良好，则可同意远程操控人员的请求，在同意之后，远程人员可在远程端通过操控远程操控设备实现对无人机的远程控制；若现场操控人员判断当前无人机飞行情况或周边环境较差，不适于远程操控人员进行远程控制，则可拒绝操控人员的请求。
本发明实施例提供的用于无人机的远程操控方法，在上位机中安装有为无人机开发的远程指挥应用，并配置有无人机的远程操控设备，无人机与地面站通信连接，地面站与远程指挥应用的后台服务端通信连接；上位机在远程用户登录远程指挥应用后，可以实时展示无人机的飞行动画，达到远程用户在远程端了解无人机现场飞行情况的技术效果。进一步可将远程操控设备的远程操控指令通过远程指挥应用的后台服务端发送至地面站，地面站再将远程操控指令转发给无人机，还达到了用户在远程端通过观测到的无人机的实时飞行动画远程操控无人机的技术效果，提高用户体验。
本发明实施例提供的一种用于无人机的远程操控方法，相当于在本申请实施例一所提供的一种用于无人机的远程操控系统基础上提供的一种用于无人机的远程操控方法，具备执行该系统相应的功能和有益效果。
注意，上述仅为本发明的较佳实施例及所运用技术原理。本领域技术人员会理解，本发明不限于这里所述的特定实施例，对本领域技术人员来说能够进行各种明显的变化、重新调整和替代而不会脱离本发明的保护范围。因此，虽然通过以上实施例对本发明进行了较为详细的说明，但是本发明不仅仅限于以上实施例，在不脱离本发明构思的情况下，还可以包括更多其他等效实施例，而本发明的范围由所附的权利要求范围决定。
Claims (10)
- 一种用于无人机的远程操控系统，其特征在于，包括：无人机、地面站和上位机，所述上位机安装有为所述无人机开发的远程指挥应用，且配置有所述无人机的远程操控设备，所述无人机与所述地面站通信连接，且所述地面站还与所述远程指挥应用的后台服务端通信连接；其中，所述上位机在远程用户登录所述远程指挥应用后，实时展示所述无人机的飞行动画，使所述远程操控设备基于所述远程用户面向所述飞行动画执行的操控操作发起对应的远程操控指令；所述上位机通过所述远程指挥应用的后台服务端将所述远程操控指令发送给所述地面站；所述地面站将所述远程操控指令转发给所述无人机，以实现所述无人机的远程操控。
- 根据权利要求1所述的系统，其特征在于，所述远程操控设备为所述无人机搭载的遥控手柄或操作键盘。
- 根据权利要求1所述的系统，其特征在于，所述远程操控设备采用无线网络或者通用串行总线的连接方式配置于所述上位机上。
- 根据权利要求1所述的系统，其特征在于，所述无人机上配置有与所述远程指挥应用的后台服务端匹配的第一通信模块，使所述无人机直接与所述远程指挥应用的后台服务端通信连接；其中，所述上位机通过所述远程指挥应用的后台服务端将所述远程操控指令直接发送给所述无人机。
- 根据权利要求4所述的系统，其特征在于，所述无人机上设置有处理模块，用于对所述上位机直接发送的远程操控指令进行指令分析。
- 根据权利要求1所述的系统，其特征在于，还包括：与所述无人机通信连接的现场操控设备，用于向所述无人机发送现场操控指令。
- 根据权利要求6所述的系统，其特征在于，所述现场操控设备上配置有 与所述远程指挥应用的后台服务端匹配的第二通信模块，使所述现场操控设备与所述远程指挥应用的后台服务端通信连接；其中，所述上位机通过所述远程指挥应用的后台服务端向所述现场操控设备申请所述远程操控设备对于所述无人机的操控权限。
- 根据权利要求6所述的系统，其特征在于，所述现场操控设备对所述无人机的操控优先级高于所述远程操控设备对所述无人机的操控优先级。
- 一种用于无人机的远程操控方法，其特征在于，包括：在远程用户通过上位机登录为无人机开发的远程指挥应用后，所述上位机实时展示所述无人机的飞行动画；基于所述远程用户面向所述飞行动画执行的操控操作，所述上位机上配置的远程操控设备发起对应的远程操控指令；所述上位机通过所述远程指挥应用的后台服务端将所述远程操控指令发送给地面站；所述地面站将所述远程操控指令转发给所述无人机，以实现所述无人机的远程操控。
- 根据权利要求9所述的方法，其特征在于，还包括：所述上位机通过所述远程指挥应用的后台服务端向所述现场操控设备发送所述远程操控设备对所述无人机的操控申请，以配置所述远程操控设备对于所述无人机的操控权限。
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