WO2023272446A1

WO2023272446A1 - Communication method, system, and apparatus, remote controller, aircraft, and storage medium

Info

Publication number: WO2023272446A1
Application number: PCT/CN2021/102812
Authority: WO
Inventors: 邸健; 李晔; 商志猛
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2021-06-28
Filing date: 2021-06-28
Publication date: 2023-01-05

Abstract

Embodiments of the present application provide a communication method, system, and apparatus, a remote controller, an aircraft, and a storage medium. The communication method applicable to a first remote controller, comprising: generating first joystick manipulation information in response to a first user's manipulation for a first joystick on the first remote controller; and sending the first joystick manipulation information to a second remote controller, so that the second remote controller manipulates a second joystick on the second remote controller according to the first joystick manipulation information to synchronize the movement between the first joystick and the second joystick. The technical solutions provided in the embodiments of the present application can improve practice efficiency of pilots.

Description

Communication method, system, device, remote controller, aircraft and storage medium

technical field

The present application relates to the technical field of communication, and in particular to a communication method, system, device, remote controller, aircraft and storage medium.

Background technique

With the rapid development of science and technology, aircraft represented by drones have a wide range of applications, such as professional aerial photography, agricultural irrigation, etc.

The flying machine is a kind of unmanned aerial vehicle. It generally uses the first-person perspective to fly. The pilot observes the pictures taken by the camera on the flying machine through the monitor or the first-person perspective glasses to control the flight, so that the pilot can experience the experience personally. flight experience.

At present, the traversing machine has high requirements on the control ability of the pilot, especially the control ability of the joystick on the remote control, and the pilot needs to spend a lot of time and energy to practice.

Contents of the invention

Embodiments of the present application provide a communication method, system, device, remote controller, aircraft, and storage medium, which can improve the efficiency of pilots' practice.

The first aspect of the present application is to provide a communication method, which is suitable for the first remote controller; the method includes:

generating first joystick manipulation information in response to the first user's manipulation of the first joystick on the first remote controller;

sending the first joystick manipulation information to a second remote controller, so that the second remote controller manipulates a second joystick on the second remote controller according to the first joystick manipulation information to realize the The amount of stick is synchronized between the first rocker and the second rocker.

The second aspect of the present application is to provide a communication method suitable for a second remote controller; the method includes:

receiving the first joystick manipulation information sent by the first remote controller; the first joystick manipulation information is that the first remote controller responds to the first user’s pressing of the first joystick on the first remote controller; Generated by lever operation;

Manipulating the second rocker on the second remote controller according to the manipulation information of the first rocker, so as to realize the synchronization of the stick amount between the first rocker and the second rocker.

The third aspect of the present application is to provide a communication method suitable for aircraft; the method includes:

receiving the first aircraft control instruction generated based on the first joystick manipulation information sent by the first remote controller; the first joystick manipulation information is the response of the first remote controller to the first user’s Generated by the stick operation of the first rocker on the screen;

receiving a second aircraft control instruction generated based on the second joystick manipulation information sent by the second remote controller; the second joystick manipulation information is the response of the second remote controller Generated by the stick operation of the second joystick on the above;

If the receiving time of the first aircraft control instruction and the second aircraft control instruction are the same, the first aircraft control instruction is determined as the instruction to be executed currently.

The fourth aspect of the present application is to provide a communication system, including: a first remote controller and a second remote controller;

The first remote controller is configured to generate first joystick manipulation information in response to the first user's manipulation of the first joystick on the first remote controller; and send the first joystick manipulation information to to the second remote controller;

The second remote controller is used to manipulate the second rocker on the second remote controller according to the manipulation information of the first rocker so as to achieve a lever between the first rocker and the second rocker volume synchronization.

The fifth aspect of the present application is to provide a communication device for a first remote controller, including: a memory, a processor, and a communication component;

The memory is used to store computer programs;

The processor is connected to the memory and the communication component respectively, and is used to run the computer program stored in the memory to realize:

controlling the communication component to send the first joystick manipulation information to a second remote controller, so that the second remote controller manipulates the second joystick on the second remote controller according to the first joystick manipulation information; lever to realize the synchronization of the lever amount between the first rocker and the second rocker.

The sixth aspect of the present application is to provide a communication device for a second remote controller, including: a memory, a processor, and a communication component;

The memory is used to store computer programs;

Controlling the communication component to receive the first rocker manipulation information sent by the first remote controller; the first rocker manipulation information is the response of the first remote controller to the first user’s response to the first user’s Generated by the operation of a joystick;

The seventh aspect of the present application is to provide a communication device for an aircraft, including: a memory, a processor, and a communication component;

The memory is used to store computer programs;

Controlling the communication component to receive the first aircraft control instruction generated based on the first joystick manipulation information sent by the first remote controller; the first joystick manipulation information is the response of the first remote controller to the first user for the Generated by the operation of the first joystick on the first remote controller;

Controlling the communication component to receive a second aircraft control instruction generated based on the second joystick manipulation information sent by the second remote controller; the second joystick manipulation information is the response of the second remote controller to the second user for the Generated by the stick operation of the second rocker on the second remote control;

The eighth aspect of the present application is to provide a first remote controller, which includes a first joystick, and further includes the communication device described in the fifth aspect.

The ninth aspect of the present application is to provide a computer-readable storage medium, the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, and the program instructions are used to implement the first aspect the communication method described.

The tenth aspect of the present application is to provide a second remote controller, which includes a second joystick, and further includes the communication device described in the sixth aspect.

The eleventh aspect of the present application is to provide a computer-readable storage medium, the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, and the program instructions are used to realize the second The communication method described in the aspect.

A twelfth aspect of the present application is to provide an aircraft, including the communication device described in the seventh aspect above.

The thirteenth aspect of the present application is to provide a computer-readable storage medium, the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, and the program instructions are used to implement the third The communication method described in the aspect.

In the technical solution provided by the embodiment of the present application, the lever operation on the first remote controller is synchronized to the second rocker on the second remote controller, that is, the second rocker on the second remote controller and the first remote controller The first joystick on the top keeps the same action. In actual application, the coach can hold the first remote control, the trainee can hold the second remote control, the coach manually manipulates the first rocker on the first remote control, and the second rocker on the second remote control will follow the second remote control. The first rocker on the remote controller moves and moves, so that the trainee can directly feel the operation of the rocker by the coach, so that the trainee can learn. By adopting the technical solution provided by the embodiment of the present application, the difficulty of teaching and practice can be reduced, thereby improving the efficiency of teaching and practice.

Description of drawings

The drawings described here are used to provide a further understanding of the application and constitute a part of the application. The schematic embodiments and descriptions of the application are used to explain the application and do not constitute an improper limitation to the application. In the attached picture:

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

FIG. 2 is a schematic flowchart of a communication method of a first remote controller provided by an embodiment of the present application;

FIG. 3 is a schematic flowchart of a communication method of a second remote controller provided by an embodiment of the present application;

FIG. 4 is a schematic flowchart of a communication method for an aircraft provided by an embodiment of the present application;

Fig. 5 is a block diagram of internal structures of the first remote controller, the second remote controller and the aircraft provided by an embodiment of the present application.

detailed description

In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used herein in the specification of the application are only for the purpose of describing specific embodiments, and are not intended to limit the application.

In order to facilitate the understanding of the technical solutions and technical effects of the present application, the prior art is briefly described below:

At present, a time traveler is generally equipped with a remote control and a set of FPV (First Person View, first-person main perspective) glasses. The traversing machine is operated by the pilot alone. The pilot controls the drone to complete the entire flight process according to the first-person view of the FPV glasses. All flight decisions and flight controls are independently completed by the pilot.

As we all know, it is extremely difficult to control the flight of the traversing machine, especially the stick operation. In order to better and safely control the flight of the shuttle machine, extremely delicate techniques and strong skills are required. Usually, the joystick on the remote controller corresponds to four channels (pitch channel, roll channel, yaw channel, altitude channel). The coupling operation of multiple channels is difficult to describe clearly in words, which leads to difficulties in teaching and practice. At the same time, many stunts are conditioned reflexes formed by existing pilots through long-term training, and there are no written operating specifications summarized, which further increases the difficulty of teaching and practice.

In the existing teaching, the instructor can only rely on language to describe the perceptual operating experience, and the students can only rely on imagination and continuous flight groping to learn the flying movements. As a result, it takes a long time for novices to learn the flying movements and consumes a lot of energy.

In addition, since the trainer cannot directly intervene in the flight, when the trainee encounters an emergency, the trainer cannot assist in the operation in time to save the plane in time. It can be seen that at present, novices need to pay a great economic price to learn to control the flight of the traversing machine. At the same time, because the traversing machine flies fast and has high kinetic energy, there is a very high risk of injuring others and crashing other objects.

In order to solve or partially solve the above technical problems, the embodiment of the present application proposes to use two remote controllers: a first remote controller and a second remote controller. The coach holds the first remote control, the trainee holds the second remote control, the coach manually manipulates the first joystick on the first remote control, and the second joystick on the second remote control will follow the second joystick on the first remote control. As soon as the joystick moves, the students can directly feel the operation of the joystick by the coach, so that the students can learn. By adopting the technical solution provided by the embodiment of the present application, the difficulty of teaching and practice can be reduced, thereby improving the efficiency of teaching and practice.

Some implementations of the present application will be described in detail below in conjunction with the accompanying drawings. Under the condition that there is no conflict between the various embodiments, the following embodiments and the features in the embodiments can be combined with each other.

Fig. 1 shows a schematic diagram of a communication system provided by an embodiment of the present application. As shown in FIG. 1 , the system includes: a first remote controller 1 and a second remote controller 2 . in,

The first remote controller 1 is configured to generate first rocker manipulation information in response to the first user's operation on the first rocker on the first remote controller 1; manipulate the first rocker The information is sent to the second remote controller 2 .

The second remote controller 2 is used to manipulate the second rocker on the second remote controller according to the manipulation information of the first rocker so as to realize the communication between the first rocker and the second rocker. The amount of rod is synchronized.

In actual application, the number of first joysticks on the first remote controller 1 and the number of second joysticks on the second remote controller 2 may be equal. The number of the first joystick may be one or more, which is not specifically limited in this embodiment of the present application.

In one example, as shown in FIG. 1 , there are two first rockers on the first remote controller 1, including: a first left rocker and a first right rocker; There are also two rockers, including: a second left rocker and a second right rocker. The stick operation performed by the first user on the first left stick on the first remote control 1 will be synchronized to the second left stick on the second remote control; The stick operation performed by a right rocker will be synchronized to the second right rocker on the second remote controller 2 .

In an example, the first joystick manipulation information may include stick amount information. Wherein, the stick amount information is used to indicate the offset of the joystick from the center position of the joystick.

Usually, the joystick on the remote control corresponds to multiple control channels. For example, the control channels may include: altitude channel, roll channel, pitch channel and yaw channel. In actual application, the joystick on the remote control can be configured in advance to move in different directions to correspond to different control channels. For example: Take the left stick and right stick on the remote control as an example, the up and down movement direction of the left stick corresponds to the altitude channel, the left and right movement direction of the left stick corresponds to the roll channel; the up and down movement direction of the right stick corresponds to the pitch channel, the left and right movement direction of the right stick corresponds to the yaw channel.

Therefore, the above stick amount information may specifically include channel identifiers and joystick offsets corresponding to each control channel in at least one control channel. Wherein, the joystick offset may include an angle. In this way, after receiving the first rocker manipulation information, the second remote controller can know in which direction to manipulate the rocker and how much angle it is shifted.

The above-mentioned first remote controller 1 and the second remote controller 2 can communicate through a wifi network, bluetooth, 4G network, etc., which is not specifically limited in this embodiment of the present application.

During specific implementation, the second remote controller 2 may be provided with a second rocker driving device for driving the second rocker to move. After the second remote controller 2 receives the first rocker manipulation information, it may generate the second rocker control command, and send the second rocker control command to the second rocker driving device, so that the second rocker driving device drives the second rocker to move. In an example, when there are multiple second rockers, multiple second rockers may be driven by the same second rocker driving device, or multiple second rockers may be driven by multiple second rocker driving devices respectively. rod, which is not specifically limited in this embodiment of the present application. In an example, the above-mentioned second rocker driving device may include: a motor or a magnetic driver. Wherein, the specific implementation and implementation principles of the motor and the magnetic drive can refer to the prior art, and will not be described in detail here.

In an example, the second rocker driving device is a second motor connected to the second rocker. The second remote controller is specifically configured to generate a second motor command according to the manipulation information of the first rocker; and send the second motor command to the second motor connected to the second rocker, so that the The second motor drives the second rocker to move according to the instructions of the second motor.

In the technical solution provided by the embodiment of the present application, the lever operation on the first remote controller is synchronized to the second rocker on the second remote controller, that is, the second rocker on the second remote controller and the first remote controller The first joystick on the top keeps the same action. In actual application, the coach (i.e. the first user) can hold the first remote controller, the trainee (i.e. the second user) holds the second remote controller, and the instructor manually manipulates the first joystick on the first remote controller, and the second The second rocker on the remote controller will follow the movement of the first rocker on the first remote controller, so that students can directly feel the operation of the rocker by the instructor, so that students can learn. By adopting the technical solution provided by the embodiment of the present application, the difficulty of teaching and practice can be reduced, thereby improving the efficiency of teaching and practice.

In order to make it easier for the first user to understand the rocker operation of the second user during practice, the second remote controller 2 is also used to respond to the second user's operation of the second rocker on the second remote controller Operate the stick to generate second joystick manipulation information; send the second joystick manipulation information to the first remote controller; the first remote controller is used to manipulate the second joystick manipulation information according to the second joystick manipulation information The first rocker on the first remote controller is used to realize the synchronization of the stick amount between the first rocker and the second rocker.

Similarly, the second stick manipulation information may include stick amount information, and the stick amount information may specifically include channel identifiers and stick offsets corresponding to each control channel in the at least one control channel. Wherein, the joystick offset may include an angle.

During specific implementation, the first remote controller 1 may be provided with a first rocker driving device for driving the first rocker to move. After the first remote controller 1 receives the second rocker manipulation information, it may generate the first rocker control command, and send the first rocker control command to the first rocker driving device, so that the first rocker driving device drives the first rocker to move. In an example, when there are multiple first rockers, multiple first rockers may be driven by the same first rocker driving device, or multiple first rockers may be driven by multiple first rocker driving devices respectively. rod, which is not specifically limited in this embodiment of the present application. In an example, the above-mentioned first rocker driving device may include: a motor or a magnetic driver. Wherein, the specific implementation and implementation principles of the motor and the magnetic drive can refer to the prior art, and will not be described in detail here.

In an example, the first rocker driving device is a first motor connected to the first rocker. The first remote controller is specifically configured to generate a first motor command according to the manipulation information of the second rocker; and send the first motor command to the first motor connected to the first rocker, so that the The first motor drives the first rocker to move according to the first motor instruction.

Further, in order to facilitate the first user to correct the joystick operation of the second user when the second user is practicing, or to facilitate the first user to control the aircraft in time when the second user is unable to control the aircraft or the aircraft is about to be in danger To avoid flight accidents, the first remote controller 1 is specifically used to: after receiving the second rocker manipulation information sent by the second remote controller 2, determine whether the first user is targeting the The first joystick performs a stick operation; when it is determined that the first user is performing a stick operation on the first joystick, ignore the second joystick manipulation information; it is determined that the first user is not performing a stick operation on the first joystick When the first joystick performs a stick operation, the step of manipulating the first joystick on the first remote controller 1 according to the manipulation information of the second joystick is triggered. In this way, it is possible to avoid the obstruction of the first user's operation of the first joystick by manipulating the first joystick according to the second joystick manipulation information inside the first remote controller, which facilitates the first user's manipulation of the second user's joystick. Correction of the operation also facilitates the timely rescue of the first user when the second user is unable to control the shuttle or the shuttle is about to be in danger.

In actual application, sometimes there will be the following situation: in the process of manipulating the first joystick on the first remote controller according to the second joystick manipulation information, the first user needs to execute the activation of the first joystick. Stick operation, to correct the second user's stick operation or save the machine. Therefore, the first remote controller 1 is also specifically used for: during the process of manipulating the first joystick on the first remote controller according to the second joystick manipulation information, if it is detected that the first user If the stick operation is performed by the first rocker, stop the step of manipulating the first rocker on the first remote controller according to the second rocker manipulation information so that the first user can manipulate the first rocker. Stopping the step of manipulating the first joystick on the first remote controller according to the second joystick manipulation information, thus avoiding the obstruction caused to the first user performing the stick operation on the first joystick.

In a specific example, as shown in FIG. 1 , the aforementioned communication system may further include an aircraft 3 . The first remote controller is further configured to generate a first aircraft control instruction based on the first joystick manipulation information; and send the first aircraft control instruction to the aircraft. That is to say, the first remote controller can directly control the flight of the aircraft in response to the stick operation of the first user.

In actual application, the second remote controller can indirectly control the flight of the aircraft or directly control the flight of the aircraft in response to the stick operation of the second user.

In the scene of indirectly controlling the flight of the aircraft, the second remote controller does not directly send control commands to the aircraft, but sends the second joystick manipulation information to the first remote controller, so that the first remote controller can manipulate the information according to the second joystick A second aircraft control command is generated and sent to the aircraft. In the scenario of indirectly controlling the flight of the aircraft, there is a problem of long delay in the control of the aircraft by the second remote controller, but it can ensure timely rescue.

In the scenario of directly controlling the flight of the aircraft, the second remote controller is further configured to generate a second aircraft control instruction based on the second joystick manipulation information; and send the second aircraft control instruction to the aircraft. In the scenario of directly controlling the flight of the aircraft, the control delay of the second remote controller to the aircraft is short.

In the scenario where both the first remote controller and the second remote controller can directly control the flight of the aircraft, the aircraft is further configured to: if the receiving time of the first aircraft control instruction and the second aircraft control instruction is the same, then The first aircraft control instruction is determined as an instruction to be executed currently. That is to say, in the communication system provided by the embodiment of the present application, as far as the aircraft is concerned, the aircraft control command of the first remote controller has a higher priority than the aircraft control command of the second remote controller, which helps to ensure timely rescue.

Optionally, the aircraft is further configured to: if the receiving time of the first aircraft control instruction and the second aircraft control instruction is the same, determine the second aircraft control instruction as an instruction to be ignored. That is to say, the second aircraft control instruction is discarded, and the aircraft will not be controlled according to the second aircraft control instruction.

Optionally, the aircraft is also used for: in the process of controlling the traversing aircraft according to the second flight control instruction, if the first flight control instruction is received, suspend the step of controlling the traversing aircraft according to the second flight control instruction, and The first flight control instruction controls the traversing machine.

In actual practice, if the aircraft is only flying within the line of sight of the first user and the second user, the first user and the second user can observe the flight situation of the aircraft with the naked eye, and control the corresponding aircraft according to the flight situation observed by the naked eye. remote control. If the aircraft is not flying within the sight range of the first user and the second user, at this moment, the first user and the second user cannot observe the flight condition of the aircraft with naked eyes. Therefore, the above-mentioned communication system may further include: a display; the aircraft is further configured to capture images; and the captured images are sent to the display; the display is configured to display the images.

The above image may specifically be an FPV image. The display may include a mobile phone display, a computer display, or a head-mounted display worn by the first user and the second user respectively. As shown in FIG. 1 , the system includes: a first head-mounted display 4 worn by a first user, and a second head-mounted display 5 worn by a second user.

Usually, the whole flight practice is divided into a simulated flight stage and a real flight stage. In the real flight stage, a real aircraft needs to be used. In the simulated flight stage, a real aircraft is not needed. It is only necessary to run an aircraft simulator on the smart terminal and display the corresponding virtual FPV screen on the monitor. The communication process between the first remote controller, the second remote controller and the aircraft simulator (that is, the terminal device) can refer to the communication process between the first remote controller, the second remote controller and the aircraft. More details. The virtual FPV picture data generated by the aircraft simulator can be sent to the monitor for display. The display may be a built-in display of the terminal device, or may be a head-mounted display worn by the first user and the second user respectively, such as FPV glasses.

The following will introduce the technical solution provided by the embodiment of the present application by taking the flight practice scene of the crossing machine as an example:

Accurate flight stage: the coach turns on the traversing machine; puts on the first FPV glasses; turns on the first remote controller, unlocks the motor and checks the shift position. The student wears the second FPV glasses; turns on the second remote controller.

Ground operation stage: the instructor operates the first rocker on the first remote controller, and explains the meaning of the corresponding stick operation; the second rocker on the second remote controller of the trainee is driven by the internal motor drive One rocker maintains the same amount of stick operation. In this way, students can place their hands on the second rocker to feel the operation of the second rocker on the second remote controller. During the ground operations phase, no thru machines are involved.

The stage of flying with the instructor: the first flight, the instructor operates the flying machine to take off, and the students observe the flight screen through the second FPV glasses, feel the operation of the second joystick on the second remote control, and listen to the instructor's explanation.

In the stage of ground operation and the stage of flying with the instructor, the trainee does not need to perform any stick operation on the second joystick on the second remote control.

Go-around stage for trainees: The instructor no longer operates the first remote control, and the trainees start to control the flying machine by operating the second remote control, and practice the flight movements taught by the go-around coach just now. During the go-around stage of the students, the instructor feels the operation of the students through the screen displayed on the FPV glasses and the first joystick on the first remote control, and when necessary, uses the second joystick on the first remote control to give the trainees Make fine adjustments to the operation of the rod amount, and increase the training of the fineness of the rod amount operation of the students. When the coach finds that the trainee cannot control the shuttle or the shuttle is about to be in danger through the coach FPV glasses, he can control it in time through the first remote control to avoid the occurrence of flight accidents.

It should be noted that during the go-around stage of the students, the first remote controller and the second remote controller are connected to each other, and the traversing machine is connected to the first FPV glasses, the first remote controller, the second FPV glasses, and the second remote controller at the same time. The image transmission screen of the traversing machine will directly reach the first FPV glasses and the second FPV glasses, and the first flight control command of the first remote controller and the second flight control command of the second remote controller will both reach the traversing machine. When the traversing machine receives an instruction from the first remote controller, it will give priority to responding to the instruction from the first remote controller. For example: when the traversing aircraft receives the first flight control instruction and the second flight control instruction at the same time, the second flight control instruction is ignored, and the traversing aircraft is controlled according to the first flight control instruction. Another example: in the process of the traversing aircraft being controlled according to the second flight control command, if the first flight control command is received, the step of controlling the traversing machine according to the second flight control command can be suspended, and the control can be performed according to the first flight control command. Through the machine.

To sum up, when the instructor finds an emergency situation (collision into a building, out of control attitude, strong wind, out of control of aerodynamics) through the first FPV screen, he can immediately rescue the plane through the first remote control to avoid flight accidents, economic losses and safety accidents . The trainees follow and feel the instructor's remote control stick operation, and at the same time observe the flight screen, so as to better understand the way to complete the flight action. The instructor makes minor corrections to the student's operation through the first remote control to improve the fineness of the student's operation.

A communication method involved in the communication system provided by the embodiment of the present application will be introduced below with reference to FIG. 2 . This method is applicable to the first remote controller in Fig. 1, as shown in Fig. 2, this method includes:

301. Generate first joystick manipulation information in response to the first user's manipulation of the first joystick on the first remote controller;

302. Send the first joystick manipulation information to a second remote controller, so that the second remote controller manipulates the second joystick on the second remote controller according to the first joystick manipulation information to realize The amount of stick is synchronized between the first rocker and the second rocker.

Optionally, the above method also includes:

303. Receive the second joystick manipulation information sent by the second remote controller; the second joystick manipulation information is in response to the second user's operation on the second joystick on the second remote controller Generated;

304. Manipulate the first joystick on the first remote controller according to the second joystick manipulation information to implement stick amount synchronization between the first joystick and the second joystick.

Optionally, the above method also includes:

305. After receiving the second joystick manipulation information sent by the second remote controller, determine whether the first user is performing a stick operation on the first joystick;

306. When it is determined that the first user is not performing a joystick operation on the first joystick, trigger the operation of manipulating the first joystick on the first remote controller according to the second joystick manipulation information step.

Optionally, the above method also includes:

307. When it is determined that the first user is performing a stick operation on the first joystick, ignore the second joystick manipulation information.

Optionally, the above method also includes:

308. During the process of manipulating the first joystick on the first remote controller according to the second joystick manipulation information, if the stick operation performed by the first user on the first joystick is detected, Then stop the step of manipulating the first joystick on the first remote controller according to the second joystick manipulation information so that the first user can manipulate the first joystick.

Optionally, the above method also includes:

309. Based on the first joystick manipulation information, generate a first aircraft control instruction;

310. Send the first aircraft control instruction to the aircraft.

Optionally, the above method also includes:

311. Display the images captured by the aircraft on head-mounted displays worn by the first user and the second user respectively.

Optionally, the first stick manipulation information includes: stick amount information.

Optionally, "manipulate the first joystick on the first remote controller according to the second joystick manipulation information" in the above 304 includes:

generating a first motor instruction according to the second rocker manipulation information;

Sending the first motor command to a first motor connected to the first rocker, so that the first motor drives the first rocker to move according to the first motor command.

Another communication method involved in the communication system provided by the embodiment of the present application will be introduced below with reference to FIG. 3 . This method is applicable to the second remote controller in Figure 1, as shown in Figure 3, the method includes:

401. Receive the first joystick manipulation information sent by the first remote controller; the first joystick manipulation information is the response of the first remote controller to the first joystick on the first remote controller. Generated by the stick operation;

402. Manipulate a second joystick on the second remote controller according to the first joystick manipulation information, so as to realize stick amount synchronization between the first joystick and the second joystick.

Optionally, the above method also includes:

generating second joystick manipulation information in response to a second user's manipulation of the second joystick on the second remote controller;

sending the second joystick manipulation information to the first remote controller, so that the first remote controller manipulates the first joystick on the first remote controller according to the second joystick manipulation information to realize The amount of stick is synchronized between the first rocker and the second rocker.

Optionally, the above method also includes:

generating a second aircraft control instruction based on the second joystick manipulation information;

Sending the second aircraft control command to the aircraft.

Optionally, "manipulate the second joystick on the second remote controller according to the manipulation information of the first joystick" in the above 402 includes:

generating a second motor instruction according to the first rocker manipulation information;

Sending the second motor command to a second motor connected to the second rocker, so that the second motor drives the second rocker to move according to the second motor command.

Another communication method involved in the communication system provided by the embodiment of the present application will be introduced below with reference to FIG. 4 . This method is applicable to the aircraft in Fig. 1, as shown in Fig. 4, this method includes:

501. Receive the first aircraft control instruction generated based on the first joystick manipulation information sent by the first remote controller; the first joystick manipulation information is the first remote controller’s response to the first user’s Generated by the operation of the first joystick on the remote control;

502. Receive the second aircraft control instruction generated based on the second joystick manipulation information sent by the second remote controller; the second joystick manipulation information is the response of the second remote controller to the second Generated by the operation of the second joystick on the remote control;

503. If the receiving time of the first aircraft control instruction and the second aircraft control instruction are the same, determine the first aircraft control instruction as an instruction to be executed currently.

Optionally, the method also includes:

If the receiving time of the first aircraft control instruction and the second aircraft control instruction are the same, then determine the second aircraft control instruction as an instruction to be ignored.

Fig. 5 shows a communication device of a first remote controller provided by an embodiment of the present application. The communication device includes: a memory 22, a processor 21 and a communication component 23;

The memory 22 is used to store computer programs;

The processor 21 is connected to the memory 22 and the communication component 23 respectively, and is used to run the computer program stored in the memory 22 to realize:

Optionally, the processor 21 is also used for:

controlling the communication component to receive the second rocker manipulation information sent by the second remote controller; the second rocker manipulation information is in response to Generated by stick operation;

Manipulating the first joystick on the first remote controller according to the manipulation information of the second joystick to realize the synchronization of the stick amount between the first joystick and the second joystick.

Optionally, the processor 21 is also used for:

After receiving the second joystick manipulation information sent by the second remote controller, determine whether the first user is performing a stick operation on the first joystick;

When it is determined that the first user is not performing a stick operation on the first joystick, the step of manipulating the first joystick on the first remote controller according to the second joystick manipulation information is triggered.

Optionally, the processor 21 is also used for:

When it is determined that the first user is performing a stick operation on the first joystick, ignoring the second joystick manipulation information.

Optionally, the processor 21 is also used for:

During the process of manipulating the first joystick on the first remote controller according to the second joystick manipulation information, if the first joystick operation performed by the first user on the first joystick is detected, stop The step of manipulating the first joystick on the first remote controller according to the second joystick manipulation information allows the first user to manipulate the first joystick.

Optionally, the processor 21 is also used for:

generating a first aircraft control instruction based on the first joystick manipulation information;

The communication component is controlled to send the first aircraft control instruction to the aircraft.

Optionally, the processor 21 is also used for:

The images captured by the aircraft are displayed on head-mounted displays worn by the first user and the second user respectively.

Optionally, the processor 21 is specifically used for:

Fig. 5 shows a communication device of a second remote controller provided by an embodiment of the present application. The communication device includes: a memory 22, a processor 21 and a communication component 23;

The memory 22 is used to store computer programs;

Optionally, the processor 21 is also used for:

controlling the communication component to send the second joystick manipulation information to the first remote controller, so that the first remote controller manipulates the second joystick on the first remote controller according to the second joystick manipulation information; A rocker is used to realize the synchronization of the rod amount between the first rocker and the second rocker.

Optionally, the processor 21 is also used for:

The communication component is controlled to send the second aircraft control instruction to the aircraft.

Optionally, the processor 21 is specifically used for:

The second motor command is sent to a second motor connected to the second rocker, so that the second motor drives the second rocker to move according to the second motor command.

Fig. 5 shows a communication device of an aircraft provided by an embodiment of the present application. The communication device includes: a memory 22, a processor 21 and a communication component 23;

The memory 22 is used to store computer programs;

Optionally, the processor 21 is also used for:

It should be understood that the processor in the embodiment of the present application may be an integrated circuit image processing system, which has a signal processing capability. In the implementation process, each step of the above-mentioned method embodiment may be completed by an integrated logic circuit of hardware in a processor or an instruction in the form of software. The above-mentioned processor can be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), an off-the-shelf programmable gate array (Field Programmable Gate Array, FPGA) or other available Program logic devices, discrete gate or transistor logic devices, discrete hardware components. Various methods, steps, and logic block diagrams disclosed in the embodiments of the present application may be implemented or executed. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, and the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module can be located in a mature storage medium in the field such as random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, register. The storage medium is located in the memory, and the processor reads the information in the memory, and completes the steps of the above method in combination with its hardware.

It can be understood that the memory in the embodiments of the present application may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memories. Among them, the non-volatile memory can be read-only memory (Read-Only Memory, ROM), programmable read-only memory (Programmable ROM, PROM), erasable programmable read-only memory (Erasable PROM, EPROM), electronically programmable Erase Programmable Read-Only Memory (Electrically EPROM, EEPROM) or Flash. The volatile memory can be Random Access Memory (RAM), which acts as external cache memory. By way of illustration and not limitation, many forms of RAM are available, such as Static Random Access Memory (Static RAM, SRAM), Dynamic Random Access Memory (Dynamic RAM, DRAM), Synchronous Dynamic Random Access Memory (Synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (Double Data Rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (Enhanced SDRAM, ESDRAM), synchronous connection dynamic random access memory (Synchlink DRAM, SLDRAM ) and Direct Memory Bus Random Access Memory (Direct Rambus RAM, DR RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but not be limited to, these and any other suitable types of memory.

The memory in the embodiments of the present application may provide instructions and data to the processor. A portion of the memory may also include non-volatile random access memory. For example, the memory may also store device type information. The processor may be used to execute instructions stored in the memory, and when the processor executes the instructions, the processor may execute the steps in the foregoing method embodiments.

In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in a processor or an instruction in the form of software. The steps of the methods disclosed in connection with the embodiments of the present application can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor. The software module can be located in a mature storage medium in the field such as random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, register. The storage medium is located in the memory, and the processor executes the instructions in the memory, and completes the steps of the above method in combination with its hardware. To avoid repetition, no detailed description is given here.

The embodiment of the present application also provides a first remote controller. The first remote controller includes the communication device related to the first remote controller in the above-mentioned embodiments. For the specific structure and processing flow of the communication device of the first remote controller, reference may be made to the corresponding content in the foregoing embodiments, and details are not repeated here.

The embodiment of the present application also provides a second remote controller. The second remote controller includes the communication device related to the second remote controller in the above embodiments. For the specific structure and processing flow of the communication device of the second remote controller, reference may be made to the corresponding content in the foregoing embodiments, and details are not repeated here.

The embodiment of the present application also provides an aircraft. The aircraft includes the communication device related to the aircraft in the above embodiments. For the specific structure and processing flow of the communication device of the aircraft, reference may be made to the corresponding content in the above-mentioned embodiments, and details will not be repeated here.

The embodiment of the present application also provides a computer-readable storage medium, the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, and the program instructions are used to implement any A method of communication as described. For a specific implementation process, reference may be made to corresponding content in the foregoing embodiments, and details are not repeated here.

The technical solutions and technical features in each of the above embodiments can be used alone or in combination if they conflict with the present invention, as long as they do not exceed the scope of cognition of those skilled in the art, they all belong to equivalent embodiments within the scope of protection of the present application .

The above is only an embodiment of the application, and does not limit the patent scope of the application. Any equivalent structure or equivalent process conversion made by using the specification and drawings of the application, or directly or indirectly used in other related technologies fields, are all included in the scope of patent protection of this application in the same way.

Claims

A communication method, characterized in that it is applicable to the first remote controller; the method includes:

generating first joystick manipulation information in response to the first user's manipulation of the first joystick on the first remote controller;

sending the first joystick manipulation information to a second remote controller, so that the second remote controller manipulates a second joystick on the second remote controller according to the first joystick manipulation information to realize the The amount of stick is synchronized between the first rocker and the second rocker.
The method according to claim 1, further comprising:

receiving second joystick manipulation information sent by the second remote controller; the second joystick manipulation information is generated in response to the second user's operation on the second joystick on the second remote controller ;

Manipulating the first joystick on the first remote controller according to the manipulation information of the second joystick to realize the synchronization of the stick amount between the first joystick and the second joystick.
The method according to claim 2, further comprising:

After receiving the second joystick manipulation information sent by the second remote controller, determine whether the first user is performing a stick operation on the first joystick;

When it is determined that the first user is not performing a stick operation on the first joystick, the step of manipulating the first joystick on the first remote controller according to the second joystick manipulation information is triggered.
The method according to claim 3, further comprising:

When it is determined that the first user is performing a stick operation on the first joystick, ignoring the second joystick manipulation information.
The method according to claim 3, further comprising:

During the process of manipulating the first joystick on the first remote controller according to the second joystick manipulation information, if the first joystick operation performed by the first user on the first joystick is detected, stop The step of manipulating the first joystick on the first remote controller according to the second joystick manipulation information allows the first user to manipulate the first joystick.
The method according to any one of claims 1 to 5, further comprising:

generating a first aircraft control instruction based on the first joystick manipulation information;

Sending the first aircraft control command to the aircraft.
The method according to any one of claims 2 to 5, further comprising:

The images captured by the aircraft are displayed on head-mounted displays worn by the first user and the second user respectively.
The method according to any one of claims 1 to 5, wherein the first rocker manipulation information includes: stick amount information.
The method according to any one of claims 2 to 5, wherein manipulating the first joystick on the first remote controller according to the second joystick manipulation information includes:

generating a first motor instruction according to the second rocker manipulation information;

Sending the first motor command to a first motor connected to the first rocker, so that the first motor drives the first rocker to move according to the first motor command.
A communication method, characterized in that it is suitable for a second remote controller; the method includes:

receiving the first joystick manipulation information sent by the first remote controller; the first joystick manipulation information is that the first remote controller responds to the first user’s pressing of the first joystick on the first remote controller; Generated by lever operation;

Manipulating the second rocker on the second remote controller according to the manipulation information of the first rocker, so as to realize the synchronization of the stick amount between the first rocker and the second rocker.
The method according to claim 10, further comprising:

generating second joystick manipulation information in response to a second user's manipulation of the second joystick on the second remote controller;

sending the second joystick manipulation information to the first remote controller, so that the first remote controller manipulates the first joystick on the first remote controller according to the second joystick manipulation information to realize The amount of stick is synchronized between the first rocker and the second rocker.
The method according to claim 11, further comprising:

generating a second aircraft control instruction based on the second joystick manipulation information;

Sending the second aircraft control command to the aircraft.
The method according to any one of claims 10 to 12, wherein manipulating the second rocker on the second remote controller according to the first rocker manipulation information includes:

generating a second motor instruction according to the first rocker manipulation information;

Sending the second motor command to a second motor connected to the second rocker, so that the second motor drives the second rocker to move according to the second motor command.
A communication method, characterized in that it is suitable for an aircraft; the method includes:

receiving the first aircraft control instruction generated based on the first joystick manipulation information sent by the first remote controller; the first joystick manipulation information is the response of the first remote controller to the first user’s Generated by the stick operation of the first rocker on the screen;

receiving a second aircraft control instruction generated based on the second joystick manipulation information sent by the second remote controller; the second joystick manipulation information is the response of the second remote controller Generated by the stick operation of the second joystick on the above;

If the receiving time of the first aircraft control instruction and the second aircraft control instruction are the same, the first aircraft control instruction is determined as the instruction to be executed currently.
The method according to claim 14, further comprising:

If the receiving time of the first aircraft control instruction and the second aircraft control instruction are the same, then determine the second aircraft control instruction as an instruction to be ignored.
A communication system, characterized by comprising: a first remote controller and a second remote controller;

The first remote controller is configured to generate first joystick manipulation information in response to the first user's manipulation of the first joystick on the first remote controller; and send the first joystick manipulation information to to the second remote controller;

The second remote controller is used to manipulate the second rocker on the second remote controller according to the manipulation information of the first rocker so as to achieve a lever between the first rocker and the second rocker volume synchronization.
The system of claim 16 wherein,

The second remote controller generates second joystick manipulation information in response to the second user's manipulation of the second joystick on the second remote controller; and sends the second joystick manipulation information to to the first remote controller;

The first remote controller is used to manipulate the first rocker on the first remote controller according to the second rocker manipulation information to realize the lever between the first rocker and the second rocker volume synchronization.
The system of claim 17, further comprising: an aircraft;

The first remote controller is further configured to generate a first aircraft control instruction based on the first joystick manipulation information; and send the first aircraft control instruction to the aircraft.
The system of claim 18, wherein:

The second remote controller is further configured to generate a second aircraft control instruction based on the second joystick manipulation information; and send the second aircraft control instruction to the aircraft.
The system of claim 19, wherein:

The aircraft is configured to: if the receiving time of the first aircraft control instruction and the second aircraft control instruction are the same, determine the first aircraft control instruction as an instruction to be executed currently.
The system of claim 20, wherein

The aircraft is further configured to: if the receiving time of the first aircraft control instruction and the second aircraft control instruction is the same, determine the second aircraft control instruction as an instruction to be ignored.
The system according to any one of claims 17 to 21, further comprising: a display;

The aircraft is also used to capture images; and send the captured images to the display;

The display is used to display the image.
The system of claim 22, wherein the display comprises a head-mounted display worn by the first user and the second user respectively.
A communication device for a first remote controller, characterized by comprising: a memory, a processor, and a communication component;

The memory is used to store computer programs;

The processor is connected to the memory and the communication component respectively, and is used to run the computer program stored in the memory to realize:

generating first joystick manipulation information in response to the first user's manipulation of the first joystick on the first remote controller;

controlling the communication component to send the first joystick manipulation information to a second remote controller, so that the second remote controller manipulates the second joystick on the second remote controller according to the first joystick manipulation information; lever to realize the synchronization of the lever amount between the first rocker and the second rocker.
The device according to claim 24, wherein the processor is further configured to:

controlling the communication component to receive the second rocker manipulation information sent by the second remote controller; the second rocker manipulation information is in response to Generated by stick operation;

Manipulating the first joystick on the first remote controller according to the manipulation information of the second joystick to realize the synchronization of the stick amount between the first joystick and the second joystick.
The device according to claim 25, wherein the processor is further configured to:

After receiving the second joystick manipulation information sent by the second remote controller, determine whether the first user is performing a stick operation on the first joystick;

When it is determined that the first user is not performing a stick operation on the first joystick, the step of manipulating the first joystick on the first remote controller according to the second joystick manipulation information is triggered.
The device according to claim 26, wherein the processor is further configured to:

When it is determined that the first user is performing a stick operation on the first joystick, ignoring the second joystick manipulation information.
The device according to claim 26, wherein the processor is further configured to:

During the process of manipulating the first joystick on the first remote controller according to the second joystick manipulation information, if the first joystick operation performed by the first user on the first joystick is detected, stop The step of manipulating the first joystick on the first remote controller according to the second joystick manipulation information allows the first user to manipulate the first joystick.
The device according to any one of claims 24 to 28, wherein the processor is further configured to:

generating a first aircraft control instruction based on the first joystick manipulation information;

The communication component is controlled to send the first aircraft control instruction to the aircraft.
The device according to any one of claims 25 to 28, wherein the processor is further configured to:

The images captured by the aircraft are displayed on head-mounted displays worn by the first user and the second user respectively.
The device according to any one of claims 24 to 28, wherein the first stick manipulation information includes: stick amount information.
The device according to any one of claims 25 to 28, wherein the processor is specifically configured to:

generating a first motor instruction according to the second rocker manipulation information;

Sending the first motor command to a first motor connected to the first rocker, so that the first motor drives the first rocker to move according to the first motor command.
A communication device for a second remote controller, characterized by comprising: a memory, a processor, and a communication component;

The memory is used to store computer programs;

The processor is connected to the memory and the communication component respectively, and is used to run the computer program stored in the memory to realize:

Controlling the communication component to receive the first rocker manipulation information sent by the first remote controller; the first rocker manipulation information is the response of the first remote controller to the first user’s response to the first user’s Generated by the operation of a joystick;

Manipulating the second rocker on the second remote controller according to the manipulation information of the first rocker, so as to realize the synchronization of the stick amount between the first rocker and the second rocker.
The device according to claim 33, wherein the processor is further configured to:

generating second joystick manipulation information in response to a second user's manipulation of the second joystick on the second remote controller;

controlling the communication component to send the second joystick manipulation information to the first remote controller, so that the first remote controller manipulates the second joystick on the first remote controller according to the second joystick manipulation information; A rocker is used to realize the synchronization of the rod amount between the first rocker and the second rocker.
The device according to claim 34, wherein the processor is further configured to:

generating a second aircraft control instruction based on the second joystick manipulation information;

The communication component is controlled to send the second aircraft control instruction to the aircraft.
The device according to any one of claims 33 to 35, wherein the processor is specifically configured to:

generating a second motor instruction according to the first rocker manipulation information;

Sending the second motor command to a second motor connected to the second rocker, so that the second motor drives the second rocker to move according to the second motor command.
A communication device for an aircraft, characterized in that it includes: a memory, a processor and a communication component;

The memory is used to store computer programs;

The processor is connected to the memory and the communication component respectively, and is used to run the computer program stored in the memory to realize:

Controlling the communication component to receive the first aircraft control instruction generated based on the first joystick manipulation information sent by the first remote controller; the first joystick manipulation information is the response of the first remote controller to the first user for the Generated by the operation of the first joystick on the first remote controller;

Controlling the communication component to receive a second aircraft control instruction generated based on the second joystick manipulation information sent by the second remote controller; the second joystick manipulation information is the response of the second remote controller to the second user for the Generated by the stick operation of the second rocker on the second remote control;

If the receiving time of the first aircraft control instruction and the second aircraft control instruction are the same, the first aircraft control instruction is determined as the instruction to be executed currently.
The device according to claim 37, wherein the processor is further configured to:

If the receiving time of the first aircraft control instruction and the second aircraft control instruction are the same, then determine the second aircraft control instruction as an instruction to be ignored.
A first remote controller, comprising a first joystick, characterized by comprising the communication device described in any one of claims 24 to 32 above.
A computer-readable storage medium, characterized in that the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, and the program instructions are used to implement any one of claims 1 to 9. communication method described in this item.
A second remote controller, comprising a second joystick, characterized by comprising the communication device described in any one of claims 33 to 36 above.
A computer-readable storage medium, characterized in that the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, and the program instructions are used to implement any one of claims 10 to 13. communication method described in this item.
An aircraft, characterized by comprising the communication device described in claim 37 or 38 above.
A computer-readable storage medium, characterized in that the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, and the program instructions are used to implement the method described in claim 14 or 15. communication method.